CN108705177A - A kind of automatic continuous welding method of welding rod - Google Patents
A kind of automatic continuous welding method of welding rod Download PDFInfo
- Publication number
- CN108705177A CN108705177A CN201810540292.6A CN201810540292A CN108705177A CN 108705177 A CN108705177 A CN 108705177A CN 201810540292 A CN201810540292 A CN 201810540292A CN 108705177 A CN108705177 A CN 108705177A
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- welding
- welding rod
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- rod
- arc
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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
- B23K9/00—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
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
-
- 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
- B23K9/235—Preliminary treatment
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The present invention relates to a kind of automatic continuous welding methods of welding rod.The technical solution adopted is that：It is automatic to replace welding rod, continuous, uninterrupted welding is carried out to workpiece, by replacing welding rod automatically to robotic programming control machinery device, carries out continuous uninterrupted welding；Using mechanical movement, welding rod welds repeatable accuracy height, stabilized product quality；Computer calculates welding track, has the characteristics that accurate, reaction speed is fast etc., improves production efficiency；Some artificial impossible welding procedures can be realized by welding rod automatic welding, have the advantages that it is applied widely, easy to operate, to the technology of operating personnel require it is low, reduce welding to the injury of human body, raising product quality, stabilized product quality etc..
Description
Technical field
The invention belongs to welding technology fields, are related to a kind of automatic continuous welding method of welding rod.
Background technology
When being welded using welding rod, every welding rod must replace welding rod after having welded to be continued to weld, this process needs disconnected
Arc reignition of arc continues welding step；And although carbon dioxide gas arc welding solves the problems, such as this, but there are insufficient strength, make
With range be not as wide as welding rod welding range；Welding rod welding simultaneously requires height, and welding quality unstable to operation technology；
Worker contacts for a long time, and harm to the human body is big；Low production efficiency.
Invention content
In view of the above problems, the present invention provides a kind of automatic continuous welding method of welding rod, continuous to welding workpiece progress,
It welds incessantly, and monitors, tracks automatically, stablize welding quality, improve production efficiency.
The technical solution adopted by the present invention is：It is automatic to replace welding rod, workpiece continuously, uninterruptedly track, connects arc
Welding.
A kind of automatic continuous welding method of welding rod, it is characterised in that include the following steps：
The first step：Weld preparation：The workpiece welded will be needed to be placed on moveable platform；
Second step：Start welding machine：Robot controller exports on-off model, starts welding machine, exports analog signals, defeated
Go out current controling signal, wait for 5 seconds, after so that electric welding machine is stablized, 1 mechanical arm of robot goes to welding rod crawl point top, opens folder
Pincers, move down 3cm (rectangular co-ordinate), clamp, move up 5cm, welding rod is made to leave pedestal, turn to above welding position；
Third walks：The starting the arc：Start external axis movement, after robot 1 by fast moving 2cm downwards above welding position, turns
It changes and moves slowly at, monitor feedback current.If there is electric current, illustrate that welding rod touches weldment, rotates 10 degree (tool coordinates) at any time, together
When the directions z -4mm, the starting the arc at this time success；
4th step：Welding：Using tool coordinates system z-axis as the direction of motion, according to v=ax2+ bx+c formula and PID control mould
Block realizes automatic monitoring, tracking, makes the burn-off rate and manipulator motion speed sync of welding rod, ensures welding process not current interruption,
Wherein v is welding rod burn-off rate, and x is arc current variable, and a, b, c are constant factor, with differences such as the big ting model of welding rod, materials
Variation；
5th step：Connect arc：According to the length that welding rod length and welding rod melt in real time, it is 1 that robot 1, which exports global variable,
It notifies 2 preparation of robot, captures welding rod, turn to Accreditation Waiting Area waiting；Wait for that welding rod soon melts Wan Shi robots 1 and exports entirely
Office's variable is 2, and robot 2 is drawn close while robot 1 leaves；
6th step：Repeat above-mentioned welding step；
7th step：After the completion of welding, welding machine is closed, the bath of glass on workpiece weld seam is gently tapped with adz-eye hammer, makes its stripping
It falls.
Beneficial effects of the present invention：
By replacing welding rod automatically to robotic programming control machinery device, continuous uninterrupted welding is carried out；Using machinery
Movement, welding rod weld repeatable accuracy height, stabilized product quality；Computer calculates welding track, has accurate, reaction speed is fast etc.
The characteristics of, improve production efficiency；Some artificial impossible welding procedures can realize have by welding rod automatic welding
There are injury that is applied widely, easy to operate, requiring the technology of operating personnel low, reduction welding to human body, raising product matter
The advantage of amount, stabilized product quality etc..
Specific implementation mode
Embodiment 1
Choose 2.5mm stainless steel electrodes：The workpiece welded will be needed to be placed on moveable platform, robot controller output
On-off model starts welding machine, exports analog signals, and output current controls signal, waits for 5 seconds, after so that electric welding machine is stablized, machine
1 mechanical arm of device people goes to welding rod crawl point top, opens clamp, moves down 3cm (rectangular co-ordinate), clamps, move up
5cm makes welding rod leave pedestal, turns to above welding position；Start axis movement outside robot, robot 1 is by welding position
After top fast moves 2cm downwards, conversion moves slowly at, and monitors feedback current；Finally, according to v=0.11x2+ 0.5x+c formula
Automatic monitoring, tracking v and x are realized with pid control module, make the burn-off rate and machinery of welding rod in welding process by adjusting c
Arm movement velocity synchronizes, and ensures welding process not current interruption；According to the length that welding rod length and welding rod melt in real time, robot 1 is defeated
It is 1 to go out global variable, and 2 preparation of notice robot captures welding rod, turns to Accreditation Waiting Area waiting；Wait for that welding rod has soon melted
When robot 1 export global variable be 2, robot 2 is drawn close while robot 1 leaves；Above-mentioned welding step is repeated, welding is completed
Afterwards, welding machine is closed, the bath of glass on workpiece weld seam is gently tapped with adz-eye hammer, makes its peeling.
Embodiment 2
Choose 2.5mm electrode for cast irons：The workpiece welded will be needed to be placed on moveable platform, robot controller output is opened
Signal is measured in pass, starts welding machine, exports analog signals, and output current controls signal, waits for 5 seconds, after so that electric welding machine is stablized, machine
1 mechanical arm of people goes to welding rod crawl point top, opens clamp, moves down 3cm (rectangular co-ordinate), clamps, move up 5cm,
So that welding rod is left pedestal, turns to above welding position；Start axis movement outside robot, robot 1 is by above welding position
After fast moving 2cm downwards, conversion moves slowly at, and monitors feedback current；Finally, according to v=0.11x2+ 0.4x+c formula and
Pid control module realizes automatic monitoring, tracking v and x, makes the burn-off rate and mechanical arm of welding rod in welding process by adjusting c
Movement velocity synchronizes, and ensures welding process not current interruption；According to the length that welding rod length and welding rod melt in real time, robot 1 exports
Global variable is 1, and 2 preparation of notice robot captures welding rod, turns to Accreditation Waiting Area waiting；When welding rod has soon melted
It is 2 that robot 1, which exports global variable, and robot 2 is drawn close while robot 1 leaves；Above-mentioned welding step is repeated, welding is completed
Afterwards, welding machine is closed, the bath of glass on workpiece weld seam is gently tapped with adz-eye hammer, makes its peeling.
Embodiment 3
Choose 3.2mm stainless steel electrodes：The workpiece welded will be needed to be placed on moveable platform, robot controller output
On-off model starts welding machine, exports analog signals, and output current controls signal, waits for 5 seconds, after so that electric welding machine is stablized, machine
1 mechanical arm of device people goes to welding rod crawl point top, opens clamp, moves down 3cm (rectangular co-ordinate), clamps, move up
5cm makes welding rod leave pedestal, turns to above welding position；Start axis movement outside robot, robot 1 is by welding position
After top fast moves 2cm downwards, conversion moves slowly at, and monitors feedback current；Finally, according to v=0.1x2+ 0.5x+c formula
Automatic monitoring, tracking v and x are realized with pid control module, make the burn-off rate and machinery of welding rod in welding process by adjusting c
Arm movement velocity synchronizes, and ensures welding process not current interruption；According to the length that welding rod length and welding rod melt in real time, robot 1 is defeated
It is 1 to go out global variable, and 2 preparation of notice robot captures welding rod, turns to Accreditation Waiting Area waiting；Wait for that welding rod has soon melted
When robot 1 export global variable be 2, robot 2 is drawn close while robot 1 leaves；Above-mentioned welding step is repeated, welding is completed
Afterwards, welding machine is closed, the bath of glass on workpiece weld seam is gently tapped with adz-eye hammer, makes its peeling.
Embodiment 4
Choose 3.2mm electrode for cast irons：The workpiece welded will be needed to be placed on moveable platform, robot controller output is opened
Signal is measured in pass, starts welding machine, exports analog signals, and output current controls signal, waits for 5 seconds, after so that electric welding machine is stablized, machine
1 mechanical arm of people goes to welding rod crawl point top, opens clamp, moves down 3cm (rectangular co-ordinate), clamps, move up 5cm,
So that welding rod is left pedestal, turns to above welding position；Start axis movement outside robot, robot 1 is by above welding position
After fast moving 2cm downwards, conversion moves slowly at, and monitors feedback current；Finally, according to v=0.1x2+ 0.4x+c formula and PID
Control module realizes automatic monitoring, tracking v and x, makes the burn-off rate and manipulator motion of welding rod in welding process by adjusting c
Speed sync ensures welding process not current interruption；According to the length that welding rod length and welding rod melt in real time, robot 1 exports the overall situation
Variable is 1, and 2 preparation of notice robot captures welding rod, turns to Accreditation Waiting Area waiting；Machine when welding rod has soon melted
It is 2 that people 1, which exports global variable, and robot 2 is drawn close while robot 1 leaves；Above-mentioned welding step is repeated, after the completion of welding, is closed
Welding machine is closed, the bath of glass on workpiece weld seam is gently tapped with adz-eye hammer, makes its peeling.
Embodiment 5
Choose 4.0mm stainless steel electrodes：The workpiece welded will be needed to be placed on moveable platform, robot controller output
On-off model starts welding machine, exports analog signals, and output current controls signal, waits for 5 seconds, after so that electric welding machine is stablized, machine
1 mechanical arm of device people goes to welding rod crawl point top, opens clamp, moves down 3cm (rectangular co-ordinate), clamps, move up
5cm makes welding rod leave pedestal, turns to above welding position；Start axis movement outside robot, robot 1 is by welding position
After top fast moves 2cm downwards, conversion moves slowly at, and monitors feedback current；Finally, according to v=0.09x2+ 0.5x+c formula
Automatic monitoring, tracking v and x are realized with pid control module, make the burn-off rate and machinery of welding rod in welding process by adjusting c
Arm movement velocity synchronizes, and ensures welding process not current interruption；According to the length that welding rod length and welding rod melt in real time, robot 1 is defeated
It is 1 to go out global variable, and 2 preparation of notice robot captures welding rod, turns to Accreditation Waiting Area waiting；Wait for that welding rod has soon melted
When robot 1 export global variable be 2, robot 2 is drawn close while robot 1 leaves；Above-mentioned welding step is repeated, welding is completed
Afterwards, welding machine is closed, the bath of glass on workpiece weld seam is gently tapped with adz-eye hammer, makes its peeling.
Embodiment 6
Choose 4.0mm electrode for cast irons：The workpiece welded will be needed to be placed on moveable platform, robot controller output is opened
Signal is measured in pass, starts welding machine, exports analog signals, and output current controls signal, waits for 5 seconds, after so that electric welding machine is stablized, machine
1 mechanical arm of people goes to welding rod crawl point top, opens clamp, moves down 3cm (rectangular co-ordinate), clamps, move up 5cm,
So that welding rod is left pedestal, turns to above welding position；Start axis movement outside robot, robot 1 is by above welding position
After fast moving 2cm downwards, conversion moves slowly at, and monitors feedback current；Finally, according to v=0.09x2+ 0.4x+c formula and
Pid control module realizes automatic monitoring, tracking v and x, makes the burn-off rate and mechanical arm of welding rod in welding process by adjusting c
Movement velocity synchronizes, and ensures welding process not current interruption；According to the length that welding rod length and welding rod melt in real time, robot 1 exports
Global variable is 1, and 2 preparation of notice robot captures welding rod, turns to Accreditation Waiting Area waiting；When welding rod has soon melted
It is 2 that robot 1, which exports global variable, and robot 2 is drawn close while robot 1 leaves；Above-mentioned welding step is repeated, welding is completed
Afterwards, welding machine is closed, the bath of glass on workpiece weld seam is gently tapped with adz-eye hammer, makes its peeling.
Although above-mentioned be explained in detail specific embodiments of the present invention, the present invention is not limited to above-mentioned implementations
Example, within the knowledge of a person skilled in the art, can also make without departing from the purpose of the present invention
Go out various change, without having the modification of creative work or deformation still within protection scope of the present invention.
Claims (2)
1. a kind of welding method that welding rod automatically continuously welds, feature include, is fetched, revolved using mechanical mechanism realization welding rod
Turn, move up and down, in conjunction with industrial automatic control, dynamic adjusts the movement velocity and control welding current of welding rod；It realizes
It is switched on, opens arc, welding, replaces welding rod, shutdown.
2. the welding method that a kind of welding rod according to claim 1 automatically continuously welds, feature include the following steps：
The first step：Weld preparation：The workpiece welded will be needed to be placed on moveable platform；
Second step：Start welding machine：Robot controller exports on-off model, starts welding machine, exports analog signals, output electricity
Flow control signals.It waits for 5 seconds, after so that electric welding machine is stablized, 1 mechanical arm of robot goes to welding rod crawl point top, opens clamp, to
Lower mobile 3cm (rectangular co-ordinate) clamps, moves up 5cm, welding rod is made to leave pedestal, turns to above welding position；
Third walks：The starting the arc：Start external axis movement, after robot 1 by fast moving 2cm downwards above welding position, conversion is slow
Speed is mobile, monitors feedback current.If there is electric current, illustrate that welding rod touches weldment, rotates 10 degree (tool coordinates) at any time, while z
Direction -4mm, the success of the starting the arc at this time；
4th step：Welding：Using tool coordinates system z-axis as the direction of motion, according to v=ax2+ bx+c formula and pid control module are realized
Automatic monitoring, tracking make the burn-off rate and manipulator motion speed sync of welding rod, ensure that welding process not current interruption, wherein v are
Welding rod burn-off rate, x are arc current variable, and a, b, c are constant factor, are changed with the big ting model of welding rod, material etc. are different；
5th step：Connect arc：According to the length that welding rod length and welding rod melt in real time, it is 1 that robot 1, which exports global variable, notice
2 preparation of robot captures welding rod, turns to Accreditation Waiting Area waiting；Wait for that welding rod soon melts Wan Shi robots 1 and exports global change
Amount is 2, and robot 2 is drawn close while robot 1 leaves；
6th step：Repeat above-mentioned welding step；
7th step：After the completion of welding, welding machine is closed, the bath of glass on workpiece weld seam is gently tapped with adz-eye hammer, makes its peeling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810540292.6A CN108705177A (en) | 2018-05-30 | 2018-05-30 | A kind of automatic continuous welding method of welding rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810540292.6A CN108705177A (en) | 2018-05-30 | 2018-05-30 | A kind of automatic continuous welding method of welding rod |
Publications (1)
| Publication Number | Publication Date |
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| CN108705177A true CN108705177A (en) | 2018-10-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810540292.6A Pending CN108705177A (en) | 2018-05-30 | 2018-05-30 | A kind of automatic continuous welding method of welding rod |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110935982A (en) * | 2019-12-05 | 2020-03-31 | 深圳市鸿栢科技实业有限公司 | Arc starting control device for robot welding and control method thereof |
| CN116512223A (en) * | 2023-05-31 | 2023-08-01 | 顾明 | Automatic change welding assembly arm |
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| CN102834212A (en) * | 2010-09-17 | 2012-12-19 | 松下电器产业株式会社 | Welding condition determining method, and welding device |
| CN104842041A (en) * | 2013-05-06 | 2015-08-19 | 天津大学 | Welding method via welding rod automatic flat welding device |
| CN105345226A (en) * | 2015-12-08 | 2016-02-24 | 哈尔滨工业大学（威海） | Automatic welding system for welding rod and automatic welding method |
| CN106392352A (en) * | 2016-11-01 | 2017-02-15 | 河池学院 | Welding robot |
| CN106881548A (en) * | 2017-04-25 | 2017-06-23 | 安丘市职业中等专业学校 | A kind of robot welding system and welding method |
-
2018
- 2018-05-30 CN CN201810540292.6A patent/CN108705177A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0450102B2 (en) * | 1987-07-20 | 1992-08-13 | Nippon Kokan Kk | |
| CN102834212A (en) * | 2010-09-17 | 2012-12-19 | 松下电器产业株式会社 | Welding condition determining method, and welding device |
| CN104842041A (en) * | 2013-05-06 | 2015-08-19 | 天津大学 | Welding method via welding rod automatic flat welding device |
| CN105345226A (en) * | 2015-12-08 | 2016-02-24 | 哈尔滨工业大学（威海） | Automatic welding system for welding rod and automatic welding method |
| CN106392352A (en) * | 2016-11-01 | 2017-02-15 | 河池学院 | Welding robot |
| CN106881548A (en) * | 2017-04-25 | 2017-06-23 | 安丘市职业中等专业学校 | A kind of robot welding system and welding method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110935982A (en) * | 2019-12-05 | 2020-03-31 | 深圳市鸿栢科技实业有限公司 | Arc starting control device for robot welding and control method thereof |
| CN116512223A (en) * | 2023-05-31 | 2023-08-01 | 顾明 | Automatic change welding assembly arm |
| CN116512223B (en) * | 2023-05-31 | 2024-04-05 | 唐山曹妃甸区壹质装备制造有限公司 | Automatic change welding assembly arm |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181026 |
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| RJ01 | Rejection of invention patent application after publication |