CN105499771A - Welding tractor with intelligent guiding device and control method thereof - Google Patents
Welding tractor with intelligent guiding device and control method thereof Download PDFInfo
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- CN105499771A CN105499771A CN201610024825.6A CN201610024825A CN105499771A CN 105499771 A CN105499771 A CN 105499771A CN 201610024825 A CN201610024825 A CN 201610024825A CN 105499771 A CN105499771 A CN 105499771A
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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
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
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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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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
本发明公开了具有智能导向装置的焊接小车，包括：焊接小车；所述焊接小车的一侧为焊接侧，其中，还包括：前侧伸缩导向杆、压力值传感器及导向控制器。从而由于焊接小车智能导向装置自动化程度高，能自动准确贴合侧向基准面、导向轮受力恒定，使得该焊接小车在焊接工件时准确追踪焊缝，大大减少焊缝咬肉、啃边、焊偏等缺陷，有效提高焊缝质量及焊接时的工作效率。
The invention discloses a welding trolley with an intelligent guiding device, comprising: a welding trolley; one side of the welding trolley is the welding side, and further comprising: a front telescopic guiding rod, a pressure value sensor and a guiding controller. Therefore, due to the high degree of automation of the intelligent guiding device of the welding trolley, it can automatically and accurately fit the lateral reference plane, and the force on the guide wheel is constant, so that the welding trolley can accurately track the weld seam when welding the workpiece, greatly reducing the seam bite, gnawing, and Welding deviation and other defects can effectively improve the quality of weld seam and work efficiency during welding.
Description
技术领域technical field
本发明涉及焊接自动化领域，尤其是涉及一种具有智能导向装置的焊接小车及其控制方法。The invention relates to the field of welding automation, in particular to a welding trolley with an intelligent guiding device and a control method thereof.
背景技术Background technique
现有的手工焊接方法普遍存在以下问题：对于薄板焊接，焊接规范稍微的变化即会对焊接的效果产生很大的影响，在手工焊接过程中，焊接电流、电弧电压、焊接速度、电弧长度等工艺参数稍微控制不好就会产生焊缝咬肉、啃边、焊偏等缺陷。后续修磨的工作量较大。现有焊接小车的移动导向装置为导向轮安装于焊接小车侧面，需要人工手动调节导向装置的位置，使焊接小车沿着侧向基准面贴面行走从而进行焊接。由于人工调节导向装置沿着基准面主要依靠经验，导致调节导向轮贴合程度差异性较大，从而导致焊缝质量不高。目前具有侧向导向轮的焊接小车的侧向定位基准面仅为平整面，不可以为曲面。若侧向定位基准面为曲面时，焊接小车不能贴合基准面进行焊接。同时若要进适合焊缝偏转的情况，需要适时调整车轮的速度，并且保持一定的比例关系。现有的双轮驱动的小车，实现曲线焊缝，有限位控制法、数学模型法、实时调节法等控制方法，但是上述方法调整周期长且不固定，跟踪准确性不易保证，运算工作量较大，实现比较复杂。The existing manual welding methods generally have the following problems: For thin plate welding, a slight change in the welding specification will have a great impact on the welding effect. In the manual welding process, the welding current, arc voltage, welding speed, arc length, etc. If the process parameters are not well controlled, defects such as weld bite, edge bite, and welding deviation will occur. Subsequent grinding requires a lot of work. The moving guiding device of the existing welding trolley is that the guide wheels are installed on the side of the welding trolley. It is necessary to manually adjust the position of the guiding device so that the welding trolley walks along the lateral datum surface for welding. Since the manual adjustment of the guide device along the reference plane mainly relies on experience, the degree of fit of the adjustment guide wheels varies greatly, resulting in poor weld quality. At present, the lateral positioning reference plane of the welding trolley with lateral guide wheels is only a flat surface and cannot be a curved surface. If the lateral positioning reference surface is a curved surface, the welding trolley cannot fit the reference surface for welding. At the same time, in order to adapt to the deflection of the weld seam, it is necessary to adjust the speed of the wheel in a timely manner and maintain a certain proportional relationship. The existing two-wheel drive trolley realizes control methods such as curved welding seam, limited position control method, mathematical model method, real-time adjustment method, etc., but the adjustment period of the above method is long and not fixed, the tracking accuracy is not easy to guarantee, and the calculation workload is relatively heavy. Larger and more complicated to implement.
发明内容Contents of the invention
针对上述现有技术中的缺陷，本发明的目的是提供一种具有智能导向装置的焊接小车及其控制方法。从而解决了现有具有智能导向装置的焊接小车使用可靠性差、监控成本高的问题。Aiming at the above-mentioned defects in the prior art, the object of the present invention is to provide a welding trolley with an intelligent guiding device and a control method thereof. Therefore, the problems of poor reliability and high monitoring cost of existing welding trolleys with intelligent guiding devices are solved.
为了达到上述目的，本发明提供如下技术方案：In order to achieve the above object, the present invention provides the following technical solutions:
具有智能导向装置的焊接小车，包括：焊接小车；所述焊接小车的一侧为焊接侧，还包括：前侧伸缩导向杆、压力值传感器及导向控制器；所述前侧伸缩导向杆的固定端与所述焊接小车的行进前侧固定连接，向所述焊接侧伸出，在所述前侧伸缩导向杆的内部设置前侧导向杆直线马达，所述前侧导向杆直线马达与前侧伸缩导向杆的伸缩端固定连接，带动所述伸缩端沿所述前侧伸缩导向杆的一端向待焊接立板方向伸出或收回；所述压力值传感器设置于所述前侧伸缩导向杆的伸缩端中，对前侧伸缩导向杆的伸缩端压力值进行采集，所述压力值传感器的输出端与所述导向控制器的输入端连接，所述导向控制器的输出端与所述前侧导向杆直线马达连接，当接收到的前侧伸缩导向杆的伸缩端压力值超出设定范围值时，驱动所述前侧导向杆直线马达带动所述前侧伸缩导向杆的伸缩端伸出或缩回，使所述前侧伸缩导向杆的伸缩端导向支撑于待焊接立板的侧方。The welding trolley with intelligent guiding device includes: a welding trolley; one side of the welding trolley is the welding side, and also includes: a front telescopic guide rod, a pressure value sensor and a guide controller; the fixing of the front telescopic guide rod The end is fixedly connected with the front side of the welding trolley, and protrudes toward the welding side. A front guide rod linear motor is arranged inside the front telescopic guide rod, and the front side guide rod linear motor is connected to the front side. The telescopic end of the telescopic guide rod is fixedly connected, and the telescopic end is driven to extend or retract toward the vertical plate to be welded along one end of the front telescopic guide rod; the pressure value sensor is arranged on the front telescopic guide rod In the telescopic end, the pressure value of the telescopic end of the telescopic guide rod on the front side is collected, the output end of the pressure value sensor is connected to the input end of the guiding controller, and the output end of the guiding controller is connected to the front side The guide rod linear motor is connected. When the received pressure value of the telescopic end of the front telescopic guide rod exceeds the set range value, the linear motor of the front telescopic guide rod is driven to drive the telescopic end of the front telescopic guide rod to extend or Retract, so that the telescopic end of the front telescopic guide rod is guided and supported on the side of the vertical plate to be welded.
在一种优选的实施方式中，还包括：后侧伸缩导向杆；所述后侧伸缩导向杆的固定端与所述焊接小车的行进后侧固定连接，向所述焊接侧伸出，在所述后侧伸缩导向杆的内部设置后侧导向杆直线马达，所述后侧导向杆直线马达与后侧伸缩导向杆的伸缩端固定连接，带动该伸缩端沿所述后侧伸缩导向杆的一端向待焊接立板方向伸出或收回；所述压力值传感器设置于所述后侧伸缩导向杆的伸缩端中，对后侧伸缩导向杆的伸缩端压力值进行采集，所述压力值传感器的输出端与所述导向控制器的输入端连接，所述导向控制器的输出端与所述后侧导向杆直线马达连接，判断前侧伸缩导向杆的伸缩端压力值或后侧伸缩导向杆的伸缩端压力值是否相同，若否，则判断其中较大的缩导向杆的压力值是否超出设定范围值，若是，则驱动所对应的导向杆直线马达带动对应的伸缩导向杆的伸缩端伸出或缩回，使所对应的伸缩导向杆的伸缩端导向支撑于待焊接立板的侧方。In a preferred embodiment, it also includes: a rear telescopic guide rod; the fixed end of the rear telescopic guide rod is fixedly connected to the rear side of the welding trolley, protrudes toward the welding side, and A rear guide rod linear motor is arranged inside the rear telescopic guide rod, and the rear guide rod linear motor is fixedly connected with the telescopic end of the rear telescopic guide rod, driving the telescopic end to move along one end of the rear telescopic guide rod. Stretch or withdraw toward the vertical plate to be welded; the pressure value sensor is arranged in the telescopic end of the telescopic guide rod on the rear side, collects the pressure value of the telescopic end of the telescopic guide rod on the rear side, and the pressure value sensor The output end is connected to the input end of the guide controller, and the output end of the guide controller is connected to the linear motor of the rear guide rod to determine the pressure value of the telescopic end of the front telescopic guide rod or the pressure value of the rear telescopic guide rod. Whether the pressure values at the telescopic ends are the same, if not, judge whether the pressure value of the larger retractable guide rod exceeds the set range value, if so, drive the corresponding guide rod linear motor to drive the corresponding telescopic guide rod to extend the telescopic end. out or retract, so that the telescopic end of the corresponding telescopic guide rod is guided and supported on the side of the vertical plate to be welded.
在一种优选的实施方式中，还包括：导向轮；所述导向轮与所述前侧伸缩导向杆的伸缩端的端部，或所述后侧伸缩导向杆的伸缩端的端部固定连接。In a preferred embodiment, it further includes: a guide wheel; the guide wheel is fixedly connected to the end of the telescopic end of the front telescopic guide rod, or the end of the telescopic end of the rear telescopic guide rod.
在一种优选的实施方式中，所述焊接小车包括：行走装置包括：行走轮及行走电机，所述行走电机的输出端与所述行走轮连接，驱动行走轮行走；所述行走轮与所述焊接小车的底部固定连接。In a preferred embodiment, the welding trolley includes: a traveling device including: traveling wheels and a traveling motor, the output end of the traveling motor is connected to the traveling wheels to drive the traveling wheels; The bottom of the welding trolley is fixedly connected.
在一种优选的实施方式中，还包括：激光测距仪；所述激光测距仪与所述焊接小车的前侧与后侧固定连接，对所述焊接小车与待焊接立板间的距离信息给予采集，输出端与所述导向控制器的输入端连接；所述导向控制器当接收到的前侧或后侧伸缩导向杆的伸缩端压力值超出设定范围值，同时所述距离信息超出设定距离值时，则驱动所述前侧或后侧导向杆直线马达带动所述前侧或后侧伸缩导向杆的伸缩端伸出或缩回，使所述前侧或后侧伸缩导向杆的伸缩端导向支撑于待焊接立板的侧方。In a preferred embodiment, it also includes: a laser range finder; the laser range finder is fixedly connected to the front side and the rear side of the welding trolley, and the distance between the welding trolley and the vertical plate to be welded The information is collected, and the output end is connected to the input end of the guide controller; when the guide controller receives the pressure value of the telescopic end of the telescopic guide rod on the front side or the rear side exceeds the set range value, at the same time the distance information When the set distance is exceeded, the linear motor of the front or rear guide rod is driven to drive the telescopic end of the front or rear telescopic guide rod to extend or retract, so that the front or rear telescopic guide The telescopic end of the rod is guided and supported on the side of the vertical plate to be welded.
在一种优选的实施方式中，所述焊接小车包括：焊枪调节架、焊枪及焊枪固定销；所述焊枪调节架与所述焊接小车的顶部固定连接，所述焊枪调节架的端部通过焊枪固定销与所述焊枪固定连接。In a preferred embodiment, the welding trolley includes: a welding torch adjustment frame, a welding torch and a welding torch fixing pin; the welding torch adjustment frame is fixedly connected to the top of the welding trolley, and the end of the welding torch adjustment frame passes through the The fixing pin is fixedly connected with the welding torch.
具有智能导向装置的焊接小车的控制方法，包括：A control method for a welding trolley with an intelligent guiding device, including:
步骤S101：接收前侧伸缩导向杆的伸缩端压力值；Step S101: receiving the pressure value of the telescopic end of the front telescopic guide rod;
步骤S102：判断所述前侧伸缩导向杆的伸缩端压力值是否超出设定范围值，若是，则驱动所述前侧导向杆直线马达带动所述前侧伸缩导向杆的伸缩端伸出或缩回，使所述前侧伸缩导向杆的伸缩端导向支撑于待焊接立板的侧方。Step S102: Determine whether the pressure value of the telescopic end of the front telescopic guide rod exceeds the set range value, and if so, drive the linear motor of the front telescopic guide rod to drive the telescopic end of the front telescopic guide rod to extend or contract Back, the telescopic end of the front telescopic guide rod is guided and supported on the side of the vertical plate to be welded.
在一种优选的实施方式中，在步骤S101中还包括：接收后侧伸缩导向杆的伸缩端压力值；In a preferred embodiment, step S101 also includes: receiving the telescopic end pressure value of the rear telescopic guide rod;
在步骤S102中包括：判断前侧伸缩导向杆的伸缩端压力值或后侧伸缩导向杆的伸缩端压力值是否相同，若否，则判断其中较大的缩导向杆的压力值是否超出设定范围值，若是，则驱动所对应的导向杆直线马达带动对应的伸缩导向杆的伸缩端伸出或缩回，使所对应的伸缩导向杆的伸缩端导向支撑于待焊接立板的侧方。Step S102 includes: judging whether the pressure value at the telescopic end of the front telescopic guide rod or the telescopic end pressure value of the rear telescopic guide rod is the same, if not, judging whether the pressure value of the larger retractable guide rod exceeds the set value range value, if so, drive the corresponding guide rod linear motor to drive the telescopic end of the corresponding telescopic guide rod to extend or retract, so that the telescopic end of the corresponding telescopic guide rod is guided and supported on the side of the vertical plate to be welded.
在一种优选的实施方式中，在步骤S101中还包括：对所述焊接小车与待焊接立板间的距离信息给予采集，在步骤S102中包括：当接收到的前侧或后侧伸缩导向杆的伸缩端压力值超出设定范围值同时所述距离信息超出设定距离值时，则驱动所述前侧或后侧导向杆直线马达带动所述前侧或后侧伸缩导向杆的伸缩端伸出或缩回，使所述前侧或后侧伸缩导向杆的伸缩端导向支撑于待焊接立板的侧方。In a preferred embodiment, step S101 also includes: collecting the distance information between the welding trolley and the vertical plate to be welded, and step S102 includes: when the received front side or rear side telescopic guide When the pressure value of the telescopic end of the rod exceeds the set range value and the distance information exceeds the set distance value, the linear motor of the front or rear guide rod is driven to drive the telescopic end of the front or rear telescopic guide rod Stretch out or retract, so that the telescopic end of the front or rear telescopic guide rod is guided and supported on the side of the vertical plate to be welded.
由此可知，本发明的有益效果为：This shows that the beneficial effects of the present invention are:
首先，由于焊接小车智能导向装置自动化程度高，能自动准确贴合侧向基准面、导向轮受力恒定，使得该焊接小车在焊接工件时准确追踪焊缝，大大减少焊缝咬肉、啃边、焊偏等缺陷，有效提高焊缝质量及焊接时的工作效率。First of all, due to the high degree of automation of the intelligent guiding device of the welding trolley, it can automatically and accurately fit the lateral datum plane, and the force on the guide wheel is constant, so that the welding trolley can accurately track the weld seam when welding the workpiece, greatly reducing the seam bite and gnawing , Welding deviation and other defects, effectively improving the quality of the weld seam and the work efficiency during welding.
其次，由于采用了智能导向装置，使得焊接小车能够适应包括曲线型焊缝在内的焊缝，自动化程度较高，有效提高了焊接小车的焊接效率，扩大了焊接小车的焊接应用范围，使得焊接小车满足更多不同式样的焊接对象。Secondly, due to the use of intelligent guiding devices, the welding trolley can adapt to welds including curved welds, with a high degree of automation, which effectively improves the welding efficiency of the welding trolley, expands the welding application range of the welding trolley, and makes welding The trolley meets more welding objects of different styles.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.
图1为本发明一种实施方式中，具有智能导向装置的焊接小车的外部结构示意图；Fig. 1 is a schematic diagram of the external structure of a welding trolley with an intelligent guiding device in an embodiment of the present invention;
图2为本发明另一种实施方式中，具有智能导向装置的焊接小车的组成示意图；Fig. 2 is another embodiment of the present invention, the schematic diagram of the composition of the welding trolley with intelligent guiding device;
图3为本发明一种实施方式中，具有智能导向装置的焊接小车的工作焊接面示意图；Fig. 3 is a schematic diagram of the working welding surface of the welding trolley with an intelligent guiding device in an embodiment of the present invention;
图4为本发明一种实施方式中，具有智能导向装置的焊接小车的控制系统组成示意图。Fig. 4 is a schematic composition diagram of a control system of a welding trolley with an intelligent guiding device in an embodiment of the present invention.
具体实施方式detailed description
下面将结合本发明的附图，对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
如图1～4所示，本发明一种实施方式中，提供了一种具有智能导向装置的焊接小车，焊接小车的一侧为焊接侧90。前侧伸缩导向杆10的固定端与焊接小车的行进前侧11固定连接，向焊接侧90伸出，在前侧伸缩导向杆10的内部设置前侧导向杆直线马达12，前侧导向杆直线马达12与前侧伸缩导向杆10的伸缩端13固定连接，带动伸缩端沿前侧伸缩导向杆10的一端向待焊接立板80方向伸出或收回。压力值传感器14设置于前侧伸缩导向杆10的伸缩端中，对前侧伸缩导向杆10的伸缩端压力值进行采集，前侧伸缩导向杆的压力值传感器14的输出端与导向控制器20的输入端连接，导向控制器20的输出端与前侧导向杆直线马达12连接，当接收到的前侧伸缩导向杆10的伸缩端压力值超出设定范围值时，驱动前侧导向杆直线马达12带动前侧伸缩导向杆10的伸缩端伸出或缩回，使前侧伸缩导向杆10的伸缩端导向支撑于待焊接立板80的侧方。As shown in FIGS. 1-4 , in one embodiment of the present invention, a welding trolley with an intelligent guiding device is provided, and one side of the welding trolley is a welding side 90 . The fixed end of the front side telescopic guide rod 10 is fixedly connected with the advancing front side 11 of the welding trolley, and stretches out to the welding side 90. A front side guide rod linear motor 12 is arranged inside the front side telescopic guide rod 10, and the front side guide rod linear motor 12 is arranged. The motor 12 is fixedly connected with the telescopic end 13 of the front side telescopic guide rod 10, and drives the telescopic end to extend or retract toward the vertical plate 80 to be welded along one end of the front side telescopic guide rod 10. The pressure value sensor 14 is arranged in the telescopic end of the front side telescopic guide rod 10, collects the pressure value of the telescopic end of the front side telescopic guide rod 10, the output end of the pressure value sensor 14 of the front side telescopic guide rod and the guide controller 20 connected to the input end of the guide controller 20, and the output end of the guide controller 20 is connected to the linear motor 12 of the front side guide rod. The motor 12 drives the telescopic end of the front side telescopic guide rod 10 to stretch out or retract, so that the telescopic end of the front side telescopic guide rod 10 is guided and supported on the side of the vertical plate 80 to be welded.
在一种优选的实施方式中，还包括：后侧伸缩导向杆30；后侧伸缩导向杆30的固定端与焊接小车的行进后侧31固定连接，向焊接侧90伸出，在后侧伸缩导向杆30的内部设置后侧导向杆直线马达32，后侧导向杆直线马达32与后侧伸缩导向杆30的伸缩端33固定连接，带动该伸缩端沿后侧伸缩导向杆30的一端向待焊接立板80方向伸出或收回；压力值传感器34设置于后侧伸缩导向杆30的伸缩端中，对后侧伸缩导向杆30的伸缩端压力值进行采集，压力值传感器34的输出端与导向控制器20的输入端连接，导向控制器20的输出端与后侧导向杆直线马达32连接，判断前侧伸缩导向杆10的伸缩端压力值或后侧伸缩导向杆30的伸缩端压力值是否相同，若否，则判断其中较大的缩导向杆的压力值是否超出设定范围值，若是，则驱动所对应的导向杆直线马达带动对应的伸缩导向杆的伸缩端伸出或缩回，使所对应的伸缩导向杆的伸缩端导向支撑于待焊接立板80的侧方。In a preferred embodiment, it also includes: a rear side telescopic guide rod 30; the fixed end of the rear side telescopic guide rod 30 is fixedly connected with the traveling rear side 31 of the welding trolley, protrudes toward the welding side 90, and stretches at the rear side The inside of the guide rod 30 is provided with a rear side guide rod linear motor 32, which is fixedly connected to the telescopic end 33 of the rear side telescopic guide rod 30, and drives the telescopic end to move along one end of the rear side telescopic guide rod 30. The welding vertical plate 80 direction stretches out or retracts; The pressure value sensor 34 is arranged in the telescopic end of the rear side telescopic guide rod 30, and the telescopic end pressure value of the rear side telescopic guide rod 30 is collected, and the output end of the pressure value sensor 34 is connected to the The input end of the guide controller 20 is connected, and the output end of the guide controller 20 is connected with the rear guide rod linear motor 32 to determine the pressure value of the telescopic end of the front telescopic guide rod 10 or the pressure value of the telescopic end of the rear telescopic guide rod 30 Whether they are the same, if not, judge whether the pressure value of the larger retractable guide rod exceeds the set range value, if so, drive the corresponding guide rod linear motor to drive the telescopic end of the corresponding telescopic guide rod to extend or retract , so that the telescopic end of the corresponding telescopic guide rod is guided and supported on the side of the vertical plate 80 to be welded.
在一种优选的实施方式中，还包括：导向轮15、35；导向轮15、35与前侧伸缩导向杆10的伸缩端的端部，或后侧伸缩导向杆30的伸缩端的端部固定连接。In a preferred embodiment, it also includes: guide wheels 15, 35; guide wheels 15, 35 are fixedly connected to the end of the telescopic end of the front telescopic guide rod 10, or the end of the telescopic end of the rear telescopic guide rod 30 .
在一种优选的实施方式中，焊接小车包括：行走装置。该行走装置包括：行走轮40及行走电机41，行走电机41的输出端与行走轮40连接，驱动行走轮40行走；行走轮40与焊接小车的底部固定连接。In a preferred embodiment, the welding trolley includes: a traveling device. The traveling device includes: a traveling wheel 40 and a traveling motor 41, the output end of the traveling motor 41 is connected to the traveling wheel 40 to drive the traveling wheel 40 to travel; the traveling wheel 40 is fixedly connected to the bottom of the welding trolley.
为保证测量精度，在一种优选的实施方式中，还包括：激光测距仪50、51；激光测距仪50、51与焊接小车的前侧与后侧固定连接，对焊接小车与待焊接立板80间的距离信息给予采集，输出端与导向控制器20的输入端连接；导向控制器20当接收到的前侧或后侧伸缩导向杆30的伸缩端压力值超出设定范围值，同时距离信息超出设定距离值时，则驱动前侧或后侧导向杆直线马达32带动前侧或后侧伸缩导向杆30的伸缩端伸出或缩回，使前侧或后侧伸缩导向杆30的伸缩端导向支撑于待焊接立板80的侧方。In order to ensure the measurement accuracy, in a preferred embodiment, it also includes: laser range finders 50, 51; the laser range finders 50, 51 are fixedly connected to the front side and the rear side of the welding trolley, and the welding trolley and the to-be-welded The distance information between the vertical plates 80 is collected, and the output end is connected to the input end of the guide controller 20; when the guide controller 20 receives the pressure value at the telescopic end of the telescopic guide rod 30 on the front side or the rear side exceeds the set range value, Simultaneously when the distance information exceeds the set distance value, the front side or rear side guide rod linear motor 32 is driven to drive the telescopic end of the front side or rear side telescopic guide rod 30 to stretch out or retract, so that the front side or rear side telescopic guide rod The telescopic end of 30 is guided and supported on the side of the vertical plate 80 to be welded.
在一种优选的实施方式中，焊接小车包括：焊枪调节架60、焊枪61及焊枪固定销62。焊枪调节架60与焊接小车的顶部固定连接，焊枪调节架60的端部通过焊枪固定销与焊枪固定连接。In a preferred embodiment, the welding trolley includes: a welding torch adjustment frame 60 , a welding torch 61 and a welding torch fixing pin 62 . The welding torch adjusting frame 60 is fixedly connected with the top of the welding trolley, and the end of the welding torch adjusting frame 60 is fixedly connected with the welding torch through the welding torch fixing pin.
在本发明的另一种实施方式中，提供了一种具有智能导向装置的焊接小车的控制方法，其特征在于，包括：In another embodiment of the present invention, a control method of a welding trolley with an intelligent guiding device is provided, which is characterized in that it includes:
步骤S101：接收前侧伸缩导向杆10的伸缩端压力值；Step S101: receiving the pressure value of the telescopic end of the front telescopic guide rod 10;
步骤S102：判断前侧伸缩导向杆10的伸缩端压力值是否超出设定范围值，若是，则驱动前侧导向杆直线马达12带动前侧伸缩导向杆10的伸缩端伸出或缩回，使前侧伸缩导向杆10的伸缩端导向支撑于待焊接立板80的侧方。Step S102: Determine whether the pressure value of the telescopic end of the front telescopic guide rod 10 exceeds the set range value, if so, drive the front side guide rod linear motor 12 to drive the telescopic end of the front telescopic guide rod 10 to extend or retract, so that The telescopic end of the front side telescopic guide rod 10 is guided and supported on the side of the vertical plate 80 to be welded.
优选地，在步骤S101中还包括：接收后侧伸缩导向杆30的伸缩端压力值；Preferably, step S101 also includes: receiving the pressure value of the telescopic end of the rear telescopic guide rod 30;
在步骤S102中包括：判断前侧伸缩导向杆10的伸缩端压力值或后侧伸缩导向杆30的伸缩端压力值是否相同，若否，则判断其中较大的缩导向杆的压力值是否超出设定范围值，若是，则驱动所对应的导向杆直线马达带动对应的伸缩导向杆的伸缩端伸出或缩回，使所对应的伸缩导向杆的伸缩端导向支撑于待焊接立板80的侧方。Step S102 includes: judging whether the pressure value at the telescopic end of the front telescopic guide rod 10 or the telescopic end pressure value of the rear telescopic guide rod 30 is the same, if not, then judging whether the pressure value of the larger retractable guide rod exceeds Set the range value, if so, drive the corresponding guide rod linear motor to drive the telescopic end of the corresponding telescopic guide rod to stretch out or retract, so that the telescopic end of the corresponding telescopic guide rod is guided and supported on the vertical plate 80 to be welded. sideways.
优选地，在步骤S101中还包括：对焊接小车与待焊接立板80间的距离信息给予采集，在步骤S102中包括：当接收到的前侧或后侧伸缩导向杆30的伸缩端压力值超出设定范围值同时距离信息超出设定距离值时，则驱动前侧或后侧导向杆直线马达32带动前侧或后侧伸缩导向杆30的伸缩端伸出或缩回，使前侧或后侧伸缩导向杆30的伸缩端导向支撑于待焊接立板80的侧方。Preferably, step S101 also includes: collecting the distance information between the welding trolley and the vertical plate 80 to be welded, and step S102 includes: when the received telescopic end pressure value of the front or rear telescopic guide rod 30 When the distance information exceeds the set distance value at the same time, the front or rear guide rod linear motor 32 is driven to drive the telescopic end of the front or rear telescopic guide rod 30 to stretch out or retract, so that the front or rear guide rod 30 is stretched out or retracted. The telescopic end of the rear side telescopic guide rod 30 is guided and supported on the side of the vertical plate 80 to be welded.
在本发明的一种实施方式中，提供了一种焊接小车及其控制方法，所述焊接小车包括导向轮15、35，导向轮安装座，压力值传感器14、34，激光测距仪50、51，直线马达12、32，焊接小车行走电机41，焊枪调节架60，焊枪61，焊枪固定销62，焊接小车车身，焊接小车行走车轮40和PLC控制器(图中没给出)。焊接小车行走车轮40置于焊接小车车身的下面，前后各两个对称放置，主要用于焊接小车的行走。焊接小车车身上表面的右下角有焊接小车行走电机41，电机41与焊接小车行走车轮40通过减速器(图中没给出)连接，通过控制电机41的运动从而控制焊接小车的行走。焊接小车车身前后端面各放置一个直线马达12、32，通过控制直线马达12、32伸出轴的长度从而控制导向轮15、35与侧向焊接基准板的接触。直线马达12、32伸出轴末端的轴向方向依次连接有压力值传感器14、34、导向轮15、35安装基座、导向轮15、35。圆柱形组合式压力传感器3用于测量导向轮15、35与侧向焊接基准板之间力的大小，通过前后两个压力值传感器14、34反馈给PLC控制器，通过反馈前后导向轮15、35接触力与力设定值之间大小比较，将控制信号传输给直线马达12、32，从而控制前后直线马达12、32伸出轴的长度，保证导向轮15、35与侧向焊接基准板之间力在设定范围内，使得焊接小车与侧向焊接基准板之间精确贴合，保证焊接出高质量的焊缝。前后2个直线马达12、32的两侧外表面安装有激光测距仪50、51，该激光测距仪50、51用于测量焊接小车与侧向焊接基准板之间距离，测得距离反馈给PLC控制器，控制直线马达12、32伸出轴长度。激光测距仪50、51安装于两个直线马达12、32的外表面，保证激光测距仪50、51测量的距离为导向轮15、35即将到达的距离。十字形的焊枪调节架60置于焊接小车上表面通过螺栓与焊接小车车身固定，焊枪调节架60可以上下左右调节焊枪61位置，焊接调节架7左上端开有焊枪安装孔，通过焊枪安装销9固定焊枪61。In one embodiment of the present invention, a welding trolley and its control method are provided. The welding trolley includes guide wheels 15, 35, guide wheel mounting seats, pressure value sensors 14, 34, laser range finder 50, 51, linear motor 12,32, welding trolley walking motor 41, welding torch adjustment frame 60, welding torch 61, welding torch fixed pin 62, welding trolley body, welding trolley walking wheel 40 and PLC controller (not given in the figure). The welding trolley walking wheels 40 are placed under the welding trolley body, two symmetrically placed front and back respectively, and are mainly used for walking of the welding trolley. The lower right corner of the welding trolley body upper surface has a welding trolley walking motor 41, and the motor 41 is connected with the welding trolley walking wheel 40 by a reducer (not given in the figure), thereby controlling the walking of the welding trolley by controlling the motion of the motor 41. A linear motor 12, 32 is respectively placed on the front and rear ends of the welding trolley body, and the contact between the guide wheels 15, 35 and the lateral welding reference plate is controlled by controlling the length of the linear motor 12, 32 extending out of the shaft. The linear motors 12, 32 extend out from the axial direction of the shaft ends to be connected with pressure value sensors 14, 34, guide wheels 15, 35 mounting bases, and guide wheels 15, 35 in sequence. Cylindrical combined pressure sensor 3 is used to measure the size of the force between the guide wheels 15, 35 and the lateral welding reference plate, feeds back to the PLC controller through the front and rear pressure value sensors 14, 34, and feeds back the front and rear guide wheels 15, 35 The contact force is compared with the set value of the force, and the control signal is transmitted to the linear motors 12, 32, thereby controlling the length of the extension shaft of the front and rear linear motors 12, 32, ensuring that the guide wheels 15, 35 and the lateral welding reference plate The force between them is within the set range, so that the welding trolley and the lateral welding reference plate fit precisely, ensuring high-quality welds. Laser range finders 50, 51 are installed on the outer surfaces of both sides of the front and back linear motors 12, 32, and the laser range finders 50, 51 are used to measure the distance between the welding trolley and the lateral welding reference plate, and measure the distance feedback For the PLC controller, control the extension shaft length of the linear motors 12 and 32 . The laser rangefinders 50, 51 are installed on the outer surfaces of the two linear motors 12, 32, so as to ensure that the distance measured by the laser rangefinders 50, 51 is the distance that the guide wheels 15, 35 will arrive. The cross-shaped welding torch adjustment frame 60 is placed on the upper surface of the welding trolley and fixed with the body of the welding trolley by bolts. The welding torch adjustment frame 60 can adjust the position of the welding torch 61 up, down, left, and right. Fix the welding torch 61.
如图4所示，焊接小车的导向轮15、35与区域A接触，焊接位置为B。本发明中的焊接小车的工作原理是：焊接前可通过PLC控制器设置前后导向轮15、35及直线马达12、32伸出轴长度。在移动方向，前面一组直线马达12、32轴伸出长度比移动方向后面一组的轴伸出长度短。由于前后直线马达12、32轴伸出长度不一致，焊接小车在行走过程中始终靠向轴长度较短的一侧前行，从而实现小车贴合焊接基准板前行。焊接小车在理想工作过程中，前后导向轮15、35紧贴侧向焊接基准板滚动，两导向轮15、35与侧向焊接基准板的压力大小保持不变。激光测距仪50、51测量得到激光测距仪50、51所在位置与侧向焊接基准板的距离也是保持不变。As shown in Figure 4, the guide wheels 15, 35 of the welding trolley are in contact with area A, and the welding position is B. The operating principle of the welding trolley among the present invention is: before welding, front and rear guide wheels 15, 35 and linear motors 12, 32 can be set to extend the shaft length by the PLC controller. In the moving direction, the shaft extension length of the front group of linear motors 12, 32 is shorter than the shaft extension length of the rear group in the moving direction. Due to the inconsistency in the protruding lengths of the 12 and 32 shafts of the front and rear linear motors, the welding trolley always moves forward to the side with the shorter shaft length during the walking process, so that the trolley can move forward close to the welding reference plate. Welding trolley is in ideal working process, and front and rear guide wheel 15,35 is close to the lateral welding datum plate rolling, and the pressure size of two guide wheels 15,35 and lateral welding datum plate remains constant. The distances between the positions of the laser range finders 50 and 51 and the lateral welding reference plate also remain unchanged as measured by the laser range finders 50 and 51 .
当侧向焊接基准板为曲面时，PLC控制器预先设定激光传感器4所在位置与侧向焊接基准面的前部距离S1与后部距离S2，两导向轮15、35与侧向焊接基准面压力F1、F2值范围。在焊接小车工作过程中，当焊接小车导向轮15、35具有偏离曲面焊接基准面的趋势，F1和F2超出设定范围，压力值传感器14、34把压力信号传输给PLC控制器，同时S1和S2也发生改变，激光测距仪50、51把距离信号传输给PLC控制器，PLC控制器接收压力信号和距离信号后反馈给直线马达12、32，直线马达12、32通过控制伸出轴的长度来调节导向轮15、35，此时两导向轮15、35与侧向焊接基准面的压力F1与F2恢复到正常范围内，激光测距仪50、51所在位置与侧向定位基准面的前部距离S1与后部距离S2恢复到设定值，导向轮15、35重新沿曲面行经，焊接小车继续正常焊接。When the lateral welding reference plate is a curved surface, the PLC controller pre-sets the front distance S1 and the rear distance S2 between the position of the laser sensor 4 and the lateral welding reference surface, and the distance between the two guide wheels 15, 35 and the lateral welding reference surface Pressure F1, F2 value range. During the working process of the welding trolley, when the guide wheels 15 and 35 of the welding trolley tend to deviate from the curved surface welding reference plane, F1 and F2 exceed the set range, the pressure value sensors 14 and 34 transmit the pressure signal to the PLC controller, and at the same time S1 and S2 also changes, the laser rangefinder 50, 51 transmits the distance signal to the PLC controller, and the PLC controller receives the pressure signal and the distance signal and feeds it back to the linear motor 12, 32, and the linear motor 12, 32 controls the extension of the shaft. length to adjust the guide wheels 15,35, now the pressures F1 and F2 of the two guide wheels 15,35 and the lateral welding datum surface return to the normal range, the position of the laser range finder 50,51 and the lateral positioning datum surface The front distance S1 and the rear distance S2 return to the set value, the guide wheels 15, 35 travel along the curved surface again, and the welding trolley continues normal welding.
当焊接小车工作，侧向焊接基准板表面不平滑时，PLC控制器预先设定了两导向轮15、35与侧向焊接基准板的压力F1、F2值范围。当焊接小车具有脱离焊接基准板的趋势时，组合式应变传感器3把压力信号传输给PLC控制器，F1与F2发生改变且超过设定范围，同时两个激光测距仪50、51测量得到激光测距仪50、51所在位置与侧向焊接定位基准板前部距离S1与后部距离S2的信号传输给PLC控制器。PLC控制器接收压力信号和距离信号后反馈给直线马达12、32，直线马达12、32通过控制其伸出轴长度来调节导向轮15、35，使两个导向轮15、35与侧向焊接基准板的压力F1、F2及距离S1、S2恢复到正常范围，焊接小车继续正常焊接。When the welding trolley works and the surface of the lateral welding reference plate is not smooth, the PLC controller pre-sets the pressure F1 and F2 value ranges between the two guide wheels 15, 35 and the lateral welding reference plate. When the welding trolley tends to break away from the welding reference plate, the combined strain sensor 3 transmits the pressure signal to the PLC controller, F1 and F2 change and exceed the set range, and the two laser range finders 50 and 51 measure the laser The signals of the position of the range finders 50, 51 and the front distance S1 and the rear distance S2 of the lateral welding positioning reference plate are transmitted to the PLC controller. After receiving the pressure signal and the distance signal, the PLC controller feeds back to the linear motors 12, 32, and the linear motors 12, 32 adjust the guide wheels 15, 35 by controlling the length of their extension shafts, so that the two guide wheels 15, 35 are welded to the side The pressure F1, F2 and the distance S1, S2 of the reference plate return to the normal range, and the welding trolley continues to weld normally.
智能导向装置控制方法具体如下：The control method of the intelligent guiding device is as follows:
第一步(s1)：首先，根据焊接要求设定压力值传感器14、34接触力F1、F2变化范围及焊接小车与侧向焊接基准板距离S1、S2变化范围。Step 1 (s1): First, set the variation range of the contact force F1 and F2 of the pressure value sensors 14 and 34 and the variation range of the distance S1 and S2 between the welding carriage and the lateral welding reference plate according to welding requirements.
第二步(s2)：当焊接小车具有脱离焊接基准板的趋势时，压力值传感器14、34测得数据F1、F2及激光测距仪50、51测得数据S1、S2反馈给PLC控制器。Second step (s2): when the welding trolley has a tendency to break away from the welding reference plate, the data F1, F2 measured by the pressure value sensors 14, 34 and the data S1, S2 measured by the laser range finder 50, 51 are fed back to the PLC controller .
第三步(s3)：PLC控制器将反馈信号与设定值进行比较处理，将PLC处理后的信号传递给直线马达12、32，直线马达12、32动作控制轴伸出长度，保证力、距离信号在正常范围。Step 3 (s3): The PLC controller compares the feedback signal with the set value, transmits the signal processed by the PLC to the linear motor 12, 32, and the linear motor 12, 32 moves to control the extension length of the shaft, ensuring force, The distance signal is within the normal range.
第四步(s4)：实时测得接触力F1、F2及S1、S2的信号反馈给PLC控制器，若F1、F2及S1、S2在在设定值范围内，则停止直线马达12、32，若没有达到范围值，则直线马达12、32继续运动，直至F1、F2及S1、S2满足要求。The fourth step (s4): Feedback the signals of contact force F1, F2 and S1, S2 measured in real time to the PLC controller, if F1, F2 and S1, S2 are within the set value range, stop the linear motors 12, 32 , if the range value is not reached, the linear motors 12, 32 continue to move until F1, F2 and S1, S2 meet the requirements.
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应所述以权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.
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