CN106891111A - A kind of robot closed loop processing system for the welding of fin panel casing pin - Google Patents
A kind of robot closed loop processing system for the welding of fin panel casing pin Download PDFInfo
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- CN106891111A CN106891111A CN201710178602.XA CN201710178602A CN106891111A CN 106891111 A CN106891111 A CN 106891111A CN 201710178602 A CN201710178602 A CN 201710178602A CN 106891111 A CN106891111 A CN 106891111A
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- panel casing
- fin panel
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- welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Numerical Control (AREA)
Abstract
The present invention discloses a kind of robot closed loop processing system for the welding of fin panel casing pin, fin panel casing dimensional parameters and sensor detection parameter according to user input plans sensor detection path and welding robot theory machining path automatically, sensor is connected on welding robot and follows arc welding gun head to move, profile to fin panel casing carries out real-time detection, detection data is back to correction module, theoretical machining path is compensated and corrected, and generate the movement instruction of welding robot, control welding robot that pin is welded on fin panel casing according to technological parameter by controller, realize closed loop processing.Present system has merged sensor detection algorithm, welding robot machining path is planned by user input working process parameter automatically, theoretical machining path is compensated and corrected by sensor real-time detection field data, automatically generate welding robot Machining Instruction, machining accuracy is improve, with good Social benefit and economic benefit.
Description
Technical field
The invention belongs to industrial robot welding field, it is related to a kind of robot for the welding of fin panel casing pin to close
Ring system of processing, specifically, is used in the real-time detection feedback of fin panel casing pinpoint welding procedure and the industrial welding machine of compensation
Device people's welding system.
Background technology
Fin panel casing is the important feature part of boiler of power plant furnace wall, is formed along steel pipe longitudinal measure by steel pipe and band steel
Row face and the row of being welded on face on stud or pin composition.Not only efficiency is low for human weld's pin method, and precision is difficult
Ensure, reduce the production efficiency of enterprise.In welding process being carried out using industrial welding robot, traditional artificial teaching mode
There is a problem of that programming is cumbersome, time-consuming, and because fin panel casing size is larger, when current region is welded, due to adding
The deformation that work is produced will make the programmed instruction of path planning of close region no longer accurate.Therefore, obtain current accurately and timely
The shape and pose parameter of workpiece in machining area, then carry out welding robot programming and process that welding quality will be greatly improved
And machining accuracy.
Existing technology and document is retrieved to find, in fields such as weld joint tracking, metal plate bending, robot arc-welding, assemblings,
With visual sensing technical limit spacing workpiece data it is a kind of conventional method before welding robot processing.In work station or weld
The Real-time Collection field datas such as additional visual apparatus, such as vision sensor or industrial camera are installed on welding robot, are returned
Correction is compensated back to control end and machining path is planned again, be consequently formed a dynamic compensation system of processing for closed loop.
The system of processing of this closed loop can effectively improve machining accuracy, inclined between correcting theory path planning and Actual path
Difference.Current this industrial welding robot closed loop processing system, major part is the off-line programing for using, and does not require nothing more than operator
Member possesses the knowledge and experience of professional robotics and programming, and actual environment parameter and theory during off-line programing
Deviation is had between model parameter.And the processing tasks for being welded to pin on fin panel casing, due to workpiece size compared with
Big and pin is large number of, real-time field data feedback compensation and processing method will greatly improve machining accuracy.Therefore, adopt
Fin panel casing pin weld task is completed with robot closed loop processing system can improve Social benefit and economic benefit.
The content of the invention
It is not enough present in defect and existing closed loop processing system of the present invention for fin panel casing pin solder technology,
A kind of robot closed loop processing system for the welding of fin panel casing pin of offer, the control algolithm of merge sensor detection,
By laser cross-section sensor real-time data collection and host computer is returned to, by measurement data to the theoretical processing road planned
Footpath compensates and corrects, and generates welding robot Machining Instruction, drives welding robot to be processed, and which thereby enhances weldering
Machining accuracy is connect, while simplifying the process of robotic programming.
The robot closed loop processing system that the present invention is welded for fin panel casing pin, including welding robot and welding
The arc welding gun head installed in robot, and sensor, host computer, controller, communication apparatus.The sensor is fixedly installed in weldering
On welding robot, the profile to fin panel casing is scanned.
Host computer is used to receiving the technological parameter of user input, including fin panel casing steel pipe radius, fin panel casing
Longitudinal total length, fin panel casing transverse direction total length and sensor detect parameter.Wherein, sensor detection parameter includes：
A, when sensor along fin panel casing longitudinal direction detect, fin panel casing need to be divided in a longitudinal direction
Region detection, then sensor detection parameter is longitudinal detecting distance of each subregion；
B, when sensor along fin panel casing horizontal direction detect, need to be along horizontal direction to fin panel casing subregion
Detection, then sensor detection parameter is the horizontal detecting distance of each subregion.
Host computer is according to the steel pipe radius of fin panel casing, above-mentioned technological parameter, bonding machine in automatic planning current bay
Device people theory machining path and.Host computer detects parameter, the biography sensor inspection in automatic planning current bay according to sensor
Path is surveyed, and generates the instruction for driving sensor detection, sent to controller, driven by controller control welding robot motion
Sensor perform detection task, obtains sensor detection data, and fin panel casing steel in each welded section is obtained after treatment
The radius R of pipe0With central coordinate of circle (xc0, yc0, zc0), and send to host computer；And then the correction module by being designed in host computer,
Each solder joint coordinate in theoretical machining path is corrected, generation welding robot Machining Instruction is sent to controller, controls
Welding robot carries out the welding processing task in current bay.
After the fin panel casing processing tasks of current bay are completed, then above-mentioned theory processing is carried out to next subregion again
After path planning, sensor path planning and bond pad locations coordinates correction, adding for next subregion internal schema water-cooling wall is carried out
Work, until completing the processing tasks of whole fin panel casing.
The advantage of the invention is that：
1st, the present invention joins for the robot closed loop processing system of fin panel casing pin welding according to user input technique
The automatic planning sensor detection path of number and welding robot theory machining path, fin panel casing data are measured using sensor
For compensation and correcting theory machining path, so as to reduce mismachining tolerance, welding quality is improved；Merge sensor detection simultaneously is calculated
Method, the technological parameter according to user input directly generates welding robot instruction repertorie, and control welding robot motion is simplified
Robotic programming mode, overcomes the cumbersome time-consuming difficult point of traditional welding and artificial teaching, greatly reduces to operating personnel
Requirement in professional knowledge technical ability, while the artificial and time is saved, with production application value；
2nd, the robot closed loop processing system that the present invention is welded for fin panel casing pin, the laser sensor of use is straight
Connect and be arranged on welding robot end with arc welding gun head, equipment is not increased additionally, transformation is installed simple and easy to operate；
3rd, the robot closed loop processing system that the present invention is welded for fin panel casing pin, using laser cross-section sensor
Real-time Collection field data is compensated and corrected to path planning, improves machining accuracy；
4th, the present invention well detects sensor for the robot closed loop processing system of fin panel casing pin welding
Algorithm and robotic programming algorithm fusion, realize automatically controlling for welding processing process, with good economic benefit and
Social benefit.
Brief description of the drawings
Fig. 1 is robot closed loop processing overall system architecture schematic diagram of the present invention for the welding of fin panel casing pin；
Fig. 2 is robot closed loop processing system compensation method flow diagram of the present invention for the welding of fin panel casing pin；
Fig. 3 is that the present invention illustrates for pin cloth weldering in the robot closed loop processing system of fin panel casing pin welding
Figure.
In figure：
1- welding robot 2- arc welding gun head 3- sensors
4- host computer 5- controller 6- fin panel casings
7- routers
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
The robot closed loop processing system that the present invention is welded for fin panel casing pin, including welding robot 1, welding gun
First 2, sensor 3, host computer 4, controller 5 and communication apparatus, as shown in Figure 1.
The welding robot 1 is welding arm, and arc welding gun head 2 is installed in its end, for guiding arc welding gun head 2 with fin panel casing
The pose in solder joint normal vector direction carries out spot welding processing on 6 steel pipes.Sensor 3 is laser cross-section sensor, is bolted
The end of welding robot 1 is installed on, makes sensor 3 that arc welding gun head 2 can be followed to move, by sensor to the profile of fin panel casing 6
It is scanned.Described fin panel casing 6 is the row face continuously welded side by side by the steel pipe of band steel and certain size, in power plant's pot
Using more in stove industry.
Communication is realized by communication apparatus between the host computer 4, controller 5, sensor 3 and welding robot 1；Wherein,
Host computer 4 is connected by ethernet line with router 7, and router 7 is connected by ethernet line with controller and sensor 3, real
Existing host computer 4, controller 5 and the triangular communication of sensor 3.Connected by cable between the controller 5 and welding robot 1
Connect, carry out the reception and registration of data and order.
As shown in Fig. 2 having input module 401 in host computer 4, make user that technological parameter is input into host computer 4, work
Skill parameter is the steel pipe radius of fin panel casing 6, longitudinal total length of fin panel casing 6, the horizontal total length of fin panel casing 6 with
Sensor 3 detects parameter.Wherein, the detection of sensor 3 parameter includes：
A, when sensor 3 along the longitudinal direction of fin panel casing 6 detect, fin panel casing 6 need to be entered in a longitudinal direction
Detect that then the detection of sensor 3 parameter is longitudinal detecting distance of each subregion in row subregion；
B, detected along the horizontal direction of fin panel casing 6 when sensor 3, need to be along horizontal direction to 6 points of fin panel casing
Region detection, then the detection of sensor 3 parameter is the horizontal detecting distance of each subregion.
Steel pipe radius, the longitudinal total length of fin panel casing 6, fin panel casing 6 of the host computer 4 according to fin panel casing 6
Horizontal total length detects parameter, the theoretical machining path of automatic planning current bay welding robot 1, according to pin with sensor 3
The arrangement requirement of nail, in the welded section plane along the longitudinal direction of the fin panel casing 6 at interval of certain distance, under
Formula planning solder joint is stated, the solder joint coordinate value in fin panel casing 6 each welded section is obtained：
In formula (1), x, y, z are the solder joint coordinate of theoretical machining path planning, and x directions are the horizontal direction of fin panel casing 6,
Y directions are the longitudinal direction of fin panel casing 6, and Z-direction is and x/y plane vertical direction；xc, zcIt is the X and Z axis in the welded section center of circle
Coordinate；R is welded section radius of circle；α is the folder in the domestic nail welding direction of each welded section of fin panel casing 6 and vertical direction
Angle；Step is the detecting distance every time in a longitudinal direction of sensor 3；N is that current sensor 3 detects number of times.
The planning of theoretical machining path is further illustrated as a example by adjacent three steel pipes of water-cooling wall in mode：As shown in figure 3, three
Welded section interval 40mm on root steel pipe；Welded section interval 20mm is staggered on adjacent steel pipe；And in adjacent steel pipe, one
Weld three pins in the welding plane of root steel pipe, three pin welding directions and vertical direction angle are respectively 40 °, 0 ° with-
45°；Weld two pins in another welding plane of steel pipe, two welding directions of pin and vertical direction add 30 ° of angle with-
30°；Then the solder joint coordinate value in each welded section of fin panel casing 6 is：
Host computer 4 is detected according to longitudinal total length of fin panel casing 6, the horizontal total length of fin panel casing 6 and sensor 3
Parameter, the sensor 3 in automatic planning current bay detects path, and generates the instruction for driving the detection of sensor 3, sends to control
Device processed 5, controls welding robot 1 to move the drive perform detection task of sensor 3 by controller 5, obtains the detection number of sensor 3
According to, and send to host computer 4.The detection data of sensor 3 presses each welded section week on the detection of sensor 3 path for sensor 3
Upward point coordinates set.Host computer is fitted to the detection data of sensor 3 by the method that least square fitting is justified, and is obtained
The steel pipe radius R of fin panel casing 6 in each welded section0With central coordinate of circle (xc0, yc0, zc0), and host computer 4 is passed through with this
The correction module 402 of middle design, is corrected to solder joint coordinate in each welded section in theoretical machining path, generates bonding machine
The Machining Instruction of device people 1 is sent to controller 5, and control welding robot 1 carries out the welding processing task in current bay, makes weldering
Welding robot 1 according to arranging rule, spots weld at the bond pad locations on fin panel casing 6 after correction pin.
Can determine whether that fin panel casing 6 whether there is deformation in current bay by the correction module 402, by straightening die
Block is calculated by following methods and detects that the solder joint coordinate value obtained in each welded section on path is processed with theoretical in sensor 3
The error amount Δ x of solder joint coordinate value in each welded section of path planningc, Δ yc, Δ zc, and on the detection of sensor 3 path
The error amount Δ R of each welded section radius of circle that each welded section is planned with theoretical machining path：
In formula (4), xc, yc, zcIt is X, Y, Z triaxial coordinate in the welded section center of circle；Wherein, ycBy sensor 3 every time along
Detecting distance step and current sensor 3 the detection frequency n of longitudinal direction are calculated.
If formula (4) obtains error amount in the range of allowable error, fin panel casing 6 is carried out according to theoretical machining path
Pin is welded；If wherein any one error amount exceedes allowable error scope, by Δ xc, Δ yc, Δ zcWith Δ R as the following formula,
Again planning theory machining path, completes the correction to solder joint coordinate in each welded section on theoretical machining path：
In formula (5), x ', y ', z ' are the solder joint coordinate value after correction.
Thus, it is after the correction of solder joint coordinate in each welded section on theoretical machining path in upper example：
After 6 processing tasks of fin panel casing of current bay are completed, then above-mentioned theory road is carried out to next subregion again
After footpath planning, sensor path planning and bond pad locations coordinates correction, the processing of next subregion internal schema water-cooling wall is carried out,
Until completing the processing tasks of whole fin panel casing.
Claims (6)
1. a kind of robot closed loop processing system for the welding of fin panel casing pin, including welding robot and welding robot
The arc welding gun head installed on people；It is characterized in that：Also include sensor, host computer, controller, communication apparatus；
The sensor is fixedly installed on welding robot, and the profile to fin panel casing is scanned；
Host computer is used to receiving the technological parameter of user input, including the steel pipe radius of fin panel casing, fin panel casing is vertical
To total length, fin panel casing transverse direction total length and sensor detection parameter；Wherein, sensor detection parameter includes：
A, when sensor along fin panel casing longitudinal direction detect, subregion need to be carried out to fin panel casing in a longitudinal direction
Detection, then sensor detection parameter is longitudinal detecting distance of each subregion；
B, when sensor along fin panel casing horizontal direction detect, need to along horizontal direction to fin panel casing subregion examine
Survey, then sensor detection parameter is the horizontal detecting distance of each subregion；
Host computer is automatic to plan welding robot theory machining path and sensor in current bay according to above-mentioned technological parameter
Detection path, and the instruction for driving sensor detection is generated, send to controller, by controller control welding robot motion band
Dynamic sensor perform detection task, obtains sensor detection data, and fin panel casing in each welded section is obtained after treatment
The radius R of steel pipe0With central coordinate of circle (xc0, yc0, zc0), and send to host computer；And then the straightening die by being designed in host computer
Block, is corrected to each solder joint coordinate in theoretical machining path, and generation welding robot Machining Instruction is sent to controller, controls
Welding robot processed carries out the welding processing task in current bay；
After the fin panel casing processing tasks of current bay are completed, then above-mentioned theory machining path is carried out to next subregion again
After planning, sensor path planning and bond pad locations coordinates correction, the processing of next subregion internal schema water-cooling wall is carried out, directly
To the processing tasks for completing whole fin panel casing.
2. a kind of robot closed loop processing system for the welding of fin panel casing pin as claimed in claim 1, its feature exists
In：Sensor is laser cross-section sensor.
3. a kind of robot closed loop processing system for the welding of fin panel casing pin as claimed in claim 1, its feature exists
In：The host computer is connected by ethernet line with router, and router is connected by ethernet line with controller and sensor,
Realize host computer, controller and the triangular communication of sensor.The controller and welding robot are realized by cable connection
Communication between the two.
4. a kind of robot closed loop processing system for the welding of fin panel casing pin as claimed in claim 1, its feature exists
In：The theoretical method of machining path planning of welding robot is：
Host computer, along in the equally spaced welded section plane of fin panel casing longitudinal direction, is pressed according to the arranging rule of pin
Solder joint is planned according to following formula, the solder joint coordinate value in fin panel casing each welded section is obtained：
In formula (1), x, y, z are the solder joint coordinate of planning, and x directions are horizontal direction, and y directions are fin panel casing longitudinal direction, Z
Direction is and x/y plane vertical direction；xc, zcIt is the X and Z axis coordinate in the center of circle, R is the welded section circle of theoretical machining path planning
Radius；α is the angle in the domestic nail welding direction of each welded section of fin panel casing and vertical direction；Step is that sensor is each
Detecting distance in a longitudinal direction；N is that current sensor detects number of times.
5. a kind of robot closed loop processing system for the welding of fin panel casing pin as claimed in claim 1, its feature exists
In：Sensor detection data presses the circumferentially upper point coordinates set of each welded section on sensor detection path for sensor；It is upper
Machine is fitted to sensor detection data by the method that least square fitting is justified, and obtains membrane type water in each welded section
The radius R of cold wall steel pipe0With central coordinate of circle (xc0, yc0, zc0)。
6. a kind of robot closed loop processing system for the welding of fin panel casing pin as claimed in claim 1, its feature exists
In：Correction module calculates fin panel casing sensor and detects the solder joint obtained in each scanning cross-section on path by following methods
Coordinate value plans the error amount Δ x of solder joint coordinate value with theoretical machining pathc, Δ yc, Δ zc, and welded section radius of circle
Error amount Δ R：
In formula (2), xc, yc, zcIt is the central coordinate of circle of the welded section of theoretical machining path planning；Wherein, ycIt is each by sensor
Detecting distance step and current sensor detection frequency n in a longitudinal direction is calculated；
If formula (2) obtains error amount in the range of allowable error, pin is carried out to fin panel casing according to theoretical machining path
Welding；If wherein any one error amount exceedes allowable error scope, by Δ xc, Δ yc, Δ zcWith Δ R as the following formula, again
Planning theory machining path, completes the correction to solder joint coordinate in each welded section on theoretical machining path；
In formula (3), x ', y ', z ' are the solder joint coordinate value after correction.
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| CN107598377A (en) * | 2017-08-19 | 2018-01-19 | 浙江哈尔斯真空器皿股份有限公司 | The welding method and its automatic welding device of a kind of metal thermos cups port weld seam |
| CN110014353A (en) * | 2018-01-10 | 2019-07-16 | Ａｇｃ株式会社 | The processing method of bend glass substrate and the manufacturing method of glass shaping body |
| CN110044954A (en) * | 2018-01-17 | 2019-07-23 | 三菱日立电力系统株式会社 | Strain correction method, strain correction support system and the revision program of heat transfer face plate |
| CN110936077A (en) * | 2019-12-31 | 2020-03-31 | 南京衍构科技有限公司 | Method for generating surfacing path of membrane type water-cooled wall |
| CN111179255A (en) * | 2019-12-30 | 2020-05-19 | 南京衍构科技有限公司 | Feature recognition method in automatic preparation process of membrane water-cooled wall |
| CN111805145A (en) * | 2020-07-20 | 2020-10-23 | 湖南九方焊接技术有限公司 | Clamp system control method and clamp system |
| CN112692470A (en) * | 2020-11-27 | 2021-04-23 | 中船海洋动力部件有限公司 | Robot off-line adaptive programming processing system and method based on visual sensing |
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| CN111805145A (en) * | 2020-07-20 | 2020-10-23 | 湖南九方焊接技术有限公司 | Clamp system control method and clamp system |
| CN112692470A (en) * | 2020-11-27 | 2021-04-23 | 中船海洋动力部件有限公司 | Robot off-line adaptive programming processing system and method based on visual sensing |
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