CN107350607A - A kind of knuckle type arc welding robot - Google Patents
A kind of knuckle type arc welding robot Download PDFInfo
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- CN107350607A CN107350607A CN201710819730.8A CN201710819730A CN107350607A CN 107350607 A CN107350607 A CN 107350607A CN 201710819730 A CN201710819730 A CN 201710819730A CN 107350607 A CN107350607 A CN 107350607A
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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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
- B23K9/0282—Seam welding; Backing means; Inserts for curved planar seams for welding tube sections
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of knuckle type arc welding robot, is controlled using one chip microcomputer open-loop control technology, coordinates Arc Welding Power, realizes indexing automatic welding and pipe welding seam automatic welding.It is made up of soldering appliance, joint type arm, automatic feeding funnel, walking mechanism, robot controller and control power supply.To be solidificated in the welding control software in robot controller, control soldering appliance, joint type arm, automatic feeding funnel, walking mechanism, mutual cooperation, the coordinated movement of various economic factors, automatic welding is carried out.
Description
Technical field
The present invention relates to a kind of electromechanical integrated product, exactly, is related to a kind of arc welding automatic welding device.
Background technology
At present, the equipment that automatic welding is carried out to pipeline girth weld, mainly has《Weld handbook first volume welding method and set
It is standby》Described " all-position automatic welder ", and《Application of the microcomputer in welding》Described in text " fixed -piping is full-automatic
Tig arc welding machine ".Its structure is made up of welding head, the belt guide rail of walking, control system.The control of Butt welding gun position uses welding gun
Position signalling, logic control template, welding gun revolution template, wire feed Control architecture, arc voltage Control architecture, magnetic control arc swing mould
Plate, mechanical arc swing template etc. and realized.Control system includes microcomputer and switch board, and microcomputer is by main frame, key
Disk, display, input equipment, input/output interface etc. form；Switch board by input/output interface circuit, power driving circuit and
The various templates composition of welding torch position control.Automatic welding software be according to welding procedure, preprogramming and be stored in floppy disk or
On hard disk.During welding, under the support of microcomputer system software, calculator memory execution is called in from floppy disk or hard disk.
The control signal of microcomputer output is transported to switch board by output interface, and each executive component is driven after power amplification,
Carry out automatic welding.
In addition, also have《Weld handbook first volume welding method and equipment》、《Industrial robot》、《Robot controls
Technology》" arc welding robot " described in text, its structure are made up of mechanical system, control system, drive system.Wherein machinery system
System includes fuselage, joint type arm, soldering appliance.In order to the movement locus of teaching is changed into the data of corresponding joint axle,
Fuselage, each joint shaft of joint type arm are provided with detecting element, the data deposit master control microcomputer of detection.
The microcomputer of control system is divided into two parts, and a part is master control microcomputer, and another part is from micro-
Type computer or one chip microcomputer.
Drive system is generally hydraulic-driven or motorized motions, and control section is often individually placed in the form of power station.
Programming to arc welding robot, carried out under the support of microcomputer system software.Specifically there are several sides
Formula：Teaching programming, off-line programing, robot language programming.Teaching programming is current using most generally method, this method are compiled
Processing procedure sequence is carried out in robot site, and operating personnel can be pressed given movement locus with hand steered robot and be moved, or operation teaching
Given movement locus motion is pressed by the button driving robot of box, by each angle determined movement locus and be converted into each joint shaft of robot
Information, record the built-in storage into master control microcomputer；During reproduction motion, master control microcomputer reads corresponding letter from internal memory
Breath, using interpolation algorithm and robot inverse to Kinematic Algorithms, the position of movement locus intermediate point and posture are changed into correspondingly
The angle information that joint shaft should rotate, and control command is sent to from microcomputer or one chip microcomputer, drive each pass
Nodal axisn, teaching campaign is reappeared in certain accuracy rating.In teaching and reproduction stage, it is necessary to utilize master control microcomputer.
Above-mentioned automatic welding device, its mechanical system, control system, drive system are all individually to have a style of one's own, especially
It is the control system based on microcomputer, in addition to switch board, microcomputer is typically all by main frame, keyboard, display, input
Equipment, input/output interface composition.Such structure and programming mode and the method for reproduction motion, result in automatic welding and set
Standby not only system complex, it is expensive, and also volume is big, weight weight, and it is not readily portable, it is not easy at welding production scene frequently
It is mobile.Welding manner uses shielded arc welding of tungsten electrode gas, and not only welding production efficiency is relatively low, and, it is necessary to argon during welding
The protective gas when gaseous mixture of gas, helium or these gases is as welding, buys gas, transports gas cylinder, causes welding production
Cost increase；As conductive electrode and the welding wire of filling metal, used in the form of coiling for automatic welding, gas cylinder, welding wire
It is not easy to frequently mobile at welding production scene.Using the automatic welding device of above-mentioned prior art, suitable in fixed weldering
Deliver a child and produce onsite application, or the fixed station operation on production-lines.
In electric power, oil, chemical enterprise pipe-line system erecting and welding, welding production mode is：In a pipe welding seam
After having welded, mobile welding equipment is welded again at next pipe welding seam, and welding equipment is needed in the existing production field of welding
It is frequently mobile.Because welding production scene majority is the areas such as the Plain away from city, desert, hills, using above-mentioned existing skill
The automatic welding device of art, pipe welding seam automatic welding is carried out, is limited by following several aspects：
1. not readily portable automatic welding device and in the frequent mobile automatic welding device in welding production scene；
2. filling argon gas or can not possibly be not easy to, not readily portable argon gas gas cylinder；
3. newly-increased purchase argon gas, round transport take, the cost of welding production is added；
4. welding production efficiency is relatively low, the construction period of pipe-line system installing engineering is extended.
Above-mentioned reason, the automatic welding device using above-mentioned prior art is limited, in electric power, oil, chemical enterprise pipe
Use in road system erecting and welding.So in pipeline welding production, welded using manual electric arc welding in decades.
Welded using manual electric arc welding, not only production welding condition is poor, and labor strength is big, and welding quality fluctuation is big, Yi Shougong
The influence of people's technology status, mental emotion.With microcomputer, one chip microcomputer, robot technology development and should
With in pipeline welding production, implementation automatic welding technique has been equipped with necessary technical foundation.
The content of the invention
The present invention be directed to the automatic welding device using prior art, in electric power, oil, chemical enterprise pipe-line system peace
Welding equipment connect present in deficiency, and implement the needs of automatic welding, there is provided one kind is easy to carry, is easy in welding production scene frequency
The knuckle type arc welding robot of numerous movement, its main purpose are：Automatic welding is realized in pipeline welding production, improves welding life
Efficiency and welding quality are produced, reduces welding production cost.
What the above-mentioned purpose of the present invention was realized in：First by joint type arm, fuselage, walking mechanism, robot control
Device processed, control power supply composition revolute robot.Wherein, joint type arm, walking mechanism, robot controller are module knot
Structure.The number of plies that can be welded according to welding manner, the diameter of welded pipe line, weld seam, selects the modular unit of each specification to assemble.Specifically
Structure is：Walking mechanism is directly installed on production operation scene or production operation object；Fuselage, fuselage are installed in walking mechanism
Upper installation joint type arm, mounting robot controller on the shoulder of joint type arm, the above three are combined into one；Control electricity
Source is individually integrated, and in walking mechanism, is connected by cable with robot controller.Revolute robot is divided into three
Split, split is in light weight, is easy to carry, compact-sized after assembling, is easy to frequently mobile at production operation scene.Again with joint
Humanoid robot is matrix, the erecting and welding instrument on joint type arm, fuselage positions installation automatic feeding funnel, forms special pass
Nodal pattern arc welding robot.In the selection of welding manner, according to the viewpoint of Technological Economy, it can use whole with covered electrode welding
Welding bead；Or the welding manner of middle level and capping is welded with Tig Welding bottom, covered electrode.During welding production operation,
Knuckle type arc welding robot is arranged on welded pipe line, starts knuckle type arc welding robot, in robot controller solidification
Under control software control, knuckle type arc welding robot realizes walking, and imitates the welding action of human hand and arm, coordinates arc-welding electricity
Source, or argon tungsten-arc welding power supply, carry out automatic welding.One pass weld finishes or Tig Welding bottom finishes, and moves
Movable joint type arc welding robot carries out automatic welding to next weld seam, and pipeline weldering is carried out in a manner of similar streamline production operation
Stitch automatic welding.
Brief description is made to each part below：
Welder has two types：Soldering turret and welding torch.
Joint type arm is made up of shoulder, large arm, forearm, wrist, and shoulder, large arm, forearm, wrist are modular structure.Shoulder
Be coupled between portion and large arm by shoulder joint pivot hinge, be coupled between large arm and forearm by elbow joint pivot hinge, forearm and wrist it
Between be coupled by wrist joint pivot hinge.Soldering turret or welding torch and wire feeder can be installed in wrist.With three functions：Operable installation
Soldering turret pincers refer to open and close；The soldering turret or welding torch for operating installation make minor rotation；The soldering turret or wire feeder of operation installation are made small reciprocal
Motion.
Covered electrode or welding wire are placed in automatic feeding funnel, in automatic welding, coordinates joint type arm to send out coating weldering
Bar or welding wire., can Quick universal after covered electrode or welding wire have used.The guide rail of walking mechanism is arranged on the pipeline of welding
On, walking mechanism is arranged in guide rail.Walking mechanism is limited in guide rail and walked, and ensure that the position of knuckle type arc welding robot
Put and do not shift during exercise.
The shoulder mounting robot controller of joint type arm, control power supply are placed in walking mechanism, by cable and
Robot controller connects.Robot controller includes SCM system and input interface circuit, power output drive circuit.Control
Scheme processed is SCM Based full software open-loop control system, the control program of this full software, reduces robot control
The volume of device.
Control power supply is made up of two group storage batteries.
In automatic Arc Welding, it is the key for realizing automatic welding that welding movement locus tracks weld seam all the time, in this technology
It is realized in tracking weld seam in scheme：Walking mechanism is directly installed on welded pipe line, is installed in walking mechanism on automatic
Hopper, installs joint type arm on automatic feeding funnel, erecting and welding instrument on joint type arm.Make simple adjustment during assembling,
Connecing makes the movement locus of soldering appliance be directed at welding bead.With Automatic manual transmission precision, it ensure that soldering appliance is accurate fixed when static
Position.During automatic welding, each joint shaft of robot controller continuous control joint type arm, make each joint shaft while make controlled
Rotation, mutually coordinated rotation, ensure that soldering appliance tracks weld seam all the time during exercise.
Using the knuckle type arc welding robot of above-mentioned technical proposal, split is in light weight, is easy to carry, and after assembling, structure is tight
Gather, be easy to frequently mobile at welding production scene；It can be changed according to the number of plies that welding manner, the diameter of welded pipe line, weld seam weld
Become the composition of knuckle type arc welding robot, make welding production that there is flexibility；Covered electrode, or main use are used in automatic welding
Covered electrode and welding wire, improve welding production efficiency, reduce welding production cost；Make pipeline welding production with similar flowing water
The mode of production operation is carried out, and realizes the pipeline welding production automation, be advantageous to improve welding production working condition, worker from
Freed in onerous toil, reduce the labor intensity of worker；Be advantageous to improve welding production quality, improve work production
Rate, reduce dependence of the welding production quality to worker's technology；It is offline to compile to develop the hardware of one chip microcomputer and technology
The welding control software of Cheng Kaifa knuckle type arc welding robots, to be solidificated in the control software in robot controller, control joint type
Arc welding robot carries out automatic welding, reduces the price of knuckle type arc welding robot.This is set to have compared with high-tech content
Project can be widely used and promote in factory and enterprise.
Brief description of the drawings
Fig. 1 is the front view of revolute robot.
Fig. 2 is the front view using knuckle type arc welding robot of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Revolute robot shown in Fig. 1 is modular construction revolute robot, by joint type arm 3, fuselage 4, walking
7 five mechanism 5, robot controller 6, control power supply part compositions.Wherein joint type arm 3, walking mechanism 5, robot control
Device 6 processed is modular structure, the module of each specification according to the mode of production operation, can be selected to assemble.Concrete structure is：Walking mechanism
It is directly installed on production operation scene or production operation object；Fuselage is installed in walking mechanism, joint type hand is installed on fuselage
Arm, mounting robot controller on the shoulder of joint type arm, the above three are combined into one；Control power supply is individually integrated,
Installed in the upper of walking mechanism, connected by cable with robot controller.Revolute robot is divided into three splits, split weight
Amount is light, is easy to carry, compact-sized, be easy to frequent movement after assembling.
Joint type arm 3 shown in Fig. 1 is made up of shoulder 10, large arm 20, forearm 30, wrist 40.Shoulder 10 and large arm 20
Between by shoulder joint pivot hinge, by elbow joint pivot hinge between large arm 20 and forearm 30, closed between forearm 30 and wrist 40 by wrist
Nodal axisn hinge.Shoulder 10, large arm 20, forearm 30, wrist 40 are modular structure, can select each rule according to the needs of production operation
Lattice module easily changes the outfit.
Wrist 40 shown in Fig. 1 is by wrist stepper motor, drive screw, transmission nut, connection sheet, guide ring, rotating ring, only
Ring, lead ring, wrist direct current generator, gear, rack, casing composition.On the excircle of transmission nut, it symmetrically machined two and put down
Face, two pans are machined in each plane.On the outer circumferential position vertical with the plane, two are symmetrically machined
Guide key groove.Two guide key grooves are symmetrically machined on the inner periphery of rotating ring.Transmission nut screws in drive screw, is sleeved on dynamic
In ring, it is slidably connected by slide key, rotating ring is sleeved in guide ring again, and lead ring is sleeved in only ring, guide ring and only ring is same
Axle is assemblied on casing.End-effector is installed on the lead ring of wrist 40, there are action, two frees degree：Walked by wrist
Stepper motor with drive screw by coupling, and couples through transmission nut, and with the connection sheet of transmission nut hinge, and operation connection sheet is made
Move back and forth；Wrist stepper motor with drive screw by coupling, in the state of drive screw and transmission nut screw, by leading
Xiang Huan, rotating ring supporting transmission nut are simultaneously oriented to, stop ring bearing lead ring and be oriented to, and operation lead ring makees small rotation；Wrist direct current
Machine couples with gear, wrist stepper motor and rack connection, wheel and rack engagement, wrist stepper motor is existed through rack-driving
Make small reciprocating motion in guide ring, drive lead ring similarly to make small reciprocating motion.
Shoulder 10 described in Fig. 1 is assembled into by boxboard, support column, screw, protective cover, and shoulder is also the case of shoulder decelerator
Body, protective cover are mounted in the surrounding of casing.Built-in shoulder stepper motor, shoulder decelerator, shoulder photoelectric coupling detector.Shoulder walks
Stepper motor engages with shoulder decelerator, and the output shaft of shoulder decelerator is shoulder joint nodal axisn.Radial ball bearing is installed at gear shaft,
Radial ball bearing support shoulder joint shaft.The back lash method that disappears that reduction gearing is fastened using biserial gear, screw.Final reduction
Installation shoulder photoelectric coupling detector by gear, two millimeters of apertures on mate gear, detect the rotational angle of shoulder joint nodal axisn.
Large arm 20 shown in Fig. 1 is assembled into by boxboard, support column, screw, protective cover, and large arm is also the case of large arm decelerator
Body, protective cover are mounted in the surrounding of casing.Built-in large arm stepper motor, large arm decelerator, large arm photoelectric coupling detector.Large arm walks
Stepper motor engages with large arm decelerator, and the output shaft of large arm decelerator is elbow joint axle.Radial ball bearing is installed at gear shaft,
Radial ball bearing supports elbow joint axle.The back lash method that disappears that reduction gearing is fastened using biserial gear, screw.Final reduction
Installation large arm photoelectric coupling detector by gear, two millimeters of apertures on mate gear, detect the rotational angle of elbow joint axle.
Forearm 30 shown in Fig. 1 is assembled into by boxboard, support column, screw, protective cover, and forearm is also the case of forearm decelerator
Body, protective cover are mounted in the surrounding of casing.Built-in forearm stepper motor, forearm decelerator, forearm photoelectric coupling detector.Forearm walks
Stepper motor engages with forearm decelerator, and the output shaft of forearm decelerator is wrist joint axle.Radial ball bearing is installed at gear shaft,
Radial ball bearing supports wrist joint axle.The back lash method that disappears that reduction gearing is fastened using biserial gear, screw.Final reduction
Installation forearm photoelectric coupling detector by gear, two millimeters of apertures on mate gear, detect the rotational angle of wrist joint axle.
Fuselage 4 shown in Fig. 1 is cylinder, can install automatic feeding funnel in its position.
Walking mechanism 5 shown in Fig. 1 by two active magnetic wheels, two Additional wheels, vehicle frame, walking direct current generator,
Traveling speed reducer, guide rail composition.In embodiment, guide rail is in annular.Two active magnetic wheels, are separately mounted to vehicle frame
Both ends, active magnetic wheel are cylindricity, and middle part longitudinally is V-shaped.The built-in rolling bearing of Additional wheel and active magnetic
Wheel is co-axially mounted.Direct current generator of walking is arranged on the middle part of vehicle frame, and its longitudinal axis is parallel with active magnetic wheel.Walking is slowed down
Device is arranged on one end of two active magnet-wheels, and vertical with active magnetic wheel, the output shaft at both ends respectively with active magnetic wheel
Son is coupled.Walking direct current generator is coupled with the intermediate input axle of traveling speed reducer, drives active magnetic wheel in the same direction.Vehicle frame is installed
In guide rail, guide rail is two parts in split punishment, and using bolt-connection, the transverse shape at split is not complete on one side
The square shape sealed entirely, it is in convex V-shaped with not sealing the shape when relative completely.Auxiliary wheel is just caught in not to be sealed completely
Square shape, just define the motion of vehicle frame.During production operation, walking direct current generator drives active magnetic through traveling speed reducer
Wheel rotates, and vehicle frame is walked in guide rail.Walking mechanism 5 is limited in guide rail and moved, and ensure that the phase of revolute robot 1
For the position of production operation object, do not shift during exercise.Walking mechanism 5 is modular structure, there is plurality of specifications, can root
Selected according to production operation mode.
Robot controller 6 shown in Fig. 1 is made up of SCM system, input interface circuit, power output drive circuit.
In embodiment, the singlechip chip of SCM system selects 8031, and EingangsAusgangsSchnittstelle selects 8255, address latch choosing
With 74LS373, address decoder selects 74LS138, and memory under program selects 2764.Four groups of input interface circuit, it is with one group
4N25, TOP12 are selected in example, photoelectric coupling isolation, and input socket selects single-row three-pin socket.Power output drive circuit 13
Group, exemplified by one group, Phototube Coupling selects two 4N25, and integrated driving selects 74LS06,74LS07, and power amplifier tube selects four
TIP126, when base select NE555, switch control pipe selects TIP127, and output socket selects single-row five pin socket.In order to reduce
The volume of robot controller, two indicator lamps are only set, and one only accesses SCM system；One only accesses power output driving.
Startup, stop button control machine people's controller are only set.By SCM system, the input interface electricity of four groups of photoelectric detectors
Road, and two groups of pin sockets of biserial 20 be produced on main circuit board with.Two groups of direct current generators, and the control of two groups of switches and
The power output drive circuit of nine groups of stepper motors, all individually production unit circuit board.Can to have element circuit plate
It is transsexual, convenient maintenance.Two groups of direct current generators and two groups of switch control power output drive circuit boards, are all driven by stepper motor power
Dynamic circuit board making.Two groups of direct current generators and two groups of ON-OFF control circuit plates, are assemblied on main circuit board, nine groups of stepper motor electricity
Road plate is assemblied on auxiliary circuit plate.Two circuit boards are placed in the form of overlapping up and down, pass through two groups of biserials two between two circuit boards
Ten pin sockets, the connection of parallel cable plug.In another embodiment, two groups of direct current generators, two groups of switch controls, nine groups of stepping electricity
The circuit board of machine, it is respectively assembled at each executive component.Robot controller 6 is modular structure, can be according to the need of production operation
Will, increase and decrease power output drive circuit, form modules.
The making of Robot controller hardware is such as《MCS-51/96 series one chip microcomputer and its application》、《Single-chip microcomputer
Principle and making》、《Scm application system designs and practice》、《Microcomputer control basis》Described in text.Selected single
After piece movement piece, EingangsAusgangsSchnittstelle, address latch, address decoder, memory under program, address bus, data are total
Line, controlling bus, chip selection signal can be connected by regulation, and its specific method, professional and technical personnel has been quite familiar with to this, no
Repeat again.Only the address of input/output interface 8255 is distributed, and power output driver element circuit board explains.8255 it is every
Input, output port are isolated through photoelectric coupling and are connected with peripheral circuit all the way.8255 PA0, PA1 mouth connects material toggling stepping electricity
Machine, PA2, PA3 mouth feeding stepper motor, PA4, PA5 mouth connect pincers and refer to direct current generator, and PA6, PA71 connect walking direct current generator.
PB0, PB1 mouth connect shoulder stepper motor, and PB2, PB3 mouth connect large arm stepper motor, and PB4, PB5 mouth connect forearm stepper motor, PB6,
PB7 mouths connect pincers and refer to stepper motor.PC0 mouths access shoulder stepper motor, and pincers refer to the driving power loop of stepper motor, switch
Control；PC1 mouths access large arm stepper motor, the driving power loop of forearm stepper motor, make switch control；The switch control of PC2 mouths
System access pusher electromagnet or welding torch switch, PC4 mouths access shoulder photoelectric coupling detector, PC5 mouths access large arm photoelectric coupling
Detector, PC6 mouths access forearm photoelectric coupling detector detect the rotational angle of each joint shaft, PC7 mouths access arc voltage light respectively
Electric lotus root closes detector detection arc voltage, the 8255 reserved Arc Welding Power control of PC3 mouths switch control.In another embodiment, it is single
P1.0, P1.1 mouth of piece machine connect shoulder stepper motor, and P1.2, P1.3 mouth connect large arm stepper motor, and P1.4, P1.5 mouth connect forearm step
Stepper motor.P1.6, P1.7 mouth of single-chip microcomputer and the section ports of P3 mouths give over to further exploitation and used.Power output driver element electricity
Road plate, all with identical structure.Exemplified by controlling shoulder stepper motor：The signal of 8255 PB0 mouths output connects photoelectric coupling
4N25, the signal after isolation connect an integrated driving 74L806 unit, and a 74LS07 unit.The output of PB1 mouths
Signal meets another photoelectric coupling 4N25, and the signal after isolation meets integrated driving 74LS06 another unit, and 74LS07
Another unit.The output signal of four units promotes four power amplifier tube TIP126 respectively, and the electric current after amplification is direct
Shoulder stepper motor is driven to rotate.The signal of PC0 mouths output meets photoelectric coupling 4N25, base NE555 when the signal after isolation connects,
NE555 output connects an integrated driving 74LS06 unit, its output signal pull switch control pipe TIP127, controls shoulder
Stepper motor accesses high voltage.When controlling direct current generator, the 74LS06 in power output driver element circuit board is changed to
74LS07.Two groups of switches control the two-way in optional power output driver element circuit board.
Control power supply 7 includes one group of 6V battery, one group of 18V battery.
On PC microcomputers, according to the requirement of the structural parameters of joint type arm and production operation technique, journey is write
Sequence dynamic simulation joint type arm motion, calculate the angular movement data of each joint shaft of joint type arm.According to emulation and meter
The data of calculation, write control program.Cross assembly control program, assembled control program, pass through the logical of PC microcomputers
Communication interface is input to single chip computer development device, and single chip computer development device connection input interface carries out actual tune with power output drive circuit
Examination, debugs correct control program, is solidificated in robot controller, completes the exploitation of revolute robot's control software.Close
After the structural parameters change of nodal pattern arm and production operation technique make improvements, control program can be changed, compiled, debugging is correctly
Afterwards, it is solidificated in again in robot controller, completes the exploitation again of revolute robot's control software.During production operation, by
The control software control of robot controller solidification, realize revolute robot's walking and imitate the action of human hand and arm, enter
Row production operation.
Fig. 2 is the front view using knuckle type arc welding robot of the present invention.
In pipeline and Pipeline butt connect, welding bead track is perpendicular to the annular of conduit axis.Revolute robot
Walking mechanism 5 be arranged on welded pipe line on, revolute robot along guide rail around pipeline rotate, formation annular welding bead rail
Mark.Using revolute robot as matrix, soldering turret 2, fuselage positions installation automatic feeding funnel 4, composition are installed on joint type arm 3
Using covered electrode as conductive electrode and filling metal knuckle type arc welding robot.Concrete structure is：Walking mechanism 5 is led
Rail, it is directly installed on welded pipe line and has a style of one's own；Automatic feeding funnel 4, automatic feeding funnel 4 are installed on the vehicle frame of walking mechanism 5
It is upper that joint type arm 3 is installed, soldering turret 2 is installed, mounting robot controls on the shoulder 10 of joint type arm 3 on joint type arm 3
Device 6, the above four are combined into one；Control power supply 7 is individually integrated, on the vehicle frame of walking mechanism 5, by cable and
Robot controller 6 connects.Knuckle type arc welding robot is divided into three splits, and split is in light weight, is easy to carry, after assembling, knot
Structure is compact, it is frequently mobile at welding production scene to be easy to.Need to simply it be adjusted during assembling：The center of guide rail is from the pitch of weld
From adjustment, it be a constant that it, which adjusts numerical value, and relative distance error is no more than five millimeters；Automatic feeding funnel 4 is arranged on vehicle frame
Position, can be adjusted by micromatic setting.Due in the reset self-test of joint type arm 3 before welding, large arm 20, forearm 30,
Relative position between soldering turret 2, is reset to predetermined angular respectively, and soldering turret 2 is from being a constant with a distance from shoulder joint nodal axisn.Therefore,
Above-mentioned adjustment is substantially simple numerical value adjustment.By adjustment, the movement locus of soldering turret 2 is set to be directed at weld seam indirectly.
Soldering turret 2 shown in Fig. 2 is referred to by soldering turret frame, pincers to be formed.Pincers, which refer to, is processed into pincer, and clamping the front portion referred to has a V-shaped groove mouth,
There is a pan at middle part, and there is a pan at rear portion.During processing, the distance between two pans are middle part pan and V-shaped groove mouth
Between twice of distance.Soldering turret 2 can be conveniently mounted on the lead ring of wrist, by wrist stepper motor by joining with drive screw
Connecing, couple through transmission nut, and with the connection sheet of transmission nut hinge, the connection sheet other end and pincers refer to hinge, operation pincers refer to out,
Close；Refer in pincers under the situation for clamping covered electrode, drive screw, into stationary fit, is passed with transmission nut by guide ring, rotating ring supporting
Dynamic nut is simultaneously oriented to, stops ring bearing lead ring and be oriented to, and operation soldering turret 2 makees small rotation；Wrist stepper motor and rack connection, hand
Wrist direct current generator couples with gear, wheel and rack engagement, wrist stepper motor is made in guide ring through rack-driving small
Move back and forth, drive soldering turret 2 similarly to make small reciprocating motion.
There is a bulk tank that can be reciprocating inside automatic feeding funnel 4 shown in Fig. 2.Have in bulk tank by turning
Moving axis, and the material stirring disc being fixedly mounted in one end of rotary shaft, the dress for the material stirring disc composition that the other end is fixedly mounted are held frame, are driven
One end of axle is splined shaft.The circumferentially spaced about certain distance of material stirring disc be uniformly provided with circular hole place covered electrode, rotary shaft,
Dial type arm ignite electric arc, joint type arm automatic welding, joint type arm receive arc, the blow-out of joint type arm, joint type arm
Bar return process is taken to make sequential control；In each process, make small-signal output control to executive component, make stepper motor
Acceleration, deceleration, commutation, phase sequence distribution, rotating forward, reversion control；Direct current generator rotates forward, reversion control；Pusher electromagnet is powered, power-off
Control.Robot controller also has another function：Input signal inputs SCM system, single-chip microcomputer through input interface circuit
The control signal of system output, stepper motor is directly driven through power output drive circuit；Or through power output driving and speed governing
Circuit directly drives direct current generator；Or directly control pusher electromagnet through power output drive circuit.Make soldering turret, joint type hand
Arm, automatic feeding funnel, walking mechanism, mutual cooperation, acted by given welding procedure, carry out automatic welding.
The programming mode of knuckle type arc welding robot, master and slave Microcomputer control teaching arc welding robot is not continued to use
Programming mode.But use such as《Industrial robot》、《Robot Control Technology》、《Microcomputer control basis》Institute in text
Principle is stated, on PC microcomputers, according to the structural parameters of joint type arm and given welding movement locus, establishes mathematics
Model.Program dynamic simulation joint type arm motion is write, calculates the angular movement data of each joint shaft of joint type arm.According to
According to emulation and the data calculated, and the technological requirement of welded pipe line weld seam, welding control program is write, its program is as follows：
1st, robot controller electrification reset, initialization；
2nd, joint type arm resets to percutaneous electrode position self-test of getting it filled, and accurately stops at percutaneous electrode position of getting it filled, and sets soft
Part detects；
3rd, material toggling stepper motor stirs material stirring disc, and covered electrode is aligned into bulk tank discharging opening；
4th, pusher electromagnet action, covered electrode is released into circular hopper, makes its exposed 20 millimeters；
5th, pincers refer to stepper motor and rotated forward, and operation pincers refer to opening；
6th, feeding stepper motor is rotated forward, and bulk tank is sent at finger, and covered electrode enters in finger；
7th, pincers refer to stepper motor and rotated backward, and operation pincers refer to closure, clamp covered electrode；
8th, feeding stepper motor is rotated backward, and bulk tank returns to original position, and covered electrode is extracted out from bulk tank；
9th, each joint shaft of joint type arm makees return rotation, and covered electrode is seated in into vertical position, waited to be welded；
10th, each joint shaft of joint type arm makees welding rotation by welding procedure, covered electrode uniform descent, prepares striking；
11st, the pincers of joint type arm refer to, and make small scratching and swing, ignite electric arc；
12nd, each joint shaft of joint type arm makees controlled rotation simultaneously, keeps covered electrode uniform descent, and tracking welding all the time
Road center, while pincers refer to direct current generator operation pincers and refer to and make small reciprocating motion；
13rd, walking direct current generator is rotated forward, and walking mechanism is walked in guide rail, realizes that electric arc moves；
14th, arc voltage is detected, makees small compensation after judgement；
15th, each joint shaft of joint type arm makees return rotation, and covered electrode leaves welding bead, automatic distinguishing electric arc, completes one
The welding of root covered electrode；
16th, walking direct current generator stops operating, and walking mechanism stops walking；
17th, joint type arm is repositioned to percutaneous electrode position of getting it filled, and waits covered electrode to be extracted, sets software detection.
18th, the welding of a covered electrode is completed, that is, completes one action circulation.Above-mentioned circulation is continuously repeated, is made automatic
Welding is carried out continuously.
On PC microcomputers, cross assembly welds control program, and assembled welding control program is miniature by PC
Meter charging tray is integrated.One end installation material toggling decelerator of bulk tank, the final reduction gear center of material toggling decelerator is machined with
Spline.Material toggling stepper motor, pusher electromagnet and charging ram are installed, material toggling stepper motor is with dialling on the casing of material toggling decelerator
Expect that decelerator is coupled.There are feeding stepper motor, feeding decelerator along the axis direction of bulk tank.Feeding stepper motor and feeding
Decelerator is coupled, in walking mechanism.Rack, and the final-stage gear engagement of feeding decelerator are installed on bulk tank.
The end cap of the bulk tank other end is coupled with bulk tank in an articulated fashion.At the final-stage gear axle of material toggling decelerator and rotary shaft
Between, it is connected with spline slide, is easy to change the outfit.Before welding, dress, which is held, can be prefilled with covered electrode or welding wire on frame, be put into circle
In feed bin.In welding, after covered electrode or wire extraction are complete, can Quick universal dress hold frame.Automatic feeding funnel 4 is modularization knot
Structure designs, and has plurality of specifications, and dress, which is held to fill respectively on frame, deposits 25 millimeters of diameter, 3.2 millimeters, 4.0 millimeters of covered electrode or welding wire,
To adapt to the needs of different welding manners and the welding of weld seam layer.
Material toggling decelerator is assembled into by boxboard, support column, screw, train of reduction gears, and boxboard is circle.Installed at gear shaft
Radial ball bearing, the back lash method that disappears that reduction gearing is fastened using biserial gear, screw.
Feeding decelerator is assembled into by boxboard, support column, screw, train of reduction gears, and casing is rectangle.Installed at gear shaft
Radial ball bearing.The back lash method that disappears that reduction gearing is fastened using biserial gear, screw.
In percutaneous electrode process of getting it filled：Before welding, dress holds frame and is prefilled with covered electrode, is put into bulk tank.In shoulder 10
The shoulder stepper motor of installation drives shoulder joint nodal axisn through shoulder decelerator；The large arm stepper motor of installation is through large arm in large arm 20
Decelerator, drive elbow joint axle；The forearm stepper motor of installation drives wrist joint axle, pressed through forearm decelerator in forearm 30
Each predetermined angle value rotates, make between the shoulder 10 of joint type arm 3 and large arm 20, between large arm 20 and forearm 30, it is small
Mutual alignment between arm 30 and soldering turret 2, is reset to predetermined angular respectively, refers to pincers and accurately stops at percutaneous electrode position of getting it filled.
Immediately, wrist stepper motor rotates forward refers to opening through drive screw, nut, connection sheet transmission, operation pincers.Material toggling stepper motor
Through material toggling decelerator, drive rotary shaft, material stirring disc to rotate, make the discharging opening of covered electrode alignment bulk tank.Pusher electromagnet
And charging ram action, release covered electrode makes its exposed 20 millimeters out of bulk tank.Feeding stepper motor slows down through feeding
The final-stage gear of device, bulk tank is driven to be moved to the direction of joint type arm 3, covered electrode is sent on joint type arm 3
In pincers refer to.Wrist stepper motor rotates backward refers to closure through drive screw, nut, connection sheet transmission, operation pincers, clamps coating weldering
Bar.Feeding stepper motor rotates backward the final-stage gear through feeding gear decelerator, drives bulk tank to be moved to direction is resetted,
Covered electrode is extracted bulk tank.
In welding sequence：The shoulder stepper motor of installation drives shoulder joint nodal axisn through shoulder decelerator in shoulder 10；Large arm 20
The large arm stepper motor of interior installation drives elbow joint axle through large arm decelerator；The forearm stepper motor of installation is through small in forearm 30
Arm decelerator, wrist joint axle is driven, is cooperated by each predetermined rotating angle, coordinate to rotate.Joint type arm 3 is set to exist
In motion, the mutual alignment difference between shoulder 10 and large arm 20, between large arm 20 and forearm 30, between forearm 30 and soldering turret 2
Predetermined angle is kept, ensures that pincers refer to the covered electrode tracking weld seam of clamping；Now, according to welding procedure, wrist stepper motor
Operation pincers, which refer to, makees small rotation；Wrist direct current generator operation pincers, which refer to, makees small reciprocating motion；Above-described three motions synthesis
Welding action required for automatic welding.
Control program is SCM Based full software open-loop control system.Controlled by the knuckle type arc welding robot solidified
Software controls, and robot controller has two kinds of functions：Make programmable controller and make sequential control to automatic Arc Welding, successively
Returned before covered electrode, the weldering of joint type arm are extracted to joint type arm self-test return, automatic feeding funnel feeding, joint type arm
The communication interface that machine is calculated in position, joint is input to single chip computer development device, and single chip computer development device connection input interface drives with power output
Dynamic circuit carries out actual debugging, debugs correctly welding control program, is solidificated in robot controller, completes joint type arc-welding
The exploitation of robot control software.After the structural parameters change of joint type arm and welding procedure make improvements, welding control can be changed
Processing procedure sequence, after compiled, debugging correctly, it is solidificated in again in robot controller, it is soft completes knuckle type arc welding robot control
The exploitation again of part.
During automatic welding, by robot controller solidification welding control software control, successively by joint type arm self-test return,
Automatic feeding funnel feeding, joint type arm extract return, joint type arm before covered electrode, the weldering of joint type arm ignite electric arc,
Walking mechanism is moved and joint type arm continuously welds, joint type arm receives arc, the blow-out of joint type arm, joint type arm take bar
Return process sequence is carried out, and coordinates Arc Welding Power, carries out automatic welding.In automatic welding, covered electrode is used, it is not necessary to dioxy
Change carbon or argon gas makees protective gas, while automatic welding is realized, reduce welding production cost.
In another embodiment, pipeline connects with Pipeline butt, due to the importance in pipeline use, according to welding quality
The requirement of standard, pipe welding seam use Tig Welding weld seam foot layer, the welding of covered electrode welding middle level and capping
Mode, to reduce welding production cost.Using knuckle type arc welding robot as matrix, the soldering turret 2 installed on joint type arm 3 is changed
Fill as welding torch 2, increase a joint type arm 8, wire feeder 9 is installed on joint type arm 8, composition uses Tig Welding
Knuckle type arc welding robot.
Welding torch 2 is made up of gun body, sealing ring, ceramic nozzle.Tungsten electrode loads welding torch 2, is tightened by electrode dog.
Wire feeder 9 by feeding stepper motor, reduction gearing, wire pushing roller, lead mouth and form.Feeding stepper motor is through reducing gear
Wheel drives wire pushing roller wire feed, and welding bead is led to through leading mouth.
Taking welding wire process：Material toggling stepper motor drives dress to hold frame rotation, sends out welding wire and leads to wire feeder 9.Automatic charging
Dress in bucket 4 is held loads onto welding wire in advance on frame, be put into bulk tank., can Quick universal after wire extraction is complete in welding.
In welding sequence：Controlled by the knuckle type arc welding robot control software solidified, the welding torch 2 on joint type arm 3,
Wire feeder 9 on joint type arm 8 all reaches weld seam.According to welding procedure, the welding torch 2 installed on joint type arm 3, by wrist
Stepper motor with drive screw by coupling, and couples through transmission nut, and with the connection sheet of transmission nut hinge, connection sheet is another
End and lead ring hinge connection, in the case where drive screw and transmission nut screw situation, transmission nut are supported by guide ring, rotating ring and is led
To, only ring bearing lead ring and be oriented to, operation welding torch 2 makees small rotation；The wire feeder 9 installed on joint type arm 8, is walked by wrist
Stepper motor and rack connection, wrist direct current generator couple with gear, wheel and rack engagement, make wrist stepping electric through rack-driving
Machine makees small reciprocating motion in guide ring, drives wire feeder 9 similarly to make small reciprocating motion.Two kinds of motions described above,
The welding action required for Tig Welding is synthesized.
According to the technological requirement of argon tungsten-arc welding automatic welding pipe welding seam, welding control is write on PC microcomputers
Program, its program are as follows：
1st, robot controller electrification reset, initialization；
2nd, the self-test of joint type arm resets, and sets software detection；
3rd, material toggling stepper motor stirs material stirring disc, sends out welding wire；
4th, each joint shaft of joint type arm is made to weld and rotated, and the wire feeder on joint type arm reaches welding bead；
5th, each joint shaft of joint type arm is made to weld and rotated, and the welding torch on joint type arm reaches welding bead, prepares striking；
6th, welding torch switch closure, send argon gas, ignite electric arc；
7th, walking direct current generator rotates forward, and walking mechanism walking, realizes that electric arc moves；
8th, wrist direct current generator is rotated, and welding wire is swung as small wire feed；
9th, arc voltage is detected, makees small compensation after judgement；
10th, welding torch switch is closed, and stopping send argon gas, extinguishes electric arc；
11st, walking direct current generator stops operating, and walking mechanism stops walking；
Control program is correctly welded in debugging, is solidificated in robot controller.It is soft by the control solidified during automatic welding
Part control, successively by joint type arm self-test return, automatic feeding funnel feeding, joint type arm weldering before in place, joint type arm
It is suitable that electric arc, the walking mechanism of igniting are moved and joint type arm continuously welds, joint type arm receives arc, joint type arm blow-out process
Sequence is carried out, and coordinates argon arc welding power source, carries out automatic welding.In automatic welding, using welding wire, argon gas is as welding protection gas.
Other relevant parts have been described above in detail, and are not being repeated herein.
In arc welding, the arc light that sends with electric arc, heat, sound, phenomena such as, production welding condition is quite severe.
In the present invention, Anti-Jamming Technique takes following measures：
Robot controller is put into shielding box, shielding box good earth；
Using Phototube Coupling, two group storage batteries are powered respectively, and the battery that one group of voltage is 6V supplies SCM system, one group
The battery that voltage is 18V for input interface circuit, power output drive circuit, by SCM system and input interface circuit,
Power output drive circuit separates from circuit.
Above-described is only to use the principle of the invention, realizes the optimal enforcement example of the pipeline welding production automation.Should
Point out, for those skilled in the art, under the premise without departing from the principles of the invention, can also make some modifications and
Improve, so that developing other electromechanical integrated products, also should be regarded as belonging to protection scope of the present invention.
Claims (2)
1. a kind of revolute robot, described revolute robot includes joint type arm, fuselage, it is characterized in that with walking
Mechanism, the robot controller for controlling power supply, have cured robot control software；Joint type arm, walking mechanism, robot control
Device processed is respectively modular structure, according to the needs of production operation, can change the composition of revolute robot；Pacify in walking mechanism
Install body, joint type arm is installed on fuselage, mounting robot controller on joint type arm, control power supply is arranged on vehicle with walking machine
On structure, special end-effector is installed on joint type arm and completes production operation；The central processing unit of robot controller uses
Single-chip microcomputer, control system are SCM Based full software open-loop control system, with off-line programing exploitation revolute robot's control
Software processed, is solidificated in robot controller.
2. revolute robot according to claim 1, it is characterized in that joint type arm is by shoulder, large arm, forearm, wrist
Composition, by shoulder joint pivot hinge between shoulder and large arm, by elbow joint pivot hinge between large arm and forearm, between forearm and wrist
By wrist joint pivot hinge, under the control software control of robot controller solidification, the driving stepper motor shoulder joint nodal axisn of shoulder,
The driving stepper motor elbow joint axle of large arm, the driving stepper motor wrist joint axle of forearm, the anglec of rotation given by each joint shaft
Degree cooperates, coordinates to rotate, and realizes the action for imitating human hand and arm, and move by given movement locus.
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| CN110480227A (en) * | 2019-09-19 | 2019-11-22 | 浙江工业大学 | A kind of high automaticity three-dimension curved surface welding robot device |
| CN112025091A (en) * | 2020-08-26 | 2020-12-04 | 杭州焊林科技有限公司 | Six-degree-of-freedom double-robot laser welding device and control method thereof |
| CN114769791A (en) * | 2022-06-17 | 2022-07-22 | 华南理工大学 | Welding mechanical arm for intelligent construction and welding process thereof |
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| CN1157270C (en) * | 1999-09-02 | 2004-07-14 | 陈炯 | Knuckle type arc welding robot |
| CN104175029A (en) * | 2014-08-13 | 2014-12-03 | 单文博 | Programming-free welding robot and control method |
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