CN106425178B - A kind of complicated abnormal shape workpiece robot welding system and method - Google Patents
A kind of complicated abnormal shape workpiece robot welding system and method Download PDFInfo
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- CN106425178B CN106425178B CN201610858671.0A CN201610858671A CN106425178B CN 106425178 B CN106425178 B CN 106425178B CN 201610858671 A CN201610858671 A CN 201610858671A CN 106425178 B CN106425178 B CN 106425178B
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- 238000003466 welding Methods 0.000 title claims abstract description 121
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000002159 abnormal effect Effects 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 238000005476 soldering Methods 0.000 claims abstract description 10
- 238000005070 sampling Methods 0.000 claims description 9
- 238000007599 discharging Methods 0.000 claims description 3
- 241000208340 Araliaceae Species 0.000 claims description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 2
- 235000008434 ginseng Nutrition 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 238000009776 industrial production Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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
- B23K37/0252—Steering means
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Resistance Welding (AREA)
Abstract
The invention discloses a kind of robot welding systems of complicated abnormal shape workpiece, including pedestal, the clamping workpiece system being arranged on the pedestal, welding execution system, master control system and touch screen, the clamping workpiece system includes air cylinder support, the lower air cylinder being vertically arranged on the air cylinder support, the draw back plate for connecting lower air cylinder, the second fixture for being rotatably arranged on by thrust bearing draw back plate bottom；The welding performs system and includes swing mechanism, cross slid platform mechanism, for welding gun and workpiece to be driven to carry out corresponding moving interpolation, completes profile welding；The master control system is connect with swing mechanism and cross slid platform mechanism circuit, for according to workpiece shapes, carrying out interpolation calculating, and send motion impulse to the welding and perform system.The present invention also provides a kind of automatic soldering methods of complicated abnormal shape workpiece.The advantages that welding quality of the present invention is high, production efficiency height, the operation is stable, welding quality are good, it is more to adapt to workpiece type.
Description
Technical field
The present invention relates to automatic welding technique more particularly to a kind of complicated abnormal shape workpiece robot welding systems and method.
Background technology
Automatic welding technique is widely used and improves in industry and manufacturing field, and the development of welding technique is more next
More paid close attention to by industrial production and manufacturing enterprise；Nowadays, occurred in the market much automatic for a certain specific products
Welder, such as the welding dress of the automatic soldering device of the welding long weld seam of van container door-plate and spot welding vehicle frame appearance profile
It puts.This automatic soldering device production efficiency height, the operation is stable, welding quality are good, can be applicable in various complex environments.
There is big stress deformation in complicated abnormal shape thin-wall workpiece welding process, need to use artificial spot welding in preceding process
Complete the positioning of workpiece, this deformation that will cause position error and thin-wall workpiece appearance profile, the welding of traditional teaching playback
Mode is no longer applicable in.For the problem, it is proposed that a kind of complicated abnormal shape thin-wall workpiece automatic welding based on path interpolation
System.
Invention content
It is an object of the invention to overcome the deficiencies in the prior art, one aspect of the present invention proposes a kind of with adaptation workpiece kind
The robot welding system of the complicated abnormal shape workpiece for the advantages that class is more, generation track is fast, welding quality is high, on the other hand provides one
The automatic soldering method of kind complicated abnormal shape workpiece.
Above-mentioned advantage is achieved through the following technical solutions：
A kind of robot welding system of complicated abnormal shape workpiece, including pedestal, the clamping workpiece system being arranged on the pedestal
System, welding execution system, master control system and touch screen,
The clamping workpiece system includes air cylinder support, the lower air cylinder being vertically arranged on the air cylinder support, connects
It connects the draw back plate of lower air cylinder, the second fixture of draw back plate bottom is rotatably arranged on by thrust bearing；
The welding execution system includes being set to swing mechanism immediately below the lower air cylinder, driving welding gun along flat
The cross slid platform mechanism of face Nei YanXY directions movement for the motor command sent according to master control system and pulse, drives weldering
Rifle and workpiece carry out corresponding moving interpolation, complete profile welding；
The touch screen is arranged on the pedestal side, is connect with master control system circuit, for adjusting welding procedure ginseng
Number；
The master control system is connect with swing mechanism and cross slid platform mechanism circuit, for according to workpiece shapes, carrying out
Interpolation calculates, and sends motion impulse to the welding and perform system.
Further, the swing mechanism includes that the first servo motor, to be connected to the first servo motor upper end defeated
The first fixture on shaft.
Further, the cross slid platform mechanism includes the linear module of Y-direction driven by the second servo motor, by third
To linear module, the welding gun is connected the X of servo motor driving by adjustable connection structure with the sliding block of X to linear module
It connects.
Further, the adjustable connection structure includes connecting slide unit connections of the X to the sliding block of linear module
Plate, the Z-direction locating rod being fixed on vertically by fixed seat on the slide unit connecting plate are movably disposed at the Z-direction positioning
Z-direction sliding block on bar, the locking knob for adjusting and locking Z-direction sliding block Z-direction position, the Z-direction sliding block are connected by welding gun
Plate is connected with the welding gun.
Further, limit switches are set in the cross slid platform mechanism.
Further, first fixture is rotatably arranged on by thrust bearing in the lower air cylinder.
A kind of automatic soldering method of the complicated abnormal shape workpiece based on the system, including step：
(1) weld seam of welding workpiece is divided into several key points, forms several arc sections, set welding sequence；
(2) interpolating method of every section of arc section is solved；
(3) master control system sends motion impulse to clamping workpiece system and welding according to required interpolating method and holds
Row system drives welding gun and workpiece to carry out corresponding moving interpolation by the welding sequence of setting, completes profile welding；
Further, the step (2) specifically includes：
(21) beginning and end of any arc section AB is set, using parametric equation, all the points on arc section AB can be with
It is represented by the following formula：
The known arc section central coordinate of circle O'(x0,y0), starting point coordinate A (ax,ay), terminal point coordinate B (bx,by), welding
Movement speed v, sampling time △ t, the center of circle angle theta of arc section AB, line segment AB radius R, A point corresponding to angle, θ1(-
180<θ1≤ 180), the angle, θ corresponding to B points2(-180<θ2≤ 180), wherein θ1For straight line AO' and the angle of X-direction, θ2For
The angle of straight line BO' and X-direction；
(22) it is determined that the center of circle O ' around line segment every a sampling period △ t, is needed to turn by speed v and sampling time △ t
The angle △ θ crossed：
(23) number for the discrete point that each section of arc section is included is set as n, then n can be acquired according to the following formula：
(24) all discrete point P of arc section AB are acquiredi(xi,yi) coordinate be：
(25) according to xiAnd yiThe motion impulse number of each motor of each interpolation cycle can be obtained.
Further, the step (3) specifically includes:
(31) lower air cylinder pushes, and realizes the clamping and positioning of welding workpiece, then welding gun moves to setting welding sequence
Starting point；
(32) master control system sends motion impulse to clamping workpiece system and welding according to required interpolating method
Execution system drives first servo motor, the second servo motor, third servo motor, makes welding gun by required interpolation side
Method is welded along welding track；
(33) it after the completion of welding, is lifted in lower air cylinder, workpiece discharging.
Further, the welding gun by required interpolating method along welding track welded when, the welding gun be located at weldering
In the normal orientation of contact, so as to be further ensured that and improve welding quality.
Compared with prior art, advantages of the present invention：Using lower air cylinder and fixture collective effect and welding workpiece, increase
The accuracy of welding workpiece positioning；Can different path interpolation schemes be changed according to different workpiece, realize different type weldering
Connect the welding of workpiece；It is combined using welding gun plane motion and workpiece rotational motion, simplifies complicated abnormal shape workpiece path, improve weldering
Connect quality.
Description of the drawings
Fig. 1 is the robot welding system structure diagram of the embodiment of the present invention.
Fig. 2 is close-up schematic view at A in Fig. 1.
Fig. 3 is the schematic diagram of welding workpiece example of the present invention.
Fig. 4 is arc section interpolation schematic diagram.
It is shown in figure：1- air cylinder supports；The first fixtures of 2-；The first servo motors of 3-；4- welding guns；The second servos of 5- electricity
Machine；6- third servo motors；7-X is to linear module；8- cross Linear slide platforms；9-Y is to linear module；10- pedestals；11- second
Fixture；12- lower air cylinders；13- welding gun connecting plates；14- fixed seats；15- slide unit connecting plates；16- locking knobs；17-Z is to cunning
Block；18-Z is to locating rod.
Specific embodiment
The purpose of the present invention is described in further detail below by specific embodiment, embodiment cannot herein one by one
It repeats, but therefore embodiments of the present invention are not defined in following embodiment.
As shown in Figure 1, a kind of robot welding system of complicated abnormal shape workpiece, including pedestal 10, is arranged on the pedestal 10
On clamping workpiece system, welding execution system, master control system and touch screen (be not drawn into figure, ordinary skill people
Member can be configured according to actual needs),
The clamping workpiece system includes air cylinder support 1, the lower air cylinder being vertically arranged on the air cylinder support 1
12nd, it connects the draw back plate 11 of lower air cylinder 12, the second fixture of 11 bottom of draw back plate is rotatably arranged on by thrust bearing；
The welding execution system includes being set to swing mechanism, the driving welding gun 4 immediately below the lower air cylinder 12
The cross slid platform mechanism 8 moved along plane along XY directions, for the motor command sent according to master control system and pulse, band
Dynamic welding gun 4 and workpiece carry out corresponding moving interpolation, complete profile welding；
The touch screen is arranged on 10 side of pedestal, is connect with master control system circuit, for adjusting welding procedure
Parameter；
The master control system is connect with swing mechanism and 8 circuit of cross slid platform mechanism, for according to workpiece shapes, carrying out
Interpolation calculates, and sends motion impulse to the welding and perform system.
Specifically, the swing mechanism includes the first servo motor 3, is connected to 3 upper end of the first servo motor
The first fixture 2 on output shaft.
Specifically, the cross slid platform mechanism 8 include the linear module 9 of Y-direction driven by the second servo motor 5, by
The X of third servo motor driving is to linear module 7, and the welding gun 4 is by adjustable connection structure and X to the cunning of linear module 7
Block is connected.
As shown in Fig. 2, the adjustable connection structure includes connecting slide unit companies of the X to the sliding block of linear module 7
Fishplate bar 15, the Z-direction locating rod 18 being fixed on vertically by fixed seat on the slide unit connecting plate 15, be movably disposed at it is described
Z-direction sliding block 17 in Z-direction locating rod 18, for adjusting and locking locking knobs 16 of the Z-direction sliding block 17Z to position, the Z-direction is slided
Block 17 is connected by welding gun connecting plate 13 with the welding gun 4, before welding, can be back-outed locking knob 16 as needed, be adjusted Z
To position of the sliding block 17 in Z-direction locating rod 18, welding gun 4 and the weld seam of workpiece is made to be located in same level height, is then tightened
Locking knob 16 fixes Z-direction sliding block 17.
In another embodiment of the invention, limit switches are set in the cross slid platform mechanism 8, can limit described
Cross slid platform mechanism 8 carried out in safe range X, Y-direction planar movement.
A kind of automatic soldering method of the complicated abnormal shape workpiece based on the system, including step：
(1) weld seam of welding workpiece is divided into several key point A-J, forms several arc sections, setting welding sequence is (as schemed
3)；
(2) interpolating method of every section of arc section is solved；
(3) master control system sends motion impulse to clamping workpiece system and welding according to required interpolating method and holds
Row system drives welding gun 4 and workpiece to carry out corresponding moving interpolation by the welding sequence of setting, completes profile welding；
Specifically, the step (2) specifically includes：
(21) beginning and end of any arc section AB is set, using parametric equation, all the points on arc section AB can be with
It is represented by the following formula：
The known arc section central coordinate of circle O'(x0,y0), starting point coordinate A (ax,ay), terminal point coordinate B (bx,by), welding
Movement speed v, sampling time △ t, the center of circle angle theta of arc section AB, line segment AB radius R, A point corresponding to angle, θ1(-
180<θ1≤ 180), the angle, θ corresponding to B points2(-180<θ2≤ 180), wherein θ1For straight line AO' and the angle of X-direction, θ2For
Straight line BO' and the angle of X-direction (shown in Fig. 4)；
(22) it is determined that the center of circle O ' around line segment every a sampling period △ t, is needed to turn by speed v and sampling time △ t
The angle △ θ crossed：
(23) number for the discrete point that each section of arc section is included is set as n, then n can be acquired according to the following formula：
(24) all discrete point P of arc section AB are acquiredi(xi,yi) coordinate be：
(25) according to xiAnd yiThe motion impulse number of each motor of each interpolation cycle can be obtained.
Specifically, the step (3) specifically includes:
(31) lower air cylinder 12 pushes, and realizes the clamping and positioning of welding workpiece, and then it is suitable to move to setting welding for welding gun 4
The starting point of sequence；
(32) master control system sends motion impulse to clamping workpiece system and welding according to required interpolating method
Execution system drives first servo motor 3, the second servo motor 5, third servo motor 6, and welding gun 4 is made to be inserted by required
Compensating method is welded along welding track；
(33) it after the completion of welding, is lifted in lower air cylinder 12, workpiece discharging.
Specifically, the welding gun 4 by required interpolating method along welding track welded when, the welding gun 4 is located at
In the normal orientation of pad, so as to be further ensured that and improve welding quality.
In this way, being to realize the welding process of entire workpiece by above-mentioned steps, with adapting to, workpiece type is more, welds matter
It measures the advantages that high, production efficiency height, the operation is stable, welding quality are good, can be applicable in various complex environments.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all the present invention
All any modification, equivalent and improvement made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (3)
1. a kind of automatic soldering method of complicated abnormal shape workpiece, using the robot welding system of complicated abnormal shape workpiece, the complexity
The robot welding system of abnormal workpieces includes pedestal (10), the clamping workpiece system being arranged on the pedestal (10), welds and hold
Row system, master control system and touch screen,
The clamping workpiece system includes air cylinder support (1), the lower air cylinder being vertically arranged on the air cylinder support (1)
(12), it connects the draw back plate (11) of lower air cylinder (12), the second of draw back plate (11) bottom is rotatably arranged on by thrust bearing
Fixture；
The welding execution system includes being set to swing mechanism, the driving welding gun (4) immediately below the lower air cylinder (12)
The cross slid platform mechanism (8) moved along plane along XY directions, for the motor command sent according to master control system and pulse,
Welding gun (4) and workpiece is driven to carry out corresponding moving interpolation, completes profile welding；
The touch screen is arranged on the pedestal (10) side, is connect with master control system circuit, for adjusting welding procedure ginseng
Number；
The master control system is connect with swing mechanism and cross slid platform mechanism (8) circuit, for according to workpiece shapes, being inserted
It mends and calculates, and send motion impulse to the welding and perform system；
The swing mechanism includes the first servo motor (3), is connected on the output shaft of the first servo motor (3) upper end
First fixture (2)；
The cross slid platform mechanism (8) including driven by the second servo motor (5) the linear module of Y-direction (9), by third servo
Motor-driven X is to linear module (7), and the welding gun (4) is by adjustable connection structure and X to the sliding block of linear module (7)
It is connected；
The adjustable connection structure include connecting slide unit connecting plate (15) from the X to the sliding block of linear module (7), pass through
Z-direction locating rod (18) that fixed seat is fixed on vertically on the slide unit connecting plate (15) is movably disposed at the Z-direction positioning
Z-direction sliding block (17) on bar (18), the locking knob (16) for adjusting and locking Z-direction sliding block (17) Z-direction position, the Z-direction
Sliding block (17) is connected by welding gun connecting plate (13) with the welding gun (4)；
Limit switches are set in the cross slid platform mechanism (8)；
First fixture (2) is rotatably arranged on by thrust bearing in the lower air cylinder (12)；
It is characterized in that, the automatic soldering method includes step：
(1) weld seam of welding workpiece is divided into several key points, forms several arc sections, set welding sequence；
(2) interpolating method of every section of arc section is solved；
(3) master control system sends motion impulse to clamping workpiece system and welding according to required interpolating method and performs system
System drives welding gun (4) and workpiece to carry out corresponding moving interpolation by the welding sequence of setting, completes profile welding；
The step (2) specifically includes：
(21) beginning and end of any arc section AB is set, using parametric equation, all the points on arc section AB can be used down
Formula represents：
The known arc section central coordinate of circle O'(x0,y0), starting point coordinate A (ax,ay), terminal point coordinate B (bx,by), welding movement
Speed v, sampling time △ t, the center of circle angle theta of arc section AB, line segment AB radius R, A point corresponding to angle, θ1(-180<θ1
≤ 180), the angle, θ corresponding to B points2(-180<θ2≤ 180), wherein θ1For straight line AO' and the angle of X-direction, θ2For straight line
The angle of BO' and X-direction；
(22) it is determined by speed v and sampling time △ t every a sampling period △ t, needs what the center of circle O ' around line segment was turned over
Angle △ θ：
(23) number for the discrete point that each section of arc section is included is set as n, then n can be acquired according to the following formula：
(24) all discrete point P of arc section AB are acquiredi(xi,yi) coordinate be：
(25) according to xiAnd yiThe motion impulse number of each motor of each interpolation cycle can be obtained.
2. the automatic soldering method of complicated abnormal shape workpiece according to claim 1, it is characterised in that：The step (3)
It specifically includes:
(31) lower air cylinder (12) pushes, and realizes the clamping and positioning of welding workpiece, and then it is suitable to move to setting welding for welding gun (4)
The starting point of sequence；
(32) master control system sends motion impulse to clamping workpiece system and welding according to required interpolating method and performs
System drives first servo motor (3), the second servo motor (5), third servo motor (6), makes welding gun (4) by required
Interpolating method welded along welding track；
(33) after the completion of welding, lower air cylinder is lifted on (12), workpiece discharging.
3. the automatic soldering method of complicated abnormal shape workpiece according to claim 2, it is characterised in that：The welding gun (4) is pressed
Required interpolating method along welding track welded when, the welding gun (4) is in the normal orientation of pad.
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| CN201610858671.0A CN106425178B (en) | 2016-09-27 | 2016-09-27 | A kind of complicated abnormal shape workpiece robot welding system and method |
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| CN106425178B true CN106425178B (en) | 2018-06-22 |
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- 2016-09-27 CN CN201610858671.0A patent/CN106425178B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6321431B1 (en) * | 1997-09-11 | 2001-11-27 | Gerhard Ziemek | Process and device for removing oxide skin from metal strips |
| CN101983829A (en) * | 2010-12-08 | 2011-03-09 | 柳州高华机械有限公司 | Rectangular coordinate five-freedom welding manipulator |
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