CN108127286A - A kind of abnormity Chong Bang plates robot automatic welding method - Google Patents
A kind of abnormity Chong Bang plates robot automatic welding method Download PDFInfo
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- CN108127286A CN108127286A CN201810026527.XA CN201810026527A CN108127286A CN 108127286 A CN108127286 A CN 108127286A CN 201810026527 A CN201810026527 A CN 201810026527A CN 108127286 A CN108127286 A CN 108127286A
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- welding
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- pound plate
- abnormity
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- 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
Abstract
Present invention is disclosed a kind of abnormity Chong Bang plates robot automatic welding method, it is related to abnormity weight pound plate welding technology field, including supplied materials, assembling, loading and unloading, front welding, turns over, reverse side welding, examines repairing, caching.Abnormity Chong Bang plates robot automatic welding method of the invention, utilize the automatic welding method of view-based access control model technology contexture by self, optimize production process, again planning station is equipped with and is laid out, it is needed in each process by production equipped with different production technologies, lifting lug weight pound plate is realized by the smooth production operation of technological process, substantially increases production capacity, and lay a good foundation for follow-up making.
Description
Technical field
The present invention relates to abnormity weight pound plate welding technology fields, more specifically refer to a kind of abnormity weight pound plate robot automation
Welding method.
Background technology
Gantry crane product structure type is complicated, and number of species are more, and production and assembled process have many liftings and binding operation,
Lead to the lifting lug weight pound plate for having more type shape in gantry crane structure, and in order to ensure lifting lug mechanical strength, most of lifting lug
Heavy pound plate offer the groove of different depth, different from other heavy industry machinery industry usage types.Its heavy pound harden structure of lifting lug
Though with very big similitude, traditional mode of production mode is still small workshop mode production, is completely dependent on traditional-handwork making, flow
It is as follows：Driving lifting, manual assembly, human weld, driving is turned over, artificial postwelding is polished, and production technology falls behind, and needs a large amount of people
Work ensures manufacturing schedule, high labor cost, and poor welding quality is badly in need of increasing efficiency by downsizing payrolls using automation equipment, promotes quality；
But due to its welding type be the fillet weld with groove, traditional robotic tracking's teaching technical efficiency is low, make progress without
Method meets production requirement.
Invention content
(1) the technical issues of solving
The purpose of the present invention weighs assembled pound plate, Automation of Welding and efficient requirement it is intended that meeting lifting eye of crane,
A kind of abnormity Chong Bang plates robot automatic welding method is provided, utilizes the automatic welding side of view-based access control model technology contexture by self
Method optimizes production process, plans that station is equipped with and is laid out again, is needed in each process by production equipped with different production works
Skill by automatic loading/unloading technique, weld seam full-automatic welding process, automatic 180 ° of turns technique etc., realizes lifting lug weight pound plate
By the smooth production operation of technological process, production capacity is substantially increased, and lay a good foundation for follow-up making.
(2) technical solution
A kind of abnormity Chong Bang plates robot automatic welding method, includes the following steps：
S1, supplied materials：The storage of numerical control supplied materials area is placed on after weight pound plate supplied materials, and in the quality of this range check supplied materials；
S2, assembling：The assembly work of weight pound plate component is carried out after groove is up-to-standard, it is enterprising to be assemblied in assembly work platform
It goes, there is the hanging basket tooling with welding platform same size on platform, weight pound plate component assembles in hanging basket；
S3, loading and unloading：Hanging basket integral hoisting is to buffer area is fed after the completion of assembling, realize multiple heavy pound plate components simultaneously into
Row loading and unloading；
S4, front welding：It is first whole to carry out certainly using welding robot by image photographic and laser recognition and tracking technology
Master image is taken pictures, and outline identification and coarse positioning is carried out to multiple and different types weight pound plate component, then using on welding head
Laser vision system automatic and accurate positions profile, identifies the thickness and groove information of weight pound plate, automatically determines actual motion track
And welding sequence, call suitable welding procedure in database, the automatic automatic welding for carrying out multi-pass welding seam；
S5, turn：Lifting lug is transferred to by automatic turning-over device from welding platform using automatic grabbing device, by automatic turn-over body
Device completes the automatic turn-over body of weight pound plate component；
S6, reverse side welding：After the completion for the treatment of that weight pound plate component turns in single welding platform, welding robot continues with figure
The reverse side welding of weight pound plate component is carried out with laser recognition and tracking technology as taking pictures；
S7, repairing is examined：Soldered heavy pound plate component all moves to inspection patch area, and counterweight pound plate component carries out
100%VT and 100%MT is examined, and a small amount of patch work is carried out in this region；
S8, caching：After the completion of patch work to be tested, lifting lug concentration is placed in buffer area, into next process.
An embodiment according to the present invention, the step S1 weights pound plate appearance and size error range is ± 5mm.
An embodiment according to the present invention, the step S1 weights pound plate roundness tolerance range is ± 3mm, and weight pound board diameter is public
Poor range is ± 5mm.
An embodiment according to the present invention, the step S1 weight pounds plate cutting perpendicularity deviation range is ± 3 °, groove angle
It is ± 5 ° to spend the margin of tolerance, and the groove depth margin of tolerance is ± 2mm.
An embodiment according to the present invention, the step S2 fit-up gaps margin of tolerance are ± 3mm, group to point weldering size≤
5mm treats that welding zone polishing cannot be excessively bright.
An embodiment according to the present invention, the step S7 examine repairing require appearance of weld uniformly, beautiful lacked without surface
It falls into, VT qualification rate >=99.9%, weld reinforcement≤3mm.
An embodiment according to the present invention, the step S7 examine repairing seam inspection requirement 100%MT.
(3) advantageous effect
Technical scheme of the present invention is employed, special-shaped Chong Bang plates robot automatic welding method utilizes view-based access control model skill
The automatic welding method of art contexture by self optimizes production process, plans that station is equipped with and is laid out again, is pressed in each process
Production is needed equipped with different production technologies, is realized lifting lug weight pound plate by the smooth production operation of technological process, is substantially increased
Production capacity, and lay a good foundation for follow-up making；The technique has the advantage that：1) automatic loading and unloading system uses electromagnetism
Sucker, which is concentrated, carries out loading and unloading, substitutes the operating type of tradition driving lifting, reduces personnel's loading and unloading intervention time；2) welding is adopted
With vision technique autonomous classification weight pound board type dimension information, tack weld realizes autonomous searching position while welding, automatic identification slope
Message ceases, and completes autonomous layout multi-pass welding path, and weight pound plate component is arbitrarily put is not required to any tooling on the table
Fixture is not required to the continuous automatic welding that different type lifting lug can be realized in teaching before welding；3) it is made rational planning for work according to capacity requirements
Position layout, designs double-station alternately operating, promotes whole efficiency；4) turn of lifting lug uses returning face plate hydraulic oil cylinder driving, optimizes
Lifting lug turns over technique, while greatly reduces the labor hour of this process, and safety coefficient is high.
Description of the drawings
In the present invention, identical reference numeral always shows identical feature, wherein：
Fig. 1 is special-shaped Chong Bang plates robot automatic welding work station structure diagram；
Fig. 2 is flow chart of the present invention；
Reference sign：
1st, numerical control supplied materials area；2nd, lifting lug assembly section；3rd, buffer area is discharged 1.；4th, buffer area is fed 2.；5th, welding post is 1.；
6th, welding robot；7th, automatic grabbing device；8th, automatic turning-over device；9th, welding post is 2.；10th, buffer area is fed 3.；11st, go out
Expect buffer area 4.；12nd, inspection area is repaired；13rd, buffer area.
Specific embodiment
The technical solution further illustrated the present invention with reference to the accompanying drawings and examples.
With reference to Fig. 1, special-shaped Chong Bang plates robot automatic welding work station is mainly made of eight parts：
Numerical control supplied materials area 1：The setting of this station, can be directly by group after supplied materials dedicated for weighing the transfer frame of pound plate component supplied materials
Part material and transfer frame opsition dependent are placed in specified region, are not required to loading and unloading again and transfer frame is reusable.
Lifting lug assembly section 2：This region sets two assembly work platforms, has on platform and to be hung with welding platform same size
Basket tooling, weight pound plate component assemble in hanging basket, and after the completion of assembling 2. hanging basket integral hoisting to charging buffer area is cached with charging
3., realize that multiple heavy pound plate components are carried out at the same time loading and unloading, reduce the lifting operation time in area.
Discharge buffer area 3,11,13：The buffer area that discharges respectively sets a station on robot welding station both sides, realizes two
The discharging demand of a robot welding station.
Feed buffer area 4,10：It feeds buffer area and one station is respectively set on robot welding station both sides, realize two
The fuel requirements of robot welding station.
Welding post 5,9：This station sets two welding posts and a welding robot to arrange in pairs or groups altogether, a welding post
When carrying out weld job, another welding post carries out the loading and unloading of weight pound plate component, and two stations alternately, realize machine
People uninterruptedly carries out continuous weld job.
Welding robot 6：Welding robot uses gantry structure form, gamut identification video camera is equipped with, to each
Workpiece in welding platform is integrally taken pictures identification, is known equipped with image and laser recognition and tracking technology, and Welder is shot by camera
Position upper member, identification means type, dimension information and coarse positioning, and planning head motion track automatically, then utilize bonding machine
The groove information of laser vision harvester automatic identification weight pound plate on head, calls corresponding process parameters, realizes weight pound automatically
The continuous automatic welding of the multi-pass welding of strip groove weld.
Automatic grabbing device 7：Automatic grabbing device is small arc shaped structure type, and weight pound is carried out equipped with magnechuck assistance
The automatic grasp handling of plate component, maximum weight capacity are 800Kg.
Automatic turning-over device 8：Equipment for supporting patient with burn is by returning face plate hydraulic oil cylinder driving, and when overturning operation, right side returning face plate drives weight pound
Plate component overturns 80 °, and left side returning face plate first digs 100 °, and left and right returning face plate clamps component while overturning overturns 120 ° to the left, a left side
Right each Self-resetting of returning face plate completes 180 ° of turns of workpiece.
Repair inspection area 12：Soldered heavy pound plate component all moves to inspection patch area, and counterweight pound plate component carries out
It examines.
Lifting lug weight pound plate workpiece its be broadly divided into three kinds of structure types：Circle weight pound plate, discount vibram outlet weight pound plate, oval weight pound
Plate, workpiece are the 345 intensity rank plank of common Q of 12mm~30mm thickness.Weld seam form is has conventional fillet weld and groove fillet welding
Seam, for the wherein groove size of groove fillet weld between 6~24mm, bevel angle is 45 °.Its size range is shown in Table 1.
The weight pound board size range of table 1
| Title | Size range |
| Weight pound plate thickness T1 | 10mm~60mm |
| Otic placode thickness T2 | 20mm~60mm |
| The long L of otic placode shape | 200mm~1800mm |
| The wide W of otic placode shape | 200mm~1000mm |
With reference to Fig. 2, special-shaped Chong Bang plates robot automatic welding method includes the following steps：
S1, supplied materials：The storage of numerical control supplied materials area is placed on after weight pound plate supplied materials, and need to be reached in the quality of this range check supplied materials
It is required to table 2.
2 supplied materials quality requirement of table
| Title | Accuracy rating |
| Member profile scale error | ±5mm |
| Weight pound plate roundness tolerance | ±3mm |
| Weight pound board diameter tolerance | ±5mm |
| Cut perpendicularity deviation | ±3° |
| Bevel angle tolerance | ±5° |
| Groove depth tolerance | ±2mm |
S2, assembling：The assembly work of weight pound plate component is carried out after groove is up-to-standard, it is enterprising to be assemblied in assembly work platform
It goes, there is the hanging basket tooling with welding platform same size on platform, weight pound plate component assembles in hanging basket.Assembling quality need to reach
Table 3 requires.
3 assembling quality requirement of table
| Title | Accuracy rating |
| Fit-up gap tolerance | ±3mm |
| Group to point welds size | ≤5mm |
| Treat welding zone polishing requirement | Treat that welding zone polishing cannot be excessively bright |
S3, loading and unloading：Hanging basket integral hoisting is to buffer area is fed after the completion of assembling, realize multiple heavy pound plate components simultaneously into
Row loading and unloading reduce the lifting operation time.
S4, front welding：It is first whole to carry out certainly using welding robot by image photographic and laser recognition and tracking technology
Master image is taken pictures, and outline identification and coarse positioning is carried out to multiple and different types weight pound plate component, then using on welding head
Laser vision system automatic and accurate positions profile, identifies the thickness and groove information of weight pound plate, automatically determines actual motion track
And welding sequence, call suitable welding procedure in database, the automatic automatic welding for carrying out multi-pass welding seam.Weld full mistake
Cheng Buxu personnel intervene, and its main advantage is that component can arbitrarily be put on the table, are not required to frock clamp positioning,
Teaching link before welding is not required to, and postwelding appearance of weld is beautiful, reaches and exempt from polishing requirement.
S5, turn：Lifting lug is transferred to by automatic turning-over device from welding platform using automatic grabbing device, by automatic turn-over body
Device completes the automatic turn-over body of weight pound plate component.
S6, reverse side welding：After the completion for the treatment of that weight pound plate component turns in single welding platform, welding robot continues with figure
The reverse side welding of weight pound plate component is carried out with laser recognition and tracking technology as taking pictures.
S7, repairing is examined：Soldered heavy pound plate component all moves to inspection patch area, and counterweight pound plate component carries out
100%VT and 100%MT is examined, and quality requirement refers to table 4, in addition and in this region carries out a small amount of patch work.
The requirement of 4 weldquality of table
S8, caching：After the completion of patch work to be tested, lifting lug concentration is placed in buffer area, into next process.
By using the welding method of such robot automation, the welding of lifting lug weight pound plate will fully achieve automation,
Welding automation rate reaches 100%, and postwelding beautiful appearance, basically reaches and exempts from polishing requirement, after maturation is promoted the use of, in advance
Meter efficiency will promote 37% or so than manual manufacture.
In conclusion employing technical scheme of the present invention, special-shaped Chong Bang plates robot automatic welding method utilizes base
In the automatic welding method of vision technique contexture by self, optimize production process, plan that station is equipped with and is laid out again,
Each process is needed by production equipped with different production technologies, realizes lifting lug weight pound plate by the smooth production operation of technological process, greatly
It is big to improve production capacity, and lay a good foundation for follow-up making.
Present invention process has the advantage that：
1) automatic loading and unloading system is concentrated using magnechuck and carries out loading and unloading, substitutes the operator of tradition driving lifting
Formula reduces personnel's loading and unloading intervention time.
2) welding is realized using vision technique autonomous classification weight pound board type dimension information, tack weld and is independently found weldering
Position, automatic identification groove information are stitched, and completes autonomous layout multi-pass welding path, weight pound plate component is arbitrarily placed in work
Any frock clamp is not required on platform, is not required to the continuous automatic welding that different type lifting lug can be realized in teaching before welding.
3) according to capacity requirements make rational planning for station layout, design double-station alternately operating, promoted whole efficiency.
4) turn of lifting lug uses returning face plate hydraulic oil cylinder driving, optimizes lifting lug and turns over technique, while greatly reduce this process
Labor hour, and safety coefficient is high.
Claims (7)
1. a kind of abnormity Chong Bang plates robot automatic welding method, which is characterized in that include the following steps：
S1, supplied materials：The storage of numerical control supplied materials area is placed on after weight pound plate supplied materials, and in the quality of this range check supplied materials；
S2, assembling：The assembly work of weight pound plate component is carried out after groove is up-to-standard, is assemblied on assembly work platform and carries out,
There is the hanging basket tooling with welding platform same size on platform, weight pound plate component assembles in hanging basket；
S3, loading and unloading：Hanging basket integral hoisting realizes that multiple heavy pound plate components are carried out at the same time to buffer area is fed after the completion of assembling
Blanking；
S4, front welding：It is first whole to carry out from master map using welding robot by image photographic and laser recognition and tracking technology
As taking pictures, outline identification and coarse positioning are carried out to multiple and different types weight pound plate component, then utilize the laser on welding head
Vision system automatic and accurate positions profile, identifies the thickness and groove information of weight pound plate, automatically determines actual motion track and weldering
Sequence is connect, calls suitable welding procedure in database, the automatic automatic welding for carrying out multi-pass welding seam；
S5, turn：Lifting lug is transferred to by automatic turning-over device from welding platform using automatic grabbing device, by automatic turning-over device
Complete the automatic turn-over body of weight pound plate component；
S6, reverse side welding：After the completion for the treatment of that weight pound plate component turns in single welding platform, welding robot continues with image bat
It is welded according to the reverse side that weight pound plate component is carried out with laser recognition and tracking technology；
S7, repairing is examined：Soldered heavy pound plate component all moves to inspection patch area, and counterweight pound plate component carries out 100%
VT and 100%MT is examined, and a small amount of patch work is carried out in this region；
S8, caching：After the completion of patch work to be tested, lifting lug concentration is placed in buffer area, into next process.
2. a kind of abnormity Chong Bang plates robot as described in claim 1 automatic welding method, it is characterised in that：The step
S1 weight pound plate appearance and size error ranges are ± 5mm.
3. a kind of abnormity Chong Bang plates robot as claimed in claim 2 automatic welding method, it is characterised in that：The step
S1 weight pound plate roundness tolerance ranges are ± 3mm, and the weight pound board diameter margin of tolerance is ± 5mm.
4. a kind of abnormity Chong Bang plates robot as claimed in claim 3 automatic welding method, it is characterised in that：The step
S1 weight pound plate cutting perpendicularity deviation ranges are ± 3 °, and the bevel angle margin of tolerance is ± 5 °, the groove depth margin of tolerance is ±
2mm。
5. a kind of abnormity Chong Bang plates robot as described in claim 1 automatic welding method, it is characterised in that：The step
The S2 fit-up gaps margin of tolerance is ± 3mm, and group to point weldering size≤5mm treats that welding zone polishing cannot be excessively bright.
6. a kind of abnormity Chong Bang plates robot as described in claim 1 automatic welding method, it is characterised in that：The step
S7 examine repairing require appearance of weld uniformly, beautiful free of surface defects, VT qualification rate >=99.9%, weld reinforcement≤3mm.
7. a kind of abnormity Chong Bang plates robot as claimed in claim 6 automatic welding method, it is characterised in that：The step
S7 examines repairing seam inspection requirement 100%MT.
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| CN109332898A (en) * | 2018-10-30 | 2019-02-15 | 台州裕龙机电有限公司 | A kind of processing technology for novel arrangement formula radiator |
| CN109551128A (en) * | 2018-12-31 | 2019-04-02 | 深圳市合尔为科技有限公司 | A kind of automatic production line of steel framework |
| CN109927037A (en) * | 2019-04-22 | 2019-06-25 | 山东时代新纪元机器人有限公司 | The quick method for position-finding of multiple rows of column frame structure weldment |
| CN110102855A (en) * | 2019-05-15 | 2019-08-09 | 上海振华重工(集团)股份有限公司 | A kind of robot automtion welding system, device and method |
| CN110712069A (en) * | 2019-11-12 | 2020-01-21 | 中冶赛迪工程技术股份有限公司 | Unmanned welding production system and production flow based on centralized management and control |
| CN113547087A (en) * | 2021-06-23 | 2021-10-26 | 共享智能铸造产业创新中心有限公司 | Logistics scheduling method based on casting modeling line |
| US11187527B2 (en) * | 2019-10-07 | 2021-11-30 | The Boeing Company | Multi-probe non-destructive inspection system |
| CN113909810A (en) * | 2021-10-09 | 2022-01-11 | 上海振华重工(集团)股份有限公司 | Automatic logistics transfer method for special-shaped heavy plate |
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| CN110712069A (en) * | 2019-11-12 | 2020-01-21 | 中冶赛迪工程技术股份有限公司 | Unmanned welding production system and production flow based on centralized management and control |
| CN110712069B (en) * | 2019-11-12 | 2021-11-12 | 中冶赛迪工程技术股份有限公司 | Unmanned welding production system and production flow based on centralized management and control |
| CN113547087A (en) * | 2021-06-23 | 2021-10-26 | 共享智能铸造产业创新中心有限公司 | Logistics scheduling method based on casting modeling line |
| CN113909810A (en) * | 2021-10-09 | 2022-01-11 | 上海振华重工(集团)股份有限公司 | Automatic logistics transfer method for special-shaped heavy plate |
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