CN108480881B - Cold-rolled steel coil core welding method based on joint robot - Google Patents
Cold-rolled steel coil core welding method based on joint robot Download PDFInfo
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- CN108480881B CN108480881B CN201810234180.8A CN201810234180A CN108480881B CN 108480881 B CN108480881 B CN 108480881B CN 201810234180 A CN201810234180 A CN 201810234180A CN 108480881 B CN108480881 B CN 108480881B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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Abstract
A cold-rolled steel coil core welding method based on a joint robot comprises the following steps: step one, installing coil of strip core automatic weld equipment in bell-type annealing front process export walking beam region, coil of strip core automatic weld equipment mainly includes: the system comprises a joint robot, a linear sliding table, a detection unit and a welding machine; step two, establishing action interlocking between the walking beam and the joint robot; step three, detecting the height of the steel coil; step four, detecting the position of the end face of the steel coil; fifthly, teaching programming of welding actions, namely selecting steel coils with the maximum width and the minimum diameter at a welding coil position, selecting steel coils with the maximum width and the maximum diameter at adjacent coil positions, and teaching programming to the joint robot by taking the steel coils as reference working conditions; the method uses the robot to replace manual welding operation, and realizes automation and unmanned welding of the coil core of the steel coil.
Description
Technical Field
The invention relates to the technical field of metallurgy, in particular to a cold-rolled steel coil core welding method based on a joint robot.
Background
In the cold rolling cover type annealing process, a steel coil is lifted by a vertical lifting appliance, and in order to prevent the damage of a coil steel strip and the core-pulling fault caused by the looseness of a coil core of the steel coil, the inner ring of the coil core of the steel coil is welded and fixed.
At present, manual electric arc welding or handheld remote welding is generally adopted for the coil core welding of steel production lines in China. The manual electric arc welding has high labor intensity of operators and harms to human health. By adopting the handheld remote welding, the labor intensity and the harm to the human health of operators are relieved, but the welding process still needs the participation of the operators.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a joint robot-based cold-rolled steel coil core welding method, which applies a robot to replace manual welding operation and realizes automation and unmanned welding of the steel coil core.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cold-rolled steel coil core welding method based on a joint robot comprises the following steps:
step one, installing coil of strip core automatic weld equipment in bell-type annealing front process export walking beam region, coil of strip core automatic weld equipment mainly includes: the system comprises a joint robot, a linear sliding table, a detection unit and a welding machine; the linear sliding table is arranged on one side of the walking beam and is parallel to the axial lead direction of the steel coil, the joint robot is arranged on the linear sliding table and moves along the axial lead direction of the steel coil, and the welding machine is arranged at the tail end of the arm of the joint robot to realize double-station welding of two sides of the end surface of the steel coil; the detection unit comprises a steel coil height detection sensor and a steel coil end face detection sensor, a non-contact measurement mode is adopted, the steel coil height detection sensor is installed above a steel coil through a support, and the steel coil end face position detection sensor is installed on the joint robot base.
And step two, establishing action interlocking between the walking beam and the joint robot, after the walking beam finishes the one-step steel coil transportation, enabling a new steel coil to reach a welding coil position, stopping the walking beam to move for waiting for the welding process, and after the welding execution is finished, stopping the joint robot to move for waiting for the walking beam to finish the next steel coil transportation.
And step three, detecting the height of the steel coil, wherein the height of the axial lead of the steel coil is detected to be z. The steel coil height detection specifically comprises the following steps: the distance H reaching the top end of the steel coil is detected by adopting a non-contact distance measuring sensor, the sensor elevation H is detected, the angle of a stepping beam coil position saddle is a, the height of the axial lead of the steel coil is z, and the z is (H-H)/(1+ sina).
And step four, detecting the end face position of the steel coil, and moving the joint robot to the welding position on the linear sliding table according to the detected end face position of the steel coil. The detection of the end face position of the steel coil is specifically as follows: after the automatic welding is started, the linear sliding table starts to move, the joint robot is conveyed to one side of the end face of the steel coil from the starting point x0, when the joint robot moves to the end part of the steel coil, the detection sensor of the end face of the steel coil is triggered, the current coordinates x1 of the sliding table are recorded, the joint robot continues to move for 500 mm-800 mm to x2 and stops moving, and the welding action is ready to be executed.
Fifthly, teaching programming of welding actions, namely selecting steel coils with the maximum width and the minimum diameter at a welding coil position, selecting steel coils with the maximum width and the maximum diameter at adjacent coil positions, and teaching programming to the joint robot by taking the steel coils as reference working conditions;
teaching a safety position starting point P _ HOME (0,0,0), a PRE-welding point PRE _ WELD0(0, L, z0), a welding point P _ WELD0((d + s), L, z 0); wherein z0 is the height of the axial lead of the steel coil under the reference working condition, s is the distance from a welding point to the end face of the steel coil, d is the moving distance of the sliding table, and L is the distance from the linear sliding table to the walking beam;
the joint robot welding action adopts a linear motion mode, firstly moves from P _ HOME to PRE _ WELD0, and then moves from PRE _ WELD0 to P _ WELD 0;
after welding, the joint robot returns to PRE _ WELD0 from PRE _ WELD0, returns to P _ HOME point from PRE _ WELD0, and then the linear sliding table moves to the center position to stop, so that a welding task is completed;
teaching and programming the welding action of the station at the other side of the steel coil according to the same action flow; and correcting the position coordinates of the PRE-welding point PRE _ WELD and the welding point P _ WELD to realize the multi-working-condition welding of steel coils with different specifications, wherein the height of the axial lead of the steel coil under the reference working condition is z0, and the height of the axial lead of the steel coil under the actual working condition is z.
Compared with the prior art, the invention has the beneficial effects that:
the robot replaces people to weld the steel coil winding core, and automation and unmanned welding of the steel coil winding core are realized. The manual welding machine has the advantages that operators are released from heavy manual labor, labor cost is saved for enterprises, and meanwhile welding quality and welding efficiency are improved.
Drawings
FIG. 1 is a schematic view of a welding apparatus layout of the present invention;
FIG. 2 is a schematic view of the present invention for measuring the height of the axial center line of a steel coil;
fig. 3 is a schematic diagram of the detection of the end face position of the steel coil according to the present invention.
Wherein: 1-walking beam saddle 2-sliding table 3-articulated robot 4-steel coil height detection sensor 5-steel coil end surface detection sensor 6-welding machine 7-steel coil 8-starting point P _ HOME 9-PRE-welding point PRE _ WELD 10-welding point P _ WELD.
Detailed Description
The following detailed description of the present invention will be made with reference to the accompanying drawings.
A cold-rolled steel coil core welding method based on a joint robot comprises the following steps:
step one, as shown in fig. 1, installing a steel coil core automatic welding device in an area of a walking beam 1 at an outlet of a cover type annealing previous process, wherein the steel coil core automatic welding device mainly comprises: the system comprises a joint robot 3, a linear sliding table 2, detection units 4 and 5 and a welding machine 6; the linear sliding table 2 is arranged on one side of the walking beam 1 and is parallel to the axial lead direction of the steel coil 7, the joint robot 3 is arranged on the linear sliding table 2 and moves along the axial lead direction of the steel coil 7, and the welding machine 6 is arranged at the tail end of the double-station hand arm of the joint robot 3 to realize the welding of two sides of the end face of the steel coil; the detection unit comprises a steel coil height detection sensor 4 and a steel coil end face detection sensor 5, a non-contact measurement mode is adopted, the steel coil height detection sensor 4 is installed above a steel coil through a support, and the steel coil end face position detection sensor 5 is installed on the joint robot base.
And step two, establishing action interlocking between the walking beam 1 and the joint robot 3, after the walking beam 1 finishes the one-step steel coil transportation, enabling a new steel coil to reach a welding coil position, stopping the walking beam 1 to move to wait for the welding process, and after the welding execution is finished, stopping the joint robot 3 to move to wait for the walking beam 1 to finish the next steel coil transportation.
And step three, detecting the height of the steel coil, wherein the height of the axial lead of the steel coil is detected to be z. The steel coil height detection specifically comprises the following steps: the distance H reaching the top end of the steel coil is detected by adopting a non-contact distance measuring sensor, the sensor elevation H is detected, the angle of a stepping beam coil position saddle 1 is a, the height of the axial lead of the steel coil is z, and the z is (H-H)/(1+ sina).
And step four, detecting the end face position of the steel coil, and moving the joint robot 3 to the welding position on the linear sliding table 2 according to the detected end face position of the steel coil. The detection of the end face position of the steel coil is specifically as follows: after the automatic welding is started, the linear sliding table 2 starts to move, the joint robot 3 is conveyed to one side of the end face of the steel coil from the starting point x0, when the joint robot 3 moves to the end part of the steel coil, the detection sensor of the end face of the steel coil is triggered, the current coordinate x1 of the sliding table 2 is recorded, the joint robot 3 continues to move from 500mm to 800mm to x2 and stops moving, and the welding action is ready to be executed.
Fifthly, teaching programming of welding actions, namely selecting steel coils with the maximum width and the minimum diameter at a welding coil position, selecting steel coils with the maximum width and the maximum diameter at adjacent coil positions, and teaching programming to the joint robot 3 by taking the steel coils as reference working conditions;
teaching a safety position starting point P _ HOME (0,0,0), a PRE-welding point PRE _ WELD0(0, L, z0), a welding point P _ WELD0((d + s), L, z 0); wherein z0 is the height of the axial lead of the steel coil under the reference working condition, s is the distance from a welding point to the end face of the steel coil, d is the moving distance of the sliding table, and L is the distance from the linear sliding table to the walking beam;
the joint robot 3 adopts a linear motion mode to move from P _ HOME to PRE _ WELD0 and then from PRE _ WELD0 to P _ WELD 0;
after welding, the joint robot 3 returns to PRE _ WELD0 from PRE _ WELD0, returns to P _ HOME point from PRE _ WELD0, and then the linear sliding table 2 moves to the central position to stop, so that a welding task is completed;
teaching and programming the welding action of the station at the other side of the steel coil according to the same action flow; and correcting the position coordinates of the PRE-welding point PRE _ WELD and the welding point P _ WELD to realize the multi-working-condition welding of steel coils with different specifications, wherein the height of the axial lead of the steel coil under the reference working condition is z0, and the height of the axial lead of the steel coil under the actual working condition is z.
The specific embodiment is as follows:
the steel coil core welding process design: the width of the steel coil is 500 mm-2000 mm, the diameter of the steel coil is 1000 mm-2000 mm, and the thickness of the steel coil is 0.3 mm-3.0 mm; resistance spot welding is adopted, 2-3 layers of inner rings of the winding cores are welded, and the number of welding spots is 2-12; the distance s between the welding points and the end face of the steel coil is 50-200 mm, and the welding points are uniformly distributed along the circumferential direction of the coil core.
The welding process parameters of the embodiment are as follows: the width of the steel coil is 1000mm, the diameter of the steel coil is 1200mm, and the thickness of the steel strip is 1.0 mm; resistance spot welding is adopted, 2 layers of inner rings of the winding cores are welded, and the number of welding spots is 4; the distance s between the welding points and the end face of the steel coil is 100mm, and the welding points are uniformly distributed along the circumferential direction of the coil core.
And (3) detecting the height of the steel coil, as shown in fig. 2, detecting the distance H reaching the top end of the steel coil by using a non-contact distance measuring sensor, wherein the sensor elevation H is 3200mm, the angle of a saddle at the winding position of the walking beam is 30 degrees, the height of the axial lead of the steel coil is Z, and the Z is 1200 mm.
Coil of strip terminal surface position detects, as shown in fig. 3, after automatic weld started, linear slip table 2 began to move, transported coil of strip terminal surface one side from starting point x0 with joint robot 3, when joint robot 3 removed the coil of strip tip, coil of strip terminal surface detection sensor 5 triggered, current slip table 2 coordinate x1 of record, joint robot 3 continued to advance d ═ 500mm to x2 stop motion, solder joint to coil of strip terminal surface distance 100mm, joint robot 3 is 600mm to the distance of solder joint.
Teaching and programming welding actions, namely selecting steel coils with the maximum width of 2000mm and the minimum diameter of 1000mm at a welding coil position, selecting steel coils with the maximum width of 2000mm and the maximum diameter of 2000mm at an adjacent coil position, and teaching and programming the joint robot 3 by taking the steel coils as reference working conditions; as shown in fig. 3, teaching a safe position point P _ HOME coordinate (0,0,0), setting a distance L from the linear sliding table 2 to the walking beam 1 to be 1000mm, setting a coil axis height of 1000, setting a prewelding point PRE _ WELD0 coordinate (0, 1000, 1000), setting a distance from the joint robot to the welding point to be 600mm, and setting a welding point P _ WELD0 coordinate (600, 1000, 1000); and (3) calculating the OFFSET OFFSET of the steel coil axis height of 200mm and correcting the coordinates (0, 1000 and 1200) of a PRE-welding point PRE _ WELD and the coordinates (600, 1000 and 1200) of a welding point P _ WELD when the height of the steel coil axis under the reference working condition is z0 which is 1000mm and the height of the steel coil axis under the actual working condition is z 1200 mm.
The joint robot 3 adopts a linear motion mode for welding action, firstly moves from P _ HOME to PRE _ WELD, and then moves from PRE _ WELD to P _ WELD; after welding, the joint robot returns to PRE _ WELD from PRE _ WELD and returns to P _ HOME point from PRE _ WELD, and then the linear sliding table 2 moves to the central position to stop, so that a welding task is completed.
The above embodiments are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of the present invention is not limited to the above embodiments. The methods used in the above examples are conventional methods unless otherwise specified.
Claims (1)
1. A cold-rolled steel coil core welding method based on a joint robot is characterized by comprising the following steps:
step one, installing coil of strip core automatic weld equipment in bell-type annealing front process export walking beam region, coil of strip core automatic weld equipment mainly includes: the system comprises a joint robot, a linear sliding table, a detection unit and a welding machine; the linear sliding table is arranged on one side of the walking beam and is parallel to the axial lead direction of the steel coil, the joint robot is arranged on the linear sliding table and moves along the axial lead direction of the steel coil, and the welding machine is arranged at the tail end of the arm of the joint robot to realize double-station welding of two sides of the end surface of the steel coil; the detection unit comprises a steel coil height detection sensor and a steel coil end face detection sensor, a non-contact measurement mode is adopted, the steel coil height detection sensor is installed above a steel coil through a support, and the steel coil end face position detection sensor is installed on the joint robot base;
step two, establishing action interlocking between the walking beam and the joint robot, after the walking beam finishes the one-step steel coil transportation, enabling a new steel coil to reach a welding coil position, stopping the walking beam to move for waiting for the welding process, stopping the joint robot after the welding is finished, and waiting for the walking beam to finish the next steel coil transportation;
step three, detecting the height of the steel coil, wherein the height of the axial lead of the steel coil is detected to be z; the steel coil height detection specifically comprises the following steps: detecting the distance H reaching the top end of the steel coil by using a non-contact distance measuring sensor, wherein the sensor is at an elevation H, the angle of a stepping beam coil position saddle is a, the height of the axial lead of the steel coil is z, and the z is (H-H)/(1+ sina);
detecting the end face position of the steel coil, and moving the joint robot to a welding position on the linear sliding table according to the detected end face position of the steel coil; the detection of the end face position of the steel coil is specifically as follows: after automatic welding is started, the linear sliding table starts to move, the joint robot is conveyed to one side of the end face of the steel coil from a starting point x0, when the joint robot moves to the end part of the steel coil, a steel coil end face detection sensor is triggered to record the current coordinates x1 of the sliding table, the joint robot continues to move from 500mm to 800mm to x2 to stop moving, and welding action is ready to be executed;
fifthly, teaching programming of welding actions, namely selecting steel coils with the maximum width and the minimum diameter at a welding coil position, selecting steel coils with the maximum width and the maximum diameter at adjacent coil positions, and teaching programming to the joint robot by taking the steel coils as reference working conditions;
teaching a safety position starting point P _ HOME (0,0,0), a PRE-welding point PRE _ WELD0(0, L, z0), a welding point P _ WELD0((d + s), L, z 0); wherein z0 is the height of the axial lead of the steel coil under the reference working condition, s is the distance from a welding point to the end face of the steel coil, d is the moving distance of the sliding table, and L is the distance from the linear sliding table to the walking beam;
the joint robot welding action adopts a linear motion mode, firstly moves from P _ HOME to PRE _ WELD0, and then moves from PRE _ WELD0 to P _ WELD 0;
after welding, the joint robot returns to PRE _ WELD0 from PRE _ WELD0, returns to P _ HOME point from PRE _ WELD0, and then the linear sliding table moves to the center position to stop, so that a welding task is completed;
teaching and programming the welding action of the station at the other side of the steel coil according to the same action flow; and correcting the position coordinates of the PRE-welding point PRE _ WELD and the welding point P _ WELD to realize the multi-working-condition welding of steel coils with different specifications, wherein the height of the axial lead of the steel coil under the reference working condition is z0, and the height of the axial lead of the steel coil under the actual working condition is z.
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| CN112756757B (en) * | 2019-05-27 | 2022-07-12 | 北京实耐固连接技术有限公司 | Resistance welding method for automatically welding inner end of steel coil |
| CN110428436B (en) * | 2019-07-30 | 2023-04-07 | 中国重型机械研究院股份公司 | Method for determining model selection and installation position of steel coil labeling and code spraying six-axis robot |
| CN110560976B (en) * | 2019-09-16 | 2021-03-26 | 北京石油化工学院 | Steel coil welding method and system |
| EP3795483A1 (en) * | 2019-09-19 | 2021-03-24 | Primetals Technologies Germany GmbH | Automated removal of binding strips from a coil |
| CN111776576B (en) * | 2020-07-28 | 2021-12-07 | 中铝瑞闽股份有限公司 | Method for automatically searching aluminum coil in goods space by using transport trolley |
| CN112456331B (en) * | 2020-11-06 | 2022-11-15 | 河钢股份有限公司承德分公司 | Method for realizing automatic control of unmanned manual packing area of reservoir area |
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| AT401898B (en) * | 1992-07-10 | 1996-12-27 | Hymmen Theodor | Method and apparatus for producing endless steel belts |
| JP4268551B2 (en) * | 2004-03-30 | 2009-05-27 | 新日本製鐵株式会社 | Steel strip coil end fixing device |
| DE102007051976A1 (en) * | 2007-10-31 | 2009-05-07 | Sms Demag Ag | Reel device and method for fixing the coils or coils in this reel device |
| CN101456182B (en) * | 2007-12-12 | 2012-03-28 | 中国科学院自动化研究所 | Intelligent robot welding device using large-scale workpiece |
| CN101791750B (en) * | 2009-12-31 | 2012-06-06 | 哈尔滨工业大学 | Robot remote control welding system and method used for remote welding |
| CN102284769A (en) * | 2011-08-05 | 2011-12-21 | 上海交通大学 | System and method for initial welding position identification of robot based on monocular vision sensing |
| US20160136703A1 (en) * | 2013-07-08 | 2016-05-19 | Andritz Soutec Ag | Method for producing annular parts and use of said method |
| CN104760718A (en) * | 2015-03-25 | 2015-07-08 | 山东钢铁股份有限公司 | Steel coil baling/bundling belt sizing device |
| CN105425721A (en) * | 2015-11-10 | 2016-03-23 | 佛山市新恒萃材料科技有限公司 | Intelligent teaching method of closed-loop control and device thereof |
| CN106737688B (en) * | 2017-01-21 | 2020-07-10 | 中国东方电气集团有限公司 | Multi-sensor-based automatic assembly system and method for header tube seats by robot |
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