CN107755937A - 变幅摆动焊接方法、装置及焊接机器人 - Google Patents

变幅摆动焊接方法、装置及焊接机器人 Download PDF

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Publication number
CN107755937A
CN107755937A CN201710770894.6A CN201710770894A CN107755937A CN 107755937 A CN107755937 A CN 107755937A CN 201710770894 A CN201710770894 A CN 201710770894A CN 107755937 A CN107755937 A CN 107755937A
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CN
China
Prior art keywords
groove
welding
pad
welding gun
weld seam
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710770894.6A
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English (en)
Chinese (zh)
Inventor
欧阳超
刘曙
王亚磊
汪金祥
甘霖
侯军华
黄世涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Construction Science and Industry Corp Ltd
Original Assignee
China Construction Steel Structure Corp Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Construction Steel Structure Corp Ltd filed Critical China Construction Steel Structure Corp Ltd
Priority to CN201710770894.6A priority Critical patent/CN107755937A/zh
Publication of CN107755937A publication Critical patent/CN107755937A/zh
Priority to DE212018000302.5U priority patent/DE212018000302U1/de
Priority to JP2019600172U priority patent/JP3227938U/ja
Priority to PCT/CN2018/092331 priority patent/WO2019041984A1/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0953—Monitoring or automatic control of welding parameters using computing 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
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
    • 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
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser 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
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/02—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by heating, with or without pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C66/00—General aspects of processes or apparatus for joining preformed parts
    • B29C66/90—Measuring or controlling the joining process
    • B29C66/95—Measuring or controlling the joining process by measuring or controlling specific variables not covered by groups B29C66/91 - B29C66/94

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Automation & Control Theory (AREA)
  • Artificial Intelligence (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Resistance Welding (AREA)
CN201710770894.6A 2017-08-31 2017-08-31 变幅摆动焊接方法、装置及焊接机器人 Pending CN107755937A (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201710770894.6A CN107755937A (zh) 2017-08-31 2017-08-31 变幅摆动焊接方法、装置及焊接机器人
DE212018000302.5U DE212018000302U1 (de) 2017-08-31 2018-06-22 Schwingschweißvorrichtung mit variabler Amplitude und Schweißroboter
JP2019600172U JP3227938U (ja) 2017-08-31 2018-06-22 変動振幅ウィービング溶接装置および溶接ロボット
PCT/CN2018/092331 WO2019041984A1 (zh) 2017-08-31 2018-06-22 变幅摆动焊接方法、装置及焊接机器人

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710770894.6A CN107755937A (zh) 2017-08-31 2017-08-31 变幅摆动焊接方法、装置及焊接机器人

Publications (1)

Publication Number Publication Date
CN107755937A true CN107755937A (zh) 2018-03-06

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CN201710770894.6A Pending CN107755937A (zh) 2017-08-31 2017-08-31 变幅摆动焊接方法、装置及焊接机器人

Country Status (4)

Country Link
JP (1) JP3227938U (ja)
CN (1) CN107755937A (ja)
DE (1) DE212018000302U1 (ja)
WO (1) WO2019041984A1 (ja)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019041984A1 (zh) * 2017-08-31 2019-03-07 中建钢构有限公司 变幅摆动焊接方法、装置及焊接机器人
CN111014878A (zh) * 2019-12-24 2020-04-17 上海智殷自动化科技有限公司 一种树状形的特殊摆动焊接方法
CN111179221A (zh) * 2019-12-09 2020-05-19 中建钢构有限公司 焊接坡口的检测方法、设备及存储介质
CN111360785A (zh) * 2020-02-25 2020-07-03 季华实验室 基于机器人的焊接方法、装置、工业机器人及存储介质
CN111496344A (zh) * 2020-04-08 2020-08-07 济南重工股份有限公司 一种基于激光传感器的v型坡口信息处理方法
WO2021114692A1 (zh) * 2019-12-09 2021-06-17 中建科工集团有限公司 焊接控制方法及焊接控制系统
CN114473133A (zh) * 2020-10-26 2022-05-13 北京配天技术有限公司 变宽度坡口的焊接方法、移动终端及储存介质
CN114932357A (zh) * 2022-06-29 2022-08-23 杭萧钢构（河北）建设有限公司 基于智能焊接机器人的摆弧焊接方法
CN117123919A (zh) * 2023-09-28 2023-11-28 大研机器人(定远县)有限责任公司 一种焊接机器人的自动化焊接控制方法及系统

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110147262B (zh) * 2019-05-14 2023-06-02 上海外高桥造船有限公司 焊接件的坡口参数的确定方法、系统、设备和存储介质
CN114383559A (zh) * 2022-01-13 2022-04-22 中国铁建重工集团股份有限公司 一种焊缝坡口形貌的采集方法及系统

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JP2001113371A (ja) * 1999-10-15 2001-04-24 Toshiba Plant Kensetsu Co Ltd 溶接用開先部の検出装置
WO2011102142A1 (ja) * 2010-02-18 2011-08-25 株式会社 東芝 溶接装置および溶接方法
CN102699534A (zh) * 2012-06-26 2012-10-03 哈尔滨工业大学 基于扫描式激光视觉传感的厚板窄间隙深坡口激光自动化多层焊焊接方法
CN103722278A (zh) * 2013-11-18 2014-04-16 南京鹏力科技有限公司 一种焊接机械手坡口焊缝轨迹的激光寻址方法及系统
CN103934571A (zh) * 2014-04-11 2014-07-23 上海交通大学 厚板机器人焊接系统及多层多道焊缝实时跟踪、规划方法
CN105127551A (zh) * 2015-09-29 2015-12-09 北人机器人系统（苏州）有限公司 一种基于可移动式厚板的自动焊接系统及其焊接方法
CN105215534A (zh) * 2015-11-13 2016-01-06 中冶赛迪工程技术股份有限公司 一种高频焊接智能控制系统及方法
CN106041295A (zh) * 2016-07-05 2016-10-26 昆山华恒机器人有限公司 焊接的控制方法及装置
CN106841398A (zh) * 2017-02-15 2017-06-13 吉林大学 曲面焊接件的定位超声检测装置及方法

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CN102059435B (zh) * 2010-12-14 2012-09-19 东南大学 带有线结构光型视觉传感器的纵缝焊接专机及其控制方法
CN104057202B (zh) * 2014-07-11 2016-04-13 华南理工大学 基于fpga的远程监控移动式机器人自主焊接系统及方法
CN107755937A (zh) * 2017-08-31 2018-03-06 中建钢构有限公司 变幅摆动焊接方法、装置及焊接机器人

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Publication number Priority date Publication date Assignee Title
JP2001113371A (ja) * 1999-10-15 2001-04-24 Toshiba Plant Kensetsu Co Ltd 溶接用開先部の検出装置
WO2011102142A1 (ja) * 2010-02-18 2011-08-25 株式会社 東芝 溶接装置および溶接方法
CN102699534A (zh) * 2012-06-26 2012-10-03 哈尔滨工业大学 基于扫描式激光视觉传感的厚板窄间隙深坡口激光自动化多层焊焊接方法
CN103722278A (zh) * 2013-11-18 2014-04-16 南京鹏力科技有限公司 一种焊接机械手坡口焊缝轨迹的激光寻址方法及系统
CN103934571A (zh) * 2014-04-11 2014-07-23 上海交通大学 厚板机器人焊接系统及多层多道焊缝实时跟踪、规划方法
CN105127551A (zh) * 2015-09-29 2015-12-09 北人机器人系统（苏州）有限公司 一种基于可移动式厚板的自动焊接系统及其焊接方法
CN105215534A (zh) * 2015-11-13 2016-01-06 中冶赛迪工程技术股份有限公司 一种高频焊接智能控制系统及方法
CN106041295A (zh) * 2016-07-05 2016-10-26 昆山华恒机器人有限公司 焊接的控制方法及装置
CN106841398A (zh) * 2017-02-15 2017-06-13 吉林大学 曲面焊接件的定位超声检测装置及方法

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019041984A1 (zh) * 2017-08-31 2019-03-07 中建钢构有限公司 变幅摆动焊接方法、装置及焊接机器人
CN111179221A (zh) * 2019-12-09 2020-05-19 中建钢构有限公司 焊接坡口的检测方法、设备及存储介质
CN111179221B (zh) * 2019-12-09 2024-02-09 中建科工集团有限公司 焊接坡口的检测方法、设备及存储介质
WO2021114692A1 (zh) * 2019-12-09 2021-06-17 中建科工集团有限公司 焊接控制方法及焊接控制系统
CN111014878B (zh) * 2019-12-24 2023-02-24 上海智殷自动化科技有限公司 一种树状形的特殊摆动焊接方法
CN111014878A (zh) * 2019-12-24 2020-04-17 上海智殷自动化科技有限公司 一种树状形的特殊摆动焊接方法
CN111360785A (zh) * 2020-02-25 2020-07-03 季华实验室 基于机器人的焊接方法、装置、工业机器人及存储介质
CN111496344B (zh) * 2020-04-08 2021-12-10 济南重工股份有限公司 一种基于激光传感器的v型坡口信息处理方法
CN111496344A (zh) * 2020-04-08 2020-08-07 济南重工股份有限公司 一种基于激光传感器的v型坡口信息处理方法
CN114473133A (zh) * 2020-10-26 2022-05-13 北京配天技术有限公司 变宽度坡口的焊接方法、移动终端及储存介质
CN114473133B (zh) * 2020-10-26 2024-05-10 北京配天技术有限公司 变宽度坡口的焊接方法、移动终端及储存介质
CN114932357A (zh) * 2022-06-29 2022-08-23 杭萧钢构（河北）建设有限公司 基于智能焊接机器人的摆弧焊接方法
CN114932357B (zh) * 2022-06-29 2024-05-17 杭萧钢构(唐山)有限公司 基于智能焊接机器人的摆弧焊接方法
CN117123919A (zh) * 2023-09-28 2023-11-28 大研机器人(定远县)有限责任公司 一种焊接机器人的自动化焊接控制方法及系统

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Publication number Publication date
WO2019041984A1 (zh) 2019-03-07
DE212018000302U1 (de) 2020-10-02
JP3227938U (ja) 2020-09-24

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Application publication date: 20180306