CN107262983B - A kind of integration preheating and welding method based on robot - Google Patents
A kind of integration preheating and welding method based on robot Download PDFInfo
- Publication number
- CN107262983B CN107262983B CN201710673542.9A CN201710673542A CN107262983B CN 107262983 B CN107262983 B CN 107262983B CN 201710673542 A CN201710673542 A CN 201710673542A CN 107262983 B CN107262983 B CN 107262983B
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- welding
- control module
- preheating
- plumb joint
- pair
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Classifications
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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
-
- 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
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
Abstract
The invention discloses a kind of integration preheating and welding method based on robot, comprising the following steps: a pair of of robot arm device is extended to welding post；Clamping jaw clamps the welded plate of main welding workpiece two sides respectively；The adjustment of plumb joint position；Plumb joint enters preheated state；A pair of of welder is mobile, is symmetrically preheated；It is flexible by the interval time of setting to detect telescopic system；Timing monitors the pre-heating temperature of weld；After pre-heating temperature reaches setting value, plumb joint enters welded condition；It is symmetrically welded.The preheating before gripping, welding, automatic welding, detection and adjustment weldedization control may be implemented, welding efficiency is high, and welding quality is good, and automation and intelligence degree are high.
Description
Technical field
The present invention relates to the technical field of welding equipment, in particular to a kind of integration preheating and welding based on robot
Method.
Background technique
Automatic welding technique and equipment just develop at a speed unheard of before.The development of national infrastructure engineering and state
The emergence of interior auto industry all effectively promotes the development and progress of advanced welding procedure especially welding automatization technology.
Welding robot and intelligent welding also can suitably develop in specific area, be widely used, increasingly to its technical property requirements
It is high.And it is badly in need of a kind of robot for being able to achieve and being symmetrically welded at present, and welding precision can be improved, improve automation and intelligent journey
Degree.
Electric current, voltage, arc manipulation method, the welding contents such as the number of plies and road number, weld groove, gap are had in welding procedure,
Be the key that guarantee weldquality: welding sequence refers to the welding between assembled each row point, with the deflection of control member.In conjunction with
Above-mentioned, it is to need at present that adjust automatically when being welded, which realizes the multi-functional and intelligent of robot to improve welding quality,
It solves the problems, such as.
Summary of the invention
The purpose of invention: the invention discloses a kind of integration preheating and welding method based on robot may be implemented
Preheating, automatic welding, detection and adjustment weldedization control before gripping, welding, welding efficiency is high, welding quality
Good, automation and intelligence degree are high.
Technical solution: in order to achieve the goal above, the invention discloses a kind of, the integration based on robot is preheated and is welded
Connect method, comprising the following steps: a) a pair of of robot arm device is extended by main telescopic system to welding post；B) robot arm device
On a pair of of clamping device the welded plates of main welding workpiece two sides is clamped by clamping jaw respectively, be kept fixed；C) plumb joint position
Adjustment, until plumb joint reaches weld start position；D) operation of control module control preheating apparatus, plumb joint enter preheating
State；E) control module control welding telescopic system operation, a pair of of welder are mobile；Its respective butt joint carries out pair
The preheating of title；F) in preheating process, control module control detection telescopic system is flexible by the interval time of setting；Temperature inspection
It surveys device timing and monitors the pre-heating temperature of weld, and pass the result to control module；G) pre-heating temperature reaches setting
After value, control module controls welding system operation, and plumb joint enters welded condition；H) control module control welding telescopic system fortune
Row, a pair of of welder are mobile；Its respective butt joint realizes being symmetrically welded for respective welded plate；And realize the weldering of two sides
Fishplate bar is symmetrically welded with main welding workpiece.
Further, above-mentioned a kind of integration preheating and welding method based on robot, the welding further includes following
Step: in welding process, detection device operation: control module control detection telescopic system is flexible by the interval time of setting；Temperature
It spends detection device and device for detecting deformation timing monitors the temperature and deformation direction of weld, and pass the result to control mould
Block；Control module passes through operation, issues instruction adjustment welding sequence.
Further, above-mentioned a kind of integration preheating and welding method based on robot, specific steps in the step c
Include: control module control welding telescopic system operation, a pair of of welder is driven to be moved to required position；Control module control
The operation of plumb joint steering system, makes plumb joint turn to required position；Control module controls open-close system operation, drives welding dress
A pair of of the welding pawl micro-adjustment up and down set, until plumb joint reaches weld start position.
Further, above-mentioned a kind of integration preheating and welding method based on robot, carries out whole after the completion of welding
The blanking of workpiece, specifically includes the following steps: clamping device clamps the one-piece machine member after welding, a pair of of robot arm device passes through master
Telescopic system is shunk, and removes one-piece machine member from welding post；The operating of ontology steering system, ontology drive one-piece machine member to rotate under
One station；One-piece machine member is moved to required position by main telescopic system elongation, robot arm device；Clamping jaw unclamps, and clamping device is multiple
Position；Main telescopic system is shunk, and a pair of of robot arm device resets.
Further, above-mentioned a kind of integration preheating and welding method based on robot, the plumb joint position adjustment
Afterwards, it is respectively aligned to the upper and lower weld seam of two sides welded plate.
Further, above-mentioned a kind of integration preheating and welding method, the plumb joint and preheating based on robot
Device connection.
Further, above-mentioned a kind of integration preheating and welding method based on robot, preheating in the step d
Set temperature is adjusted by adjusting knob.
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects:
(1) a kind of integration preheating and welding method based on robot of the present invention, may be implemented to grip,
Preheating, automatic welding, detection before welding and adjustment weldedization control, welding efficiency is high, and welding quality is good, automation with
Intelligence degree is high.
(2) a kind of integration preheating and welding method based on robot of the present invention, is completed workpiece after welding
It send to next station, high degree of automation, improves production efficiency.
(3) a kind of integration preheating and welding method based on robot of the present invention, by welding process
Monitoring is detected, adjust automatically welding sequence, strict control deflection by temperature detection and deformation direction, improves welding quality.
(4) a kind of integration preheating and welding method based on robot of the present invention, the preheating before welding can be with
Improve welding quality；Pre- heat function directly is realized using welding system, optimizes overall structure.
Detailed description of the invention
Fig. 1 is that a kind of overall structure of integration preheating and welding method based on robot of the present invention is illustrated
Figure；
Fig. 2 is a kind of integrally-built vertical view of integration preheating and welding method based on robot of the present invention
Figure；
Fig. 3 is when a kind of integration preheating based on robot of the present invention works with plumb joint in welding method
Schematic diagram；
In figure: 1- ontology, 2- robot arm device, the main telescopic system of 3-, 4- clamping device, 41- clamping limb, 42- clamping jaw,
43- clamping jaw steering system, 5- welder, 51- weld telescopic system, and 52- welds pawl, 53- plumb joint, and 54- plumb joint turns to
System, 55- open-close system, 56- preheating apparatus, 6- detection device, 61- detect telescopic system, 62- temperature-detecting device, 63-
Device for detecting deformation, 7- pedestal, 71- ontology steering system, the main welding workpiece of 8-, 9- welded plate.
Specific embodiment
With reference to the accompanying drawing, the specific embodiment of the invention is described in detail.
Embodiment
The invention discloses a kind of integration preheating and welding method based on robot, as shown in Figure 1 to Figure 3, including
Following steps:
A) a pair of of robot arm device 2 is extended by main telescopic system 3 to welding post；
B) a pair of of clamping device 4 on robot arm device 2 clamps the welding of main 8 two sides of welding workpiece by clamping jaw 42 respectively
Plate 9, is kept fixed；
C) 53 position of plumb joint adjusts, until plumb joint 53 reaches weld start position；
D) control module control preheating apparatus 56 is run, and plumb joint 53 enters preheated state；
E) control module control welding telescopic system 51 is run, and a pair of of welder 5 is mobile；Its respective butt joint
53 are symmetrically preheated；
F) in preheating process, control module control detection telescopic system 61 is flexible by the interval time of setting；Temperature inspection
It surveys device 62 and periodically monitors the pre-heating temperature of weld, and pass the result to control module；
G) after pre-heating temperature reaches setting value, control module controls welding system operation, and plumb joint 53 enters welding shape
State；
H) control module control welding telescopic system 51 is run, and a pair of of welder 5 is mobile；Its respective butt joint
The 53 respective welded plates 9 of realization are symmetrically welded；And realize the welded plate 9 of two sides and being symmetrically welded for main welding workpiece 8；
I) in welding process, detection device 6 is run: control module control detection telescopic system 61 is by the interval time set
It is flexible；Temperature-detecting device 62 and device for detecting deformation 63 periodically monitor the temperature and deformation direction of weld, and result is passed
Pass control module；
J) control module passes through operation, issues instruction adjustment welding sequence；
K) after the completion of welding, welder 5 and detection device 6 reset；
L) clamping device 4 clamps the one-piece machine member after welding, and a pair of of robot arm device 2 is shunk by main telescopic system 3, from
Welding post removes one-piece machine member；
M) ontology steering system 71 operates, and ontology 1 drives one-piece machine member to rotate to next station；
N) main telescopic system 3 extends, and one-piece machine member is moved to required position by robot arm device 2；
O) clamping jaw 42 unclamps, and clamping device 4 resets；Main telescopic system 3 is shunk, and a pair of of robot arm device 2 resets.
In the present embodiment, specific steps include: that control module control welding telescopic system 51 is run in the step c, band
Dynamic a pair of welder 5 is moved to required position；Control module controls plumb joint steering system 54 and runs, and rotates plumb joint 53
To required position；Control module controls open-close system 55 and runs, and a pair of of about 52 pawl of welding on welder 5 is driven to finely tune
It is whole, until plumb joint 53 reaches weld start position；After 53 position of the plumb joint adjustment, it is respectively aligned to two sides welded plate 9
Upper and lower weld seam.
In the present embodiment, the robot include control module, drive system, ontology 1 and be arranged on ontology 1 one
To robot arm device 2；The robot arm device 2 includes the main telescopic system 3 connecting with ontology 1, and setting is in main flexible system
Clamping device 4, welder 5 and detection device 6 on system 3；The welder 5 includes the weldering connecting with main telescopic system 3
It connects telescopic system 51, the welding pawl 52 for welding the retractable movement of a pair on telescopic system 51, setting is set in welding pawl 52
The plumb joint 53 of end；The plumb joint 53 is rotatablely connected with welding pawl 52 by plumb joint steering system 54, the welding pawl
52 are connect with welding telescopic system 51 by open-close system 55；The plumb joint 53 is connected with preheating apparatus 56.
The clamping device 4 includes the clamping limb 41 connecting with main telescopic system 3, and be rotatablely connected with clamping limb 41
Clamping jaw 42；Clamping jaw steering system 43 is equipped between the clamping jaw 42 and clamping limb 41.The detection device 6 includes and main stretch is
The detection telescopic system 61 of 3 connection of system, the temperature-detecting device 62 and device for detecting deformation being arranged on detection telescopic system 61
63.The drive system include the main retractable driving device being connect with main telescopic system 3, with the weldering that connect of welding telescopic system 51
Connect retractable driving device, the folding driving mechanism connecting with open-close system 55, the plumb joint connecting with plumb joint steering system 54
Steer-drive, the clamping jaw steer-drive being connect with clamping jaw steering system 43, the inspection being connect with detection telescopic system 61
Survey retractable driving device.
The main telescopic system 3, detection telescopic system 61, welding telescopic system 51 are feed screw apparatus；The open-close system
55 be gear rack arrangement.Pedestal 7 is equipped with below the ontology 1, the ontology 1 is connected by ontology steering system 71 and pedestal 7
It connects.The preheating apparatus 56 is connect with control module, and the adjusting knob is connect with control module.
The above is only a preferred embodiment of the present invention, it should be noted that for those skilled in the art
For, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as guarantor of the invention
Protect range.
Claims (4)
1. a kind of integration preheating and welding method based on robot, it is characterised in that: the following steps are included:
A) a pair of of robot arm device (2) is extended by main telescopic system (3) to welding post；
B) a pair of of clamping device (4) on robot arm device (2) clamps main welding workpiece (8) two sides by clamping jaw (42) respectively
Welded plate (9), is kept fixed；
C) plumb joint (53) position adjusts, until plumb joint (53) reach weld start position, control module control welding is flexible
System (51) operation drives a pair of of welder (5) to be moved to required position；Control module controls plumb joint steering system (54)
Operation, makes plumb joint (53) turn to required position；Control module controls open-close system (55) operation, drives welder (5)
On a pair of of welding pawl (52) micro-adjustment up and down, until plumb joint (53) reach weld start position；
D) control module control preheating apparatus (56) operation, plumb joint (53) enter preheated state；
E) control module control welding telescopic system (51) operation, a pair of of welder (5) are mobile；Its respective butt joint
(53) it is symmetrically preheated；
F) in preheating process, control module control detection telescopic system (61) is flexible by the interval time of setting；Temperature detection
Device (62) timing monitors the pre-heating temperature of weld, and passes the result to control module；
G) after pre-heating temperature reaches setting value, control module controls welding system operation, and plumb joint (53) enters welded condition；
H) control module control welding telescopic system (51) operation, a pair of of welder (5) are mobile；Its respective butt joint
(53) being symmetrically welded for respective welded plate (9) is realized；And realize the welded plate (9) of two sides and the balanced welding of main welding workpiece (8)
It connects；
I) in welding process, detection device (6) operation: control module control detection telescopic system (61) is by the interval time set
It is flexible；Temperature-detecting device (62) and device for detecting deformation (63) timing monitor the temperature and deformation direction of weld, and will knot
Fruit passes to control module；Control module passes through operation, issues instruction adjustment welding sequence；
J) welding after the completion of carry out one-piece machine member blanking, specifically includes the following steps: clamping device (4) clamp welding after it is whole
Body workpiece, a pair of of robot arm device (2) are shunk by main telescopic system (3), remove one-piece machine member from welding post；Ontology turns to
System (71) operating, ontology (1) drive one-piece machine member to rotate to next station；Main telescopic system (3) elongation, robot arm device
(2) one-piece machine member is moved to required position；Clamping jaw (42) unclamps, and clamping device (4) resets；Main telescopic system (3) is shunk, and one
Robot arm device (2) are resetted.
2. a kind of integration preheating and welding method based on robot according to claim 1, it is characterised in that: described
After the adjustment of plumb joint (53) position, it is respectively aligned to the upper and lower weld seam of two sides welded plate (9).
3. a kind of integration preheating and welding method based on robot according to claim 1, it is characterised in that: described
Plumb joint (53) is connect with preheating apparatus (56).
4. a kind of integration preheating and welding method based on robot according to claim 1, it is characterised in that: described
Preheating set temperature is adjusted by adjusting knob in step d.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710673542.9A CN107262983B (en) | 2017-08-09 | 2017-08-09 | A kind of integration preheating and welding method based on robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710673542.9A CN107262983B (en) | 2017-08-09 | 2017-08-09 | A kind of integration preheating and welding method based on robot |
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| Publication Number | Publication Date |
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| CN107262983A CN107262983A (en) | 2017-10-20 |
| CN107262983B true CN107262983B (en) | 2019-03-26 |
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| CN201710673542.9A Active CN107262983B (en) | 2017-08-09 | 2017-08-09 | A kind of integration preheating and welding method based on robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598427A (en) * | 2017-10-23 | 2018-01-19 | 江西省莲花水轮机厂有限公司 | A kind of hydraulic turbine main shaft welding equipment and its course of work |
| CN107598426A (en) * | 2017-10-23 | 2018-01-19 | 江西省莲花水轮机厂有限公司 | A kind of hydraulic turbine main shaft welding equipment |
| CN114952100A (en) * | 2022-06-08 | 2022-08-30 | 无锡新瑞驰科技有限公司 | Stator piece welding processing device |
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| JP2001162386A (en) * | 1999-12-09 | 2001-06-19 | Honda Motor Co Ltd | Method of hybrid laser welding and its equipment |
| CN201841370U (en) * | 2010-10-26 | 2011-05-25 | 宁波金凤焊割机械制造有限公司 | T-shaped steel deformation-preventing and pre-heating device in welding |
| CN205660322U (en) * | 2016-06-07 | 2016-10-26 | 沈阳大族赛特维机器人股份有限公司 | Adjustment is many welder while automatic weld's device in robot welding |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3036302B1 (en) * | 2015-05-20 | 2017-06-02 | Commissariat A L`Energie Atomique Et Aux Energies Alternatives | TELEOPERATED MANUAL WELDING METHOD AND WELDING ROBOT USING SUCH A METHOD |
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2017
- 2017-08-09 CN CN201710673542.9A patent/CN107262983B/en active Active
Patent Citations (3)
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|---|---|---|---|---|
| JP2001162386A (en) * | 1999-12-09 | 2001-06-19 | Honda Motor Co Ltd | Method of hybrid laser welding and its equipment |
| CN201841370U (en) * | 2010-10-26 | 2011-05-25 | 宁波金凤焊割机械制造有限公司 | T-shaped steel deformation-preventing and pre-heating device in welding |
| CN205660322U (en) * | 2016-06-07 | 2016-10-26 | 沈阳大族赛特维机器人股份有限公司 | Adjustment is many welder while automatic weld's device in robot welding |
Non-Patent Citations (1)
| Title |
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| 同步预热焊接专机的应用;裴萌等;《工程机械与维修》;20150108(第Z1期);第66-70页 |
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Effective date of registration: 20190930 Address after: Taicang City, Suzhou City, Jiangsu Province, and 215400 Metro Jianxiong Road No. 20 Patentee after: (Suzhou) Co., Ltd. Haoke robot Address before: Taicang City, Suzhou City, Jiangsu Province, and 215400 Metro Jianxiong Road No. 20 Patentee before: Suzhou Agam robot Co., Ltd. |