CN106002014A - Welding system suitable for right-angled welding line laser tracking and welding method thereof - Google Patents

Welding system suitable for right-angled welding line laser tracking and welding method thereof Download PDF

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Publication number
CN106002014A
CN106002014A CN201610558009.3A CN201610558009A CN106002014A CN 106002014 A CN106002014 A CN 106002014A CN 201610558009 A CN201610558009 A CN 201610558009A CN 106002014 A CN106002014 A CN 106002014A
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CN
China
Prior art keywords
welding
angle
laser
robot
positioner
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CN201610558009.3A
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Chinese (zh)
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CN106002014B (en
Inventor
郑德根
孔萌
张�杰
金玉嵌
刘薇
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上海发那科机器人有限公司
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Priority to CN201610558009.3A priority Critical patent/CN106002014B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0258Electric supply or control circuits therefor

Abstract

The invention discloses a welding system suitable for right-angled welding line laser tracking and a welding method thereof. The welding system comprises a deflector, an industrial robot provided with a welding gun at the tail end, a robot control cabinet, a laser, a laser controller and an upper computer. In the welding process of right-angled welding lines, the laser controller can respectively obtain an approaching point coordinate on each right-angled edge and send to the robot control cabinet; the robot control cabinet calculates a coordinate of a right-angled turning point according to two point coordinates; and the robot control cabinet presets a robot gesture in the turning point and the position of the deflector, and controls cooperative actions of the deflector and a robot so as to guarantee the welding gun to align to the turning point of each right-angled welding line in the advancing process. The welding system can precisely position the turning points of the right-angled welding lines so as to realize precise positioning of the turning points by the industrial robot, guarantees the welding gun to align to the centers of the welding lines, and improves the welding precision of welded parts with the right-angled welding lines.

Description

A kind of welding system being applicable to the tracking of right angle welding seam laser and welding method thereof

Technical field

The present invention relates to technical field of welding equipment, be specifically related to a kind of welding system being applicable to the tracking of right angle welding seam laser and welding method thereof.

Background technology

Over nearly 20 years, along with digitized, automatization, computer, the development of mechanical designing technique, and the great attention of welding quality, automatic welding has evolved into the manufacturing technology of a kind of advanced person, automatic welding device effect played in the application of each industry is increasing, and range of application expands the most rapidly.In modern industry produces, the mechanization of welding production process and automatization are the inexorable trends of welding mechanism process industry modernization development.

Existing automatic welding device specifically includes that robot, welding gun, laser instrument and controller, computer and weld beam shape software.Owing to welding is non-linear a, process for time-varying, in order to prevent welding gun from deviateing Weld pipe mill, affect welding precision, laser tracking technology it is widely used at present in welding system, its objective is to utilize laser to obtain position while welding in real time during actual welding, accordingly even when there is error in frock or sweating heat deformation causes position while welding to deviate teaching path, it is also possible to ensure that welding gun advances along weld seam all the time.

Under normal circumstances, laser instrument is installed to welding gun front end, and during operation, line laser is got on the weld seam of surface of the work by laser instrument, by laser control software identification the position that calculates weld seam, and by this location transmission to robot, robot controls welding gun subsequently and walks along weld seam.But, for right angle welding seam, owing at turning round, robot pose changes the most greatly, the laser rays of welding gun front end can not be got on weld seam all the time, thus causes part tracking loss of data, and this section of weld seam is likely to be partially welded.Thus existing robot welding system is to being applicable to straight bead or arch welded joint.

Summary of the invention

For the above-mentioned problems in the prior art, now provide a kind of and be applicable to the welding system that right angle welding seam laser is followed the tracks of, it is intended to prevent welding gun to be partially welded at the right-angle turning point of right angle welding seam.

Concrete technical scheme is as follows:

A kind of welding system being applicable to the tracking of right angle welding seam laser, has the feature that, including: a positioner, positioner workbench carrying welded part;One industrial robot, industrial machine robot end is provided with welding gun;One robot control cabinet, robot control cabinet is connected with industrial robot signal;One laser instrument, laser instrument is removably mounted on welding gun front end;One laser controller, laser controller electrically connects with laser instrument;And a host computer, host computer is connected with laser controller signal;Wherein, laser controller is connected with robot control cabinet signal.

Above-mentioned a kind of welding system being applicable to the tracking of right angle welding seam laser, wherein, the artificial six axis robot of industrial machine.

Above-mentioned a kind of welding system being applicable to the tracking of right angle welding seam laser, wherein, positioner is any one in side oblique type positioner, end to end swinging positioner, end to end lift rotary formula positioner, end to end tilting positioner, dual AC power positioner.

Above-mentioned a kind of welding system being applicable to the tracking of right angle welding seam laser, wherein, host computer is PC.

A kind of it is applicable to what right angle welding seam laser was followed the tracks of welding method it addition, present invention also offers, has a feature in that and include above-mentioned any one is applicable to the welding system that right angle welding seam laser is followed the tracks of, and comprise the steps of

Step 1: described industrial robot drives described welding gun and described laser instrument to advance along right angle welding seam, and, described laser controller obtains the first point coordinates (X1, Y1) near right-angle turning point transmission extremely described robot control cabinet on a right-angle side of right angle welding seam;Described laser controller obtains the second point coordinate (X2, Y2) near right-angle turning point transmission extremely described robot control cabinet on another right-angle side of right angle welding seam;

Step 2: described robot control cabinet calculates the X value X-coordinate as right-angle turning point of the first point coordinates (X1, Y1), described robot control cabinet calculates the Y value Y coordinate as right-angle turning point of second point coordinate (X2, Y2);

Step 3: described host computer calculates a welding system position of turning round corresponding to right-angle turning point coordinates (X, Y), and the position of described positioner and the attitude of described robot are carried out assignment,

Step 4: described robot controls described positioner and coordinates action, it is ensured that described welding gun can be directed at weld seam during advancing and accurately continue to follow the tracks of through described right-angle turning point.

Above-mentioned a kind of being applicable to what right angle welding seam laser was followed the tracks of welding method, wherein, host computer is provided with the weld beam shape software adjusting laser controller parameter.

Above-mentioned a kind of being applicable to what right angle welding seam laser was followed the tracks of welding method, wherein, a position of turning round of welding system comprises: the position of positioner, the position of industrial robot and the attitude of industrial robot.

The good effect of technique scheme is:

Above-mentioned be applicable to the welding system that right angle welding seam laser is followed the tracks of, owing to industrial machine robot end is provided with welding gun, robot control cabinet is connected with industrial robot signal, and laser instrument is removably mounted on welding gun front end, and laser controller electrically connects with laser instrument.Host computer is connected with laser controller signal, additionally, laser controller is connected with robot control cabinet signal.Therefore, in the welding process being applied to right angle welding seam, two points of proximity coordinates that laser controller can obtain at right angle flex point on two right-angle sides respectively also send to robot control cabinet, robot control cabinet calculates the coordinate of right-angle turning point, a position of turning round is determined by default robot pose and positioner position, by positioner and robot coordinated action, it is ensured that welding gun can the turning round a little of collimation angle welding during advancing.Right angle welding seam can be turned round and realize location by this kind of welding system, it is ensured that welding gun alignment Weld pipe mill, thus realizes following the tracks of with the laser of right-angle turning weld seam, improves the welding precision with right angle welding seam weldment.

Accompanying drawing explanation

Fig. 1 is a kind of systematic schematic diagram being applicable to the welding system that right angle welding seam laser is followed the tracks of of the present invention;

Fig. 2 is a kind of laser instrument, welding gun, connection diagram of industrial robot be applicable to the embodiment of the welding system of right angle welding seam laser tracking of the present invention;

Fig. 3 be the present invention a kind of be applicable to right angle welding seam laser follow the tracks of welding system embodiment right angle welding seam right-angle turning point look for schematic diagram.

In accompanying drawing: 1, positioner;2, industrial robot;3, robot control cabinet;4, welding gun;5, laser instrument;6, laser controller;7, host computer.

Detailed description of the invention

For the technological means making the present invention realize, creation characteristic, reaching purpose and be easy to understand with effect, the technical scheme that following example combine accompanying drawing 1 to accompanying drawing 3 and provide the present invention is specifically addressed, but herein below is not as limiting to the invention.

Fig. 1 is the systematic schematic diagram of a kind of embodiment being applicable to the welding system that right angle welding seam laser is followed the tracks of;Fig. 2 is a kind of laser instrument, welding gun, connection diagram of industrial robot be applicable to the embodiment of the welding system of right angle welding seam laser tracking.As depicted in figs. 1 and 2, the welding system of the prevented welding seam bias that the present embodiment provides includes: positioner 1, industrial robot 2, robot control cabinet 3, laser instrument 5, laser controller 6, host computer 7.

Concrete, positioner 1 workbench carrying welded part, industrial robot 2 end is provided with welding gun 4, and robot control cabinet 3 is connected with industrial robot 2 signal, and laser instrument 5 is removably mounted on welding gun 4 front end, and laser controller 6 electrically connects with laser instrument 5.Host computer 7 is connected with laser controller 6 signal.Additionally, laser controller 6 is connected with robot control cabinet 3 signal.

As preferred embodiment, industrial robot 2 is six axis robot.

As preferred embodiment, positioner 1 is any one in side oblique type positioner 1, end to end swinging positioner 1, end to end lift rotary formula positioner 1, end to end tilting positioner 1, dual AC power positioner 1.

As preferred embodiment, host computer 7 is PC.

Fig. 3 be a kind of be applicable to right angle welding seam laser follow the tracks of welding system embodiment right angle welding seam right-angle turning point look for schematic diagram.As shown in Figure 1 to Figure 3, the present embodiment additionally provides the welding method that a kind of right angle welding seam laser is followed the tracks of, and this welding method includes the welding system of above-mentioned prevented welding seam bias, and comprises the steps of

Step 1: described industrial robot drives described welding gun and described laser instrument to advance along right angle welding seam, and, described laser controller obtains the first point coordinates (X1, Y1) near right-angle turning point transmission extremely described robot control cabinet on a right-angle side of right angle welding seam;Described laser controller obtains the second point coordinate (X2, Y2) near right-angle turning point transmission extremely described robot control cabinet on another right-angle side of right angle welding seam;

Step 2: described robot control cabinet calculates the X value X-coordinate as right-angle turning point of the first point coordinates (X1, Y1), described robot control cabinet calculates the Y value Y coordinate as right-angle turning point of second point coordinate (X2, Y2);

Step 3: described host computer calculates a welding system position of turning round corresponding to right-angle turning point coordinates (X, Y), and the position of described positioner and the attitude of described robot are carried out assignment,

Step 4: described robot controls described positioner and coordinates action, it is ensured that described welding gun can be directed at weld seam during advancing and accurately continue to follow the tracks of through described right-angle turning point.

As preferred embodiment, host computer 7 is provided with the weld beam shape software adjusting laser controller 6 parameter, thus improves the computational accuracy of tack weld.

As preferred embodiment, a position of turning round of welding system comprises: the position of positioner 1, the position of industrial robot 2 and the attitude of industrial robot 2.

The welding system be applicable to the tracking of right angle welding seam laser that the present embodiment provides is the welding process being applied to right angle welding seam, laser controller 6 can obtain a points of proximity coordinate on every right-angle side respectively and send to robot control cabinet 3, robot control cabinet 3 calculates the coordinate of right-angle turning point according to two point coordinates, robot control cabinet 3 presets the robot pose of right-angle turning point and positioner position and controls positioner 1 and robot coordinated action, it is ensured that welding gun 4 can the turning round a little of collimation angle welding during advancing.Right angle welding seam can be turned round and a little be accurately positioned by this kind of welding system, thus realizes industrial robot 2 and be accurately positioned the point that turns round, it is ensured that welding gun 4 is directed at Weld pipe mill, improves the welding precision with direct weld seam weldment.

Certainly, the present embodiment provides welding system and welding method thereof are also equally applicable to acute angle weld seam.

These are only preferred embodiment of the present invention; not thereby embodiments of the present invention and protection domain are limited; to those skilled in the art; the equivalent done by all utilization description of the invention and diagramatic content and the scheme obtained by obvious change should be can appreciate that, all should be included in protection scope of the present invention.

Claims (7)

1. one kind is applicable to welding system and the welding method thereof that right angle welding seam laser is followed the tracks of, it is characterised in that including:
One positioner, described positioner workbench carrying welded part;
One industrial robot, described industrial machine robot end is provided with welding gun;
One robot control cabinet, described robot control cabinet is connected with described industrial robot signal;
One laser instrument, described laser instrument is removably mounted on described welding gun front end;
One laser controller, described laser controller electrically connects with described laser instrument;And
One host computer, described host computer is connected with described laser controller signal;
Wherein, described laser controller is connected with described robot control cabinet signal.
The most according to claim 1 be applicable to right angle welding seam laser follow the tracks of welding system, it is characterised in that the artificial six axis robot of described industrial machine.
The most according to claim 1 be applicable to right angle welding seam laser follow the tracks of welding system, it is characterized in that, described positioner is any one in side oblique type positioner, end to end swinging positioner, end to end lift rotary formula positioner, end to end tilting positioner, dual AC power positioner.
The most according to claim 1 be applicable to right angle welding seam laser follow the tracks of welding system, it is characterised in that described host computer is PC.
5. one kind is applicable to the welding method that right angle welding seam laser is followed the tracks of, it is characterised in that includes in Claims 1-4 being applicable to what right angle welding seam laser was followed the tracks of welding system described in any one, and comprises the steps of
Step 1: described industrial robot drives described welding gun and described laser instrument to advance along right angle welding seam, and, described laser controller obtains the first point coordinates (X1, Y1) near right-angle turning point transmission extremely described robot control cabinet on a right-angle side of right angle welding seam;Described laser controller obtains the second point coordinate (X2, Y2) near right-angle turning point transmission extremely described robot control cabinet on another right-angle side of right angle welding seam;
Step 2: described robot control cabinet calculates the X value X-coordinate as right-angle turning point of the first point coordinates (X1, Y1), described robot control cabinet calculates the Y value Y coordinate as right-angle turning point of second point coordinate (X2, Y2);
Step 3: described host computer calculates a welding system position of turning round corresponding to right-angle turning point coordinates (X, Y), and the position of described positioner and the attitude of described robot are carried out assignment;
Step 4: described robot controls described positioner and coordinates action, it is ensured that described welding gun can be directed at weld seam during advancing and accurately continue to follow the tracks of through described right-angle turning point.
The most according to claim 5 be applicable to right angle welding seam laser follow the tracks of welding method, it is characterised in that described host computer is provided with the weld beam shape software adjusting described laser controller parameter.
The most according to claim 5 be applicable to right angle welding seam laser follow the tracks of welding method, it is characterised in that a position of turning round of described welding system comprises: the position of described positioner, the position of described industrial robot and the attitude of described industrial robot.
CN201610558009.3A 2016-07-15 2016-07-15 A kind of welding system and its welding method suitable for the tracking of right angle welding seam laser CN106002014B (en)

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CN106736116A (en) * 2016-12-29 2017-05-31 南京臻铭信机电科技有限公司 Robot automatic welding production line based on central computer Automatic Control
CN106826834A (en) * 2016-12-26 2017-06-13 南京熊猫电子股份有限公司 A kind of robot welding automatic localization method
CN107552923A (en) * 2017-08-30 2018-01-09 合肥工业大学 A kind of continuous welding method of the axle of puppet seven based on six axle arc welding robots

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CN106826834A (en) * 2016-12-26 2017-06-13 南京熊猫电子股份有限公司 A kind of robot welding automatic localization method
CN106826834B (en) * 2016-12-26 2019-02-15 南京熊猫电子股份有限公司 A kind of robot welding automatic localization method
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CN107552923A (en) * 2017-08-30 2018-01-09 合肥工业大学 A kind of continuous welding method of the axle of puppet seven based on six axle arc welding robots

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