CN106002014B - A kind of welding system and its welding method suitable for the tracking of right angle welding seam laser - Google Patents

A kind of welding system and its welding method suitable for the tracking of right angle welding seam laser Download PDF

Info

Publication number
CN106002014B
CN106002014B CN201610558009.3A CN201610558009A CN106002014B CN 106002014 B CN106002014 B CN 106002014B CN 201610558009 A CN201610558009 A CN 201610558009A CN 106002014 B CN106002014 B CN 106002014B
Authority
CN
China
Prior art keywords
welding
angle
laser
robot
positioner
Prior art date
Application number
CN201610558009.3A
Other languages
Chinese (zh)
Other versions
CN106002014A (en
Inventor
郑德根
孔萌
张�杰
金玉嵌
刘薇
Original Assignee
上海发那科机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海发那科机器人有限公司 filed Critical 上海发那科机器人有限公司
Priority to CN201610558009.3A priority Critical patent/CN106002014B/en
Publication of CN106002014A publication Critical patent/CN106002014A/en
Application granted granted Critical
Publication of CN106002014B publication Critical patent/CN106002014B/en

Links

Classifications

    • 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 welding system and its welding method that a kind of application is suitable for the tracking of right angle welding seam laser, which includes that a positioner, an end are equipped with the industrial robot of welding gun, a robot control cabinet, a laser, a laser controller and a host computer.In the welding process for being applied to right angle welding seam, laser controller can obtain a points of proximity coordinate on every right-angle side respectively and send to robot control cabinet, robot control cabinet calculates the coordinate of right-angle turning point according to two coordinates, the default turn point robot pose of robot control cabinet and positioner position simultaneously control positioner and robot coordinated movement, it is ensured that welding gun can be directed at the turn point of right angle welding seam during traveling.Such welding system can turn point to right angle welding seam be accurately positioned, to realize accurate positioning of the industrial robot to the point that turns round, guarantee that welding gun is directed at Weld pipe mill, improve the welding precision with right angle welding seam weldment.

Description

A kind of welding system and its welding method suitable for the tracking of right angle welding seam laser

Technical field

The present invention relates to technical field of welding equipment, are specifically related to a kind of welding suitable for the tracking of right angle welding seam laser System and its welding method.

Background technique

In the past 20 years, with digitlization, automation, computer, the development of mechanical designing technique and welding quality Pay much attention to, automatic welding has evolved into a kind of advanced manufacturing technology, automatic welding device institute in the application of each industry The effect of performance is increasing, and application range is expanding rapidly.In modern industrial production, the mechanization of welding production process It is the inexorable trend of welding mechanism process industry modernization development with automation.

Existing automatic welding device specifically includes that robot, welding gun, laser and controller, computer and weld seam figure As processing software.Since welding is non-linear, time-varying a process, welding gun deviates Weld pipe mill in order to prevent, influences welding essence Degree, is widely used laser tracking technology in welding system at present, and the purpose is to utilize laser real-time during actual welding Position while welding is obtained, accordingly even when there are errors or welding thermal deformation, and position while welding to be caused to deviate teaching path for tooling, also can Enough guarantee that welding gun advances along weld seam always.

Under normal conditions, laser is installed to welding gun front end, and line laser is got to the weldering of workpiece surface by laser when operation It sews on, the position of weld seam is identified and calculated by laser control software, and by this location transmission to robot, robot is subsequent Control welding gun is walked along weld seam.But for right angle welding seam, since robot pose changes very greatly, before welding gun at the point that turns round The laser rays at end cannot be got on weld seam always, and so as to cause part tracking data loss, this section of weld seam is likely to be partially welded.Cause And existing robot welding system is to being suitable for straight bead or arch welded joint.

Summary of the invention

For the above-mentioned problems in the prior art, a kind of welding system suitable for the tracking of right angle welding seam laser is now provided System, it is intended to welding gun be prevented to be partially welded at the right-angle turning point of right angle welding seam.

Specific technical solution is as follows:

A kind of welding system suitable for the tracking of right angle welding seam laser, has the feature that, comprising: a positioner becomes Position machine worktable carries welded part;One industrial robot, industrial robot end are equipped with welding gun;The control of one robot Cabinet, robot control cabinet are connect with industrial robot signal;One laser, laser are removably mounted on welding gun front end;One Laser controller, laser controller are electrically connected with laser;And a host computer, host computer and laser controller signal Connection;Wherein, laser controller is connect with robot control cabinet signal.

A kind of above-mentioned welding system suitable for the tracking of right angle welding seam laser, wherein artificial six shaft mechanical of industrial machine Hand.

A kind of above-mentioned welding system suitable for the tracking of right angle welding seam laser, wherein positioner be side oblique type positioner, Rotary positioner, end to end lift rotary formula positioner, end to end tilting positioner, any in dual AC power positioner end to end It is a kind of.

Above-mentioned a kind of welding system suitable for the tracking of right angle welding seam laser, wherein host computer is PC machine.

In addition, having such the present invention also provides a kind of welding method suitable for the tracking of right angle welding seam laser Feature: it including being suitable for the welding system of right angle welding seam laser tracking in above-mentioned any one, and comprises the steps of:

Step 1: the industrial robot drives the welding gun and the laser to advance along right angle welding seam, also, described Laser controller is in first coordinate (X1, Y1) for obtaining close right-angle turning point on a right-angle side of right angle welding seam and sends To the robot control cabinet;The laser controller is in acquisition on another right-angle side of right angle welding seam close to right-angle turning point Second point coordinate (X2, Y2) and be sent to the robot control cabinet;

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

Step 3: the host computer calculates the turn point position that welding system corresponds to right-angle turning point coordinate (X, Y), And the posture of the position and the robot to the positioner carries out assignment,

Step 4: the robot controls the positioner and carries out coordination, it is ensured that welding gun energy during traveling It is enough directed at weld seam and accurately continues to track by the right-angle turning point.

Above-mentioned a kind of welding method suitable for the tracking of right angle welding seam laser, wherein host computer is equipped with adjustment and swashs The weld beam shape software of light device controller parameter.

A kind of above-mentioned welding method suitable for the tracking of right angle welding seam laser, wherein the turn point of welding system It sets and includes: the posture of the position of positioner, the position of industrial robot and industrial robot.

The good effect of above-mentioned technical proposal is:

It is above-mentioned suitable for the welding system of right angle welding seam laser tracking, since industrial robot end is equipped with weldering Rifle, robot control cabinet are connect with industrial robot signal, and laser is removably mounted on welding gun front end, laser controller It is electrically connected with laser.Host computer is connect with laser controller signal, in addition, laser controller and robot control cabinet are believed Number connection.Therefore, in the welding process for being applied to right angle welding seam, laser controller can obtain at right angle inflection point two respectively For two points of proximity coordinates and transmission on right-angle side to robot control cabinet, robot control cabinet calculates the seat of right-angle turning point Mark determines point position of turning round by default robot pose and positioner position, by positioner and robot coordinated movement, it is ensured that Welding gun can be directed at the turn point of right angle welding seam during traveling.Such welding system can turn point to right angle welding seam it is real It now positions, guarantees that welding gun is directed at Weld pipe mill, to realize that the laser with right-angle turning weld seam tracks, improving has flat-face fillet weld The welding precision of seam weld fitting.

Detailed description of the invention

Fig. 1 is a kind of systematic schematic diagram of welding system suitable for the tracking of right angle welding seam laser of the invention;

Fig. 2 is a kind of laser, weldering suitable for the embodiment of the welding system of right angle welding seam laser tracking of the invention The connection schematic diagram of rifle, industrial robot;

Fig. 3 is a kind of right angle welding seam suitable for the embodiment of the welding system of right angle welding seam laser tracking of the invention Right-angle turning point looks for schematic diagram.

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

Specific embodiment

It is real below in order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention It applies example combination attached drawing 1 and technical solution provided by the invention is specifically addressed to attached drawing 3, but the following contents is not as of the invention It limits.

Fig. 1 is a kind of systematic schematic diagram of the embodiment of welding system suitable for the tracking of right angle welding seam laser;Fig. 2 is one The connection signal of kind laser, welding gun, industrial robot suitable for the embodiment for the welding system that right angle welding seam laser tracks Figure.As depicted in figs. 1 and 2, the welding system provided in this embodiment for preventing welding seam bias includes: 1, one industry of a positioner Robot 2, a robot control cabinet 3, a laser 5, a laser controller 6, a host computer 7.

Specifically, 1 workbench of positioner carries welded part, 2 end of industrial robot is equipped with welding gun 4, robot Control cabinet 3 is connect with 2 signal of industrial robot, and laser 5 is removably mounted on 4 front end of welding gun, laser controller 6 and is swashed Light device 5 is electrically connected.Host computer 7 is connect with 6 signal of laser controller.In addition, laser controller 6 and robot control cabinet 3 Signal connection.

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

As preferred embodiment, positioner 1 be side oblique type positioner 1, end to end rotary positioner 1, go up and down end to end Any one in rotary positioner 1, end to end tilting positioner 1, dual AC power positioner 1.

As preferred embodiment, host computer 7 is PC machine.

Fig. 3 is a kind of right-angle turning of right angle welding seam suitable for the embodiment of the welding system of right angle welding seam laser tracking Point looks for schematic diagram.As shown in Figure 1 to Figure 3, the present embodiment additionally provides a kind of welding method of right angle welding seam laser tracking, The welding method include it is above-mentioned prevent the welding system of welding seam bias, and comprise the steps of:

Step 1: the industrial robot drives the welding gun and the laser to advance along right angle welding seam, also, described Laser controller is in first coordinate (X1, Y1) for obtaining close right-angle turning point on a right-angle side of right angle welding seam and sends To the robot control cabinet;The laser controller is in acquisition on another right-angle side of right angle welding seam close to right-angle turning point Second point coordinate (X2, Y2) and be sent to the robot control cabinet;

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

Step 3: the host computer calculates the turn point position that welding system corresponds to right-angle turning point coordinate (X, Y), And the posture of the position and the robot to the positioner carries out assignment,

Step 4: the robot controls the positioner and carries out coordination, it is ensured that welding gun energy during traveling It is enough directed at weld seam and accurately continues to track by the right-angle turning point.

As preferred embodiment, the weld beam shape that host computer 7 is equipped with adjustment 6 parameter of laser controller is soft Part, to improve the computational accuracy of tack weld.

As preferred embodiment, the turn point position of welding system includes: the position of positioner 1, industrial robot 2 Position and industrial robot 2 posture.

Welding system provided in this embodiment suitable for the tracking of right angle welding seam laser is in the welding for being applied to right angle welding seam In the process, laser controller 6 can obtain a points of proximity coordinate on every right-angle side respectively and send and control to robot Cabinet 3, robot control cabinet 3 calculate the coordinate of right-angle turning point according to two coordinates, and robot control cabinet 3 is preset directly The robot pose of angle turn point and positioner position simultaneously control positioner 1 and robot coordinated movement, it is ensured that welding gun 4 is being advanced It can be directed at the turn point of right angle welding seam in the process.Such welding system can turn point to right angle welding seam be accurately positioned, from And realize the accurate positioning of 2 pairs of the industrial robot points that turn round, guarantee that welding gun 4 is directed at Weld pipe mill, improving has the weldering of direct weld seam The welding precision of fitting.

Certainly, welding system provided in this embodiment and its welding method are also equally applicable to acute angle weld seam.

The above is only preferred embodiments of the present invention, are not intended to limit the implementation manners and the protection scope of the present invention, right For those skilled in the art, it should can appreciate that and all replace with being equal made by description of the invention and diagramatic content It changes and obviously changes obtained scheme, should all be included within the scope of the present invention.

Claims (6)

1. a kind of welding system suitable for the tracking of right angle welding seam laser characterized by comprising
One positioner, the displacement machine worktable carry welded part;
One industrial robot, the industrial robot end are equipped with welding gun;
One robot control cabinet, the robot control cabinet are connect with the industrial robot signal;
One laser, the laser are removably mounted on the welding gun front end;
One laser controller, the laser controller are electrically connected with the laser;And
One host computer, the host computer are connect with the laser controller signal;
Wherein, the laser controller is connect with the robot control cabinet signal;
The industrial robot controls the positioner coordination;The turn point position of the welding system includes: the change Position, the position of the industrial robot and the posture of the industrial robot of position machine;
The laser controller obtains one on every right-angle side close to the coordinate of right-angle turning point respectively and is sent to institute Robot control cabinet is stated, the robot control cabinet calculates the coordinate of right-angle turning point according to two described coordinates, described Robot control cabinet presets the robot pose of right-angle turning point and the position of the positioner and controls the positioner With the industrial robot coordination.
2. the welding system according to claim 1 suitable for the tracking of right angle welding seam laser, which is characterized in that the industry The artificial six axis robot of machine.
3. the welding system according to claim 1 suitable for the tracking of right angle welding seam laser, which is characterized in that the displacement Machine is side oblique type positioner, end to end rotary positioner, end to end lift rotary formula positioner, end to end tilting positioner, double Turn round any one in positioner.
4. the welding system according to claim 1 suitable for the tracking of right angle welding seam laser, which is characterized in that described upper Machine is PC machine.
5. a kind of welding method suitable for the tracking of right angle welding seam laser, which is characterized in that using any in Claims 1-4 4 It is suitable for the welding system of right angle welding seam laser tracking described in one, and comprises the steps of:
Step 1: the industrial robot drives the welding gun and the laser to advance along right angle welding seam, also, the laser Device controller is in first coordinate (X1, Y1) for obtaining close right-angle turning point on a right-angle side of right angle welding seam and is sent to institute State robot control cabinet;The laser controller is in obtaining the close to right-angle turning point on another right-angle side of right angle welding seam 2 coordinates (X2, Y2) are simultaneously sent to the robot control cabinet;
Step 2: the robot control cabinet calculates X-coordinate of the X value of first coordinate (X1, Y1) as right-angle turning point, institute It states robot control cabinet and calculates Y-coordinate of the Y value of second point coordinate (X2, Y2) as right-angle turning point;
Step 3: the host computer calculates the turn point position that welding system corresponds to right-angle turning point coordinate (X, Y), and right The posture of the position of the positioner and the robot carries out assignment;
Step 4: the robot controls the positioner and carries out coordination, it is ensured that the welding gun can be right during traveling Quasi- weld seam simultaneously accurately continues to track by the right-angle turning point.
6. the welding method according to claim 5 suitable for the tracking of right angle welding seam laser, which is characterized in that described upper Machine is equipped with the weld beam shape software for adjusting the laser controller parameter.
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)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610558009.3A CN106002014B (en) 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

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610558009.3A CN106002014B (en) 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

Publications (2)

Publication Number Publication Date
CN106002014A CN106002014A (en) 2016-10-12
CN106002014B true CN106002014B (en) 2019-04-02

Family

ID=57119041

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610558009.3A CN106002014B (en) 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

Country Status (1)

Country Link
CN (1) CN106002014B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN106736116B (en) * 2016-12-29 2019-04-23 南京臻铭信自动化装备有限公司 Robot automatic welding production line based on central computer Automatic Control
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

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101791750A (en) * 2009-12-31 2010-08-04 哈尔滨工业大学 Robot remote control welding system and method used for remote welding
CN102699534A (en) * 2012-06-26 2012-10-03 哈尔滨工业大学 Scanning type laser vision sensing-based narrow-gap deep-groove automatic laser multilayer welding method for thick plate
CN203484784U (en) * 2013-09-23 2014-03-19 中集集团集装箱控股有限公司 Welding system for corner welding lines and lap welding lines of corrugated plate of container
CN104708239A (en) * 2015-02-12 2015-06-17 南京航空航天大学 Large-scale marine pipeline initial point recognition and location method and system based on CCD
CN104942459A (en) * 2015-07-15 2015-09-30 湖北省齐星汽车车身股份有限公司 Automated welding workstation used for large tank and adopting robot
CN105195864A (en) * 2015-07-17 2015-12-30 江西洪都航空工业集团有限责任公司 Double-robot working station for double-weld-joint arc welding
CN105728972A (en) * 2016-04-26 2016-07-06 河北工业大学 Concave-convex angle-variable welding joint self-adaptive tracking control device and method
CN105750774A (en) * 2016-05-06 2016-07-13 烟台艾森信息技术股份有限公司 Three-dimension intelligent laser visual tracking welding system and using method
CN206140014U (en) * 2016-07-15 2017-05-03 上海发那科机器人有限公司 Welding system suitable for right angle welding seam laser tracking

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100621100B1 (en) * 2000-02-11 2006-09-07 삼성전자주식회사 method and system for teaching welding robot

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101791750A (en) * 2009-12-31 2010-08-04 哈尔滨工业大学 Robot remote control welding system and method used for remote welding
CN102699534A (en) * 2012-06-26 2012-10-03 哈尔滨工业大学 Scanning type laser vision sensing-based narrow-gap deep-groove automatic laser multilayer welding method for thick plate
CN203484784U (en) * 2013-09-23 2014-03-19 中集集团集装箱控股有限公司 Welding system for corner welding lines and lap welding lines of corrugated plate of container
CN104708239A (en) * 2015-02-12 2015-06-17 南京航空航天大学 Large-scale marine pipeline initial point recognition and location method and system based on CCD
CN104942459A (en) * 2015-07-15 2015-09-30 湖北省齐星汽车车身股份有限公司 Automated welding workstation used for large tank and adopting robot
CN105195864A (en) * 2015-07-17 2015-12-30 江西洪都航空工业集团有限责任公司 Double-robot working station for double-weld-joint arc welding
CN105728972A (en) * 2016-04-26 2016-07-06 河北工业大学 Concave-convex angle-variable welding joint self-adaptive tracking control device and method
CN105750774A (en) * 2016-05-06 2016-07-13 烟台艾森信息技术股份有限公司 Three-dimension intelligent laser visual tracking welding system and using method
CN206140014U (en) * 2016-07-15 2017-05-03 上海发那科机器人有限公司 Welding system suitable for right angle welding seam laser tracking

Also Published As

Publication number Publication date
CN106002014A (en) 2016-10-12

Similar Documents

Publication Publication Date Title
DE112010000794B4 (en) Method for controlling a robot tool
US9895810B2 (en) Cooperation system having machine tool and robot
KR100621100B1 (en) method and system for teaching welding robot
EP1592536B1 (en) A method and a system for programming an industrial robot to move relative to defined positions on an object, including generation of a surface scanning program
ES2443820T3 (en) Methods and systems for predictive control of the height of a torch
KR101801456B1 (en) Joining a workpiece in a concealed joint seam
CN102615390B (en) Swing arc-based multi-layer and multi-channel weld tracking system and identification method thereof
US9782899B2 (en) Calibration method for coordinate system of robot manipulator
US9002516B2 (en) Calibration method for tool center point of a robot manipulator
CN106392267B (en) A kind of real-time welding seam tracking method of six degree of freedom welding robot line laser
AT398050B (en) Welding robot
US8367962B2 (en) Automated welding of moulds and stamping tools
CN100335221C (en) Arc welder
EP2998080B1 (en) Head and automated mechanized method with vision
Kah et al. Robotic arc welding sensors and programming in industrial applications
CN101486123B (en) Welding robot
Nayak et al. Intelligent seam tracking for robotic welding
JP2004174709A (en) Method and device for machining workpiece
CN104588838B (en) A kind of automatic tracing control of welding gun on-line amending system and control method thereof
CN103273171B (en) Visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding
CN105458483B (en) Postwelding weld joint tracking robot automatic deviation correction and ultrasonic impact system
JP2006048244A (en) Working program generating device
JP5537868B2 (en) Welding robot
US8820203B2 (en) Method of controlling a robot for small shape generation
CN106671079B (en) A kind of welding robot motion control method for realizing positioner collaboration

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant