CN109079355A - A kind of robot automatic air gouging welding steel ring work station - Google Patents
A kind of robot automatic air gouging welding steel ring work station Download PDFInfo
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- CN109079355A CN109079355A CN201811248853.1A CN201811248853A CN109079355A CN 109079355 A CN109079355 A CN 109079355A CN 201811248853 A CN201811248853 A CN 201811248853A CN 109079355 A CN109079355 A CN 109079355A
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- robot
- lifting device
- welding gun
- electric loop
- steel ring
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- 238000003466 welding Methods 0.000 title claims abstract description 152
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 89
- 239000010959 steel Substances 0.000 title claims abstract description 89
- 238000009413 insulation Methods 0.000 claims abstract description 72
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims abstract description 28
- 229910052799 carbon Inorganic materials 0.000 claims abstract description 28
- 230000008859 change Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 19
- 238000005096 rolling process Methods 0.000 description 14
- 239000002131 composite material Substances 0.000 description 13
- 230000008569 process Effects 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 4
- 239000003818 cinder Substances 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 239000002893 slag Substances 0.000 description 4
- 230000001568 sexual effect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 206010019345 Heat stroke Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003500 flue dust Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000013000 roll bending Methods 0.000 description 1
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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
- B23K28/00—Welding or cutting not covered by any of the preceding groups, e.g. electrolytic welding
- B23K28/02—Combined welding or cutting procedures or apparatus
-
- 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
- B23K10/00—Welding or cutting by means of a plasma
-
- 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)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The present invention provides a kind of robot automatic air gougings to weld steel ring work station.Work station includes: control cabinet；Base, with lifting device, and lifting device independent grounding；Turning rolls, for placing steel ring, and turning rolls independent grounding；Robot, and insulate and connect with lifting device；Welding gun, and welding gun and lifting device insulation connect；Gouging torch, and gouging torch and lifting device insulation connect；Robot electric loop, the welding robot that is electrically connected, lifting device and control cabinet, to control robot；Welding gun electric loop is electrically connected welding gun and control cabinet, to control welding gun；Gouging torch electric loop is electrically connected gouging torch and control cabinet, to control gouging torch；Grounding carbon brush, grounding carbon brush are set on turning rolls, and grounding carbon brush is connected with gouging torch electric loop and welding gun electric loop respectively, so that gouging torch electric loop and welding gun electric loop are individually grounded by grounding carbon brush.It can prevent plasma gouge high frequency from burning out robot and welding machine mainboard.
Description
Technical field
The present invention relates to a kind of full-automatic steel ring gouge and welding field, especially a kind of robot automatic air gouging welds steel
Enclose work station.
Background technique
Currently, the outer diameter of workpiece steel ring is 504~Φ of Φ 1854mm, wall thickness is 8~96mm, width dimensions 200
~600mm, weight are 64~1185.6Kg.Its moulding process are as follows: the blanking of steel plate gas flame cuttiug, groove -- veneer reeling machine rolls into
Circle -- shape-calibration machine carries out circularity school circle.Steel ring is double V-groove or X-type groove at the docking after edge rolling according to the technological requirements.To protect
Weld strength is demonstrate,proved, needs to weld the groove on the inside of steel ring, at the groove of inside after welding wire filling is full, steel ring is overturn
180 °, with gouging torch to the commissure in outside, gouge back chipping is carried out, welding is then carried out and fills and leads up.Consideration workpiece is roll-type roll bending
Machine roll-forming, circularity maximum deviation are 15mm, and after school shape technique repeatedly, roundness deviation is can be controlled within 3mm.It is required that weldering
Seam reaches I grade of weld seam.
In traditional steel ring gouge and welding production, workpiece is placed on common turning rolls, completely by manually to slope
Mouth position is welded, and steel ring is then turned over 180 ° by control turning rolls rotation, manually carries out gouge, welding.Due to steel
Girth sheets is thicker, and groove is larger, and welding requirements is high, manual work not only large labor intensity, low efficiency, but also working environment is poor,
The flue dust that gouge generates has certain degree of harm and security risk to human health.
In order to solve the above-mentioned technical problem, inventor devises a kind of robot automatic air gouging welding steel ring work station.So
And in the development project of robot automatic air gouging welding steel ring work station, due to lacking experience, robot mainboard is caused to be burnt
It is broken 3 times, more than 2000 yuan of robot mainboard unit price, waits expenses larger along with producer of robot makes house calls, and replace
Mainboard at least needs 1 week time, and the period is longer.After robot mainboard has burnt the 1st time, by seeking advice from producer of robot, etc.
Ion gouge producer, the high frequency that analysis reason is likely to be the generation of plasma gouge burn out robot mainboard.And in this project
The MAG welding procedure mode of use, there is no generate high frequency for the welding starting the arc.According to the information that producer of robot provides, as long as machine
What device people selected before purchase is that would not burn out robot mainboard, but reality is still burnt out, robot with anti-high-frequency model
Producer suggests the equipment of each composition part of system that adequately grounded we replace after the equipment independent grounding of each composition
New robot mainboard, enables work station, robot demonstrator blank screen again, and robot mainboard is burnt out again.Robot at this time
The engineer of producer and plasma gouge producer due to without there is similar case, not suggested preferably before.Consider
Anti- high frequency, main method are exactly ground connection and insulation.At this point, we have carried out insulation processing to major function equipment, and the 2nd time more
Huan Liao robot mainboard, work station have used 2 weeks or so, robot demonstrator blank screen, burn out for robot mainboard the 3rd time.
Summary of the invention
The present invention welds at least one deficiency of steel ring work station for the robot automatic air gouging of inventor's design, especially
It is the deficiency for preventing plasma gouge high frequency from burning out robot and welding machine mother board technologies, a kind of novel robot automatic gas is provided
Plane welding steel ring work station, can fundamentally solve the problems, such as high frequency burn out robot and welding machine mainboard this, method letter
It is singly easily achieved, sexual valence is relatively high, and can guarantee that work station is efficiently run.
Specifically, the present invention provides a kind of robot automatic air gougings to weld steel ring work station comprising:
Control cabinet；
Base, with lifting device, and the lifting device independent grounding；
Turning rolls is set to the side of the base, and the turning rolls is for placing steel ring, and the turning rolls individually connects
Ground；
Robot is installed on the lifting device, to carry out elevating movement with the lifting device, and fills with the lifting
Set insulation connection；
Welding gun is removably set to the lifting device, so that the robot takes the welding gun, and to the steel
Circle is welded；And the welding gun and lifting device insulation connect；
Gouging torch is removably set to the lifting device, so that the robot takes the gouging torch, to described
Steel ring carries out gouge；And the gouging torch and lifting device insulation connect；
Robot electric loop is electrically connected the robot, the lifting device and the control cabinet, to control the machine
Device people；
Welding gun electric loop is electrically connected the welding gun and the control cabinet, to control the welding gun；
Gouging torch electric loop is electrically connected the gouging torch and the control cabinet, to control the gouging torch；
Grounding carbon brush, the grounding carbon brush are set on the turning rolls, and the grounding carbon brush is electric with gouging torch respectively
Air circuit is connected with welding gun electric loop, so that the gouging torch electric loop and the welding gun electric loop are connect by described
Ground carbon brush is individually grounded.
Optionally, the first relay is provided between the gouging torch electric loop and the robot electric loop；
The second relay is provided between the gouging torch electric loop and the welding gun electric loop.
Optionally, the grounding carbon brush includes cylinder, and is configured to the extended or retracted movement by the cylinder, makes institute
The ground connection for stating gouging torch electric loop and the welding gun electric loop switches over.
It optionally, further include changing rifle disk, the rifle disk that changes has the male connector for being set to the robot, and is respectively set
In the female of the welding gun and the gouging torch；
It is provided with insulation board and insulation sleeve at link position between the robot and the lifting device, so that described
Robot and lifting device insulation connect；
Green nylon flange is provided at link position between the robot and the male connector so that the robot with
The male connector insulation connection.
Optionally, it is provided with insulation board and insulation sleeve at the link position between the welding gun and the lifting device, with
Make the welding gun and the lifting device insulate to connect；
It is provided with insulation board and insulation sleeve at link position between the gouging torch and the lifting device, so that described
Gouging torch and lifting device insulation connect.
Optionally, further include camera, be provided with insulation board at the link position between the camera and the lifting device
And insulation sleeve, so that the camera and lifting device insulation connect.
It optionally, further include wire-feed motor, the wire-feed motor is set on the lifting device, the wire-feed motor and the liter
It is provided with insulation board and insulation sleeve at link position between falling unit, so that the wire-feed motor and lifting device insulation connect
It connects.
Optionally, robot automatic air gouging welds steel ring work station further include:
Robot control cabinet is electrically connected the robot electric loop；
Welding machine and water tank are electrically connected the welding gun electric loop；
Voltage-stablizer and gouge electric power host are electrically connected the gouging torch electric loop.
Robot automatic air gouging of the invention welds steel ring work station, by electrically returning in gouging torch electric loop with welding gun
Independent grounding and insulation are set at the position between road and robot electric loop, can prevent plasma gouge high frequency from burning out machine
Device people and welding machine mainboard, are simply easily achieved, and sexual valence is relatively high, and the work station is also applied for TIG weld technique, prevents TIG
The high frequency of generation burns out robot mainboard.Ensure that robot carries out gouge and welding process full-automation carries out, and protects machine
People's mainboard and welding machine mainboard.
Further, pass through the position between gouging torch electric loop and welding gun electric loop and robot electric loop
Place's setting relay, the insulation at safeguard work station, if failure of insulation, gouging torch electric loop and welding gun electric loop and/or machine
Device people's electric loop electric current is conducted, and relay will act, and work station issues warning note.
Detailed description of the invention
Some specific embodiments of the present invention is described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing:
Fig. 1 is the structure chart of robot automatic air gouging welding steel ring work station according to an embodiment of the invention；
Fig. 2 is the main view of robot automatic air gouging welding steel ring work station；
Fig. 3 is the top view of robot automatic air gouging welding steel ring work station；
Fig. 4 is the side view of robot automatic air gouging welding steel ring work station；
Fig. 5 is the schematic expanded view in Fig. 1 at A；
Fig. 6 is the schematic diagram of turning rolls；
Fig. 7 is the schematic cross sectional views of turning rolls；
Fig. 8 is the schematic expanded view in Fig. 6 at B；
Fig. 9 is that the electrical schematic of robot automatic air gouging welding steel ring work station according to an embodiment of the invention connects
Map interlinking；
Figure 10 is the schematic elevational view of grounding carbon brush in the welding steel ring work station of robot automatic air gouging shown in Fig. 9；
Figure 11 is the schematic plan of grounding carbon brush shown in Figure 10；
Figure 12 is the schematic cross sectional views of grounding carbon brush shown in Figure 10.
Specific embodiment
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Fig. 1 is the structure chart of robot automatic air gouging welding steel ring work station according to an embodiment of the invention.Such as Fig. 1
Shown and referring to figs. 2 to Fig. 8, the embodiment of the invention provides a kind of robot automatic air gougings to weld steel ring work station.The machine
People's automatic air gouging welding steel ring work station include base 20, robot 30, turning rolls 40, dot laser 50, welding gun 60, camera 70,
Gouging torch 80.Specifically, base 20 has lifting device.Robot 30 is installed on lifting device, to be risen with lifting device
Drop movement.Turning rolls 40 is set to the side of base 20, and steel ring 90 is placed on turning rolls 40, and drives steel ring 90 around steel ring
90 axis rotation；The axis of steel ring 90 is horizontally extending.Dot laser 50 is installed on base 20 or robot 30, is configured to
The inside groove 91 of steel ring 90 is detected when steel ring 90 rotates, to control the movement of turning rolls 40, internal side slope mouth 91 is determined
Position.Welding gun 60 is removably set to base 20, so that robot 30 takes welding gun 60, and internal side slope mouth 91 carries out contact and seeks
Position, and welded in interior side slope mouth 91.Camera 70 is removably set to base 20, so that robot 30 takes camera
70, and when steel ring 90 rotates again, the outside of steel ring 90 is shot, there is outside position while welding feature to obtain
Picture, to control the movement of turning rolls 40 with preset characteristics of weld seam according to the outside position while welding feature on picture, to steel ring
90 outer side weld is positioned.Gouging torch 80 is removably set to base 20, with external using welding gun 60 in robot 30
Side weld carries out making robot 30 take gouging torch 80, external side weld carries out gouge after contact seeks position；And by least
Primary gouge simultaneously after scarfing cinder, makes robot 30 take welding gun 60, welds to the outer side weld after gouge.
Specifically, when internal side slope mouth 91 is positioned, dot laser 50 issues infrared laser radiation and impinges upon in steel ring 90
Side, such as the bottom of inside, turning rolls 40 drives 90 rotary motion of steel ring, and dot laser 50 detects the distance that fixed point is arrived at groove,
According to the range measurement numerical characteristics for arriving fixed point at groove, such as first sharply becomes larger, sharply becomes smaller again, the accurate position for determining groove
It sets.When detecting groove position, the time is needed due to feeding back to system processing, turning rolls 40 can turn over groove position,
After detecting groove position, turning rolls 40 is converted to and is inverted at a slow speed, until dot laser 50 detects inside groove 91 again
It sets, turning rolls 40 stops operating, and completes internal side slope mouth 91 and positions.
Contact is carried out to 90 groove of steel ring using the welding wire on welding gun 60 and seeks position, determines the position of groove and the length of groove
And it welds.Due to needing to process in outer side weld of the top of steel ring 90 to steel ring 90, completed in interior side slope mouth 91
After welding, the outer side weld of steel ring 90 need to be positioned.
When positioning to the outer side weld of steel ring 90,30 end of robot switches to camera 70, then by turning rolls 40
First quick rotation, then rotate at a slow speed, and take pictures and obtain one or more pictures, and then can get with outer side weld position
The picture of feature is set, to compare according to the outside position while welding feature on picture with preset characteristics of weld seam, determines outside
Position while welding, and after position while welding on the outside of determination, turning rolls 40 stop rotating movement, realize to the outer side weld of steel ring 90 into
Row positioning.
Then, camera 70 is switched to welding gun 60 by 30 end of robot, is sought position using welding wire contact and is determined outer side weld institute
Position and length.Then, welding gun 60 is switched to gouging torch 80 by 30 end of robot, is started to execute gouge program, be carried out
At least once after gouge and artificial scarfing cinder, gouging torch 80 is switched to welding gun 60 by robot 30, and external side weld is welded.It is right
After the completion of outer side weld welding, robot automatic air gouging welding 90 work station of steel ring of the invention has been automatically performed to steel ring 90
Gouge welding.
In some embodiments of the invention, turning rolls 40 is two, the two sides of robot 30 is set to, in non-machine
When people 30 works in the steel ring 90 on a turning rolls 40, robot 30 is made to work in the steel ring 90 on another turning rolls 40.
That is, two turning rolls 40 constitute double-station, a station is manually in loading and unloading, and another station is by 30 automatic welding of robot
It connects, gouge.It will manually separate, efficiently solve especially in summer, worker is easy heatstroke with welding, gouge region
Problem can also guarantee the safety of worker as much as possible.
In some embodiments of the invention, lifting device can have lifting column, crossbeam 21 and the first sliding block.Lifting is vertical
The first straight line guide rail extended along the vertical direction is provided on column, the first sliding block is installed on first straight line guide rail, and crossbeam 21 is pacified
Loaded on the first sliding block.Robot 30 is installed on the end of crossbeam 21.Further, lifting column stroke 2000mm, increases machine
30 operating radius of device people, can be with universal outer diameter having a size of the gouge weldering of about more than 360 kinds steel rings 90 altogether between 504~Φ of Φ 1854mm
Connect work.Further, gear and rack gear are provided on lifting column, servo motor drives gear and rack gear by speed reducer,
It drives the first sliding block to move along first straight line guide rail, makes robot 30 as place crossbeam 21 is gone up and down along first straight line guide rail
Movement.
Welding gun 60, dot laser 50, camera 70 and gouging torch 80 are set to the one or both sides of crossbeam 21.For example, welding gun 60
The side of crossbeam 21 can be installed on by welding gun support, dot laser 50 is set on 60 support of welding gun.Camera 70 and gouging torch 80
It is set to the other side of crossbeam 21.
In some embodiments of the invention, turning rolls 40 include pedestal, two group of second sliding block, four groups of composite rolling wheels 41,
Two screw rods and motor on same straight line.Two second straight line guide rails being oppositely arranged are provided on pedestal.Each group
Second sliding block is installed on a second straight line guide rail, and each group of the second sliding block upper plate 42, bottom plate 42 is equipped with composite rolling wheel
41 components.Every two groups of composite rolling wheels 41 are installed on a bottom plate 42, and with remaining two groups of composite rolling wheel 41 along a perpendicular pair
Claim setting.Two screw rods on same straight line, each group of the second sliding block or each bottom plate 42 are bolted in a screw rod.Motor
Two screw rod rotations are driven, so that the opposite centering campaign of two group of second sliding block, realizes that composite rolling wheel 41 component centering in two sides is mobile.
Every two groups of composite rolling wheels 41 are independently driven by motor, and motor driven composite rolling wheel 41 makees circle rotation movement, to drive steel ring
90 rotations.Every two groups of composite rolling wheels 41 can independent rotary motion, can also be rotated simultaneously.After steel ring 90 is hung in, four
Group composite rolling wheel 41 is cut into four lines with 90 phase of steel ring automatically and contacts, and sliding block drives four groups of 41 centerings of composite rolling wheel, arrives in
Position after, 40 band brake apparatus of turning rolls locking, eliminate steel ring 90 on groove in rotary course with 41 rotating contact of composite rolling wheel
When beat.Further, screw rod and composite rolling wheel 41 can be used servo motor and drive, repetitive positioning accuracy with higher,
It can reach 0.3mm (at radius R=500mm).
In some embodiments of the invention, robot automatic air gouging welding 90 work station of steel ring further includes changing rifle disk, sending
61, two sets of arc blocking tabula rasas 22 of silk machine, safe fence 23 and clear rifle station 62.Change rifle disk have be set to 30 6 shaft end of robot
Male connector and three are respectively arranged at the female of welding gun 60, gouging torch 80 and camera 70, realize that robot 30 can be by program requirement
Replacement crawl welding gun 60, camera 70, gouging torch 80 work.Wire-feed motor 61 is set to the ipsilateral of crossbeam 21 with welding gun 60, is
Welding gun 60 provides required welding wire.Two sets of arc blocking tabula rasas 22 are set between two turning rolls 40.Every set arc blocking tabula rasa 22 can wrap
Include column and tabula rasa.Tabula rasa is driven by the cylinder along column, is achived up and down, and can effectively protect worker in a station
When loading and unloading, not by the interference and injury of arc light or splashing slag from another station gouge or welding.Clear rifle station 62 is set to
Between two sets of arc blocking tabula rasas 22, after welding for welding gun 60, automatic clear rifle cuts silk and the lubrication to ignition tip.Safe fence 23 is set
It is placed in the surrounding of base 20 and two turning rolls 40.And there is door opening in the opposite two side walls of safe fence 23, to whole
A working region is isolated.
The present invention also provides making for robot automatic air gouging welding 90 work station of steel ring in any one of the above embodiment
Use method.The application method may include following steps:
Step 1: steel ring 90 is installed on turning rolls 40.In this step, it needs to keep the second sliding block mobile, drives four groups
41 centering of composite rolling wheel, and after in place, the locking of turning rolls band brake apparatus.
Step 2: rotation roller frame 40 opens dot laser 50, and the distance from bottom for detecting the inner surface of steel ring 90 is fixed
The distance of point.
Step 3: determined whether to detect inside groove 91 according to distance.Specifically, according to each at V-type or X-type groove
A point/line first sharply becomes larger, then sharply become smaller to the range measurement numerical characteristics of fixed point, to accurately determine the position of groove
It sets.
Step 4: after detecting inside groove 91, counter-roller frame 40 makes inside groove 91 be in the interior table of steel ring 90
The bottom in face, preferably inside groove 91 are at the minimum point on circumference.The rotation speed of turning rolls 40 in step 2 is big
The rotation speed of turning rolls 40 in step 4.That is, considering the reaction time logarithm result that dot laser 50 measures
Have an impact, using the first quickly rotation of turning rolls 40, numerical value change feature at groove is set until numerical value meets, is due to feeding back to
System processing needs the time, and usually 1 to 2s, at this point, turning rolls 40 can turn over groove position, turning rolls 40 is again with low speed and reverse
To groove position, the precision of such method for position-finding is within 1mm.
Step 5: robot 30 takes welding gun 60, and internal side slope mouth 91 carries out contact and seeks position, and in interior side slope mouth 91
It is welded.Welding gun 60 can be filled welding by the internal side slope mouth 91 of welding parameter of default.
Step 6: welding gun 60 is replaced by robot 30, and takes camera 70, and rotates turning rolls 40, and utilize
Camera 70 shoots the outside of steel ring 90, to obtain the picture with outside position while welding feature；Moreover, according on picture
Outside position while welding feature and preset characteristics of weld seam control turning rolls 40 movement, the outer side weld of steel ring 90 is determined
Position makes outside weld seam be in the top of the outer surface of steel ring 90.When in view of groove, especially double V-groove, on the outside of workpiece weld seam
The seam only docked, the positioning accuracy of turning rolls 40 are not able to satisfy the requirement of 30 gouge of robot and welding at 0.5 °,
The numerical value change that can not be detected according to dot laser 50 determines the position of outside groove.The present invention vision camera high using cost performance
70 can solve this problem, and vision camera 70 scans always 90 outside of steel ring, and turning rolls 40 rotates always, until camera 70 acquires
Position while welding feature picture, pass through system automatic comparison original set characteristics of weld seam.If position while welding has arrived specified
Angle, turning rolls 40 then stop rotating movement immediately.If being less than specified angle, turning rolls 40 continues to rotate, until system
Position while welding is found by acquisition photo comparison, and turning rolls 40 just stops rotating movement.
Step 7: camera 70 is replaced by robot 30, and takes welding gun 60, and external side weld carries out contact and seeks position.
The position where seeking the determining outer side weld in position and length are contacted with welding wire, and feeds back information to system, and system adjust automatically is mended
Repay compiled correspondence program.
Step 8: welding gun 60 is replaced by robot 30, and takes gouging torch 80, and external side weld carries out gouge.It holds
When promoting the circulation of qi planing length sequence, after each gouge complete 90 outer side weld of steel ring one time, gouging torch 80 is stopped on point of safes, needs people at this time
Work root out cleaning to the gouge slag of weld seam two sides, and after the completion of manual cleaning, robot 30 drives gouging torch 80, continues to execute
Gouge program is recycled 3 times by " gouge -- scarfing cinder " this process.Herein it should be noted that needing people before gouge of entering
Work rests easily within gouge slag device 43 on steel ring 90, for receiving gouge slag.
Step 9: after gouge at least once and scarfing cinder, replace robot 30 by gouging torch 80, and take
With welding gun 60, welding is filled to the outer side weld after gouge.
In some embodiments of the invention, application method further includes working on a turning rolls 40 in non-robot 30
Steel ring 90 (i.e. a station) when, the steel ring 90 (i.e. two stations) that works in robot 30 on another turning rolls 40.Machine
People 30 is when station one works, manually in the synchronous loading and unloading for carrying out steel ring 90 of station two.It is artificial to use driving after the completion of welding
The steel ring 90 welded hangs the turning rolls 40 of station one, at this point, robot 30 starts to carry out seeking position by program to station two, weldering
It connects, gouge work.The batch production operation to steel ring 90 is recycled according to this.
In some preferred embodiments of the invention, in step 6, turning rolls 40 can first be such that turning rolls 40 revolves when rotating
Turn the first predetermined angle, after make 40 revolving speed of turning rolls rotate.The value range of first predetermined angle is 160 ° to 178 °, preferably
175°.The reason of being arranged in this way is, considers that 91 position of groove after being soldered weld joint on inner side, is needed in minimum point on the inside of workpiece
180 ° of rotation is exactly the location of workpiece needed for gouge.In order to improve beat, after being soldered weld joint on inner side, turning rolls 40 quickly rotates
To after 175 °, the low speed rotation again of turning rolls 40, after camera 70 determines outside position while welding, turning rolls 40 stops rotating movement.
Particularly, inventor has found to there is also some problems in above-mentioned robot automatic air gouging welding steel ring work station.Tool
Body, in the development project of robot automatic air gouging welding steel ring work station, due to lacking experience, lead to robot mainboard quilt
It has burnt out 3 times, more than 2000 yuan of robot mainboard unit price, has waited expenses larger along with producer of robot makes house calls, and more
Change owner plate at least needs 1 week time, and the period is longer.After robot mainboard has burnt the 1st time, by seeking advice from producer of robot,
Plasma gouge producer, the high frequency that analysis reason is likely to be the generation of plasma gouge burn out robot mainboard.And this project
The MAG welding procedure mode of middle use, there is no generate high frequency for the welding starting the arc.According to the information that producer of robot provides, as long as
What robot selected before purchase is that would not burn out robot mainboard, but reality is still burnt out, machine with anti-high-frequency model
People producer suggests that by the equipment of each composition part of system, adequately grounded, we are by after the equipment independent grounding of each composition, more
The robot mainboard renewed, enables work station, robot demonstrator blank screen again, and robot mainboard is burnt out again.Machine at this time
The engineer of people producer and plasma gouge producer due to without there is similar case, not suggested preferably before.It examines
Consider anti-high frequency, main method is exactly ground connection and insulation.At this point, we have carried out insulation processing, and the 2nd time to major function equipment
Robot mainboard is replaced, work station has used 2 weeks or so, robot demonstrator blank screen, burns out for robot mainboard the 3rd time.
It, should as shown in Figure 9 and with reference to figures 10 to Figure 12 in order to solve at least one above problem occurred in research process
Robot automatic air gouging weld steel ring work station further include: control cabinet 33, robot electric loop 31, welding gun electric loop 63,
Gouging torch electric loop 81 and grounding carbon brush 10.Control cabinet 33, lifting device and turning rolls 40 are individually grounded, grounding electrode
Spacing 1500mm or more, electrode ground resistance are less than 1K Ω.Robot 30, welding gun 60 and gouging torch 80 and lifting device insulation connect
It connects.Robot electric loop 31 is electrically connected welding robot 30, lifting device and control cabinet 33, to control robot 30.Welding gun is electrical
Circuit 63 is electrically connected welding gun 60 and control cabinet 33, to control welding gun 60.Gouging torch electric loop 81 is electrically connected gouging torch 80 and control
Cabinet 33 processed, to control gouging torch 80.That is 33 co- controlling robot electric loop 31 of control cabinet, welding gun electric loop 63 and gouge
Rifle electric loop 81.Grounding carbon brush 10 is set on turning rolls 40, and grounding carbon brush 10 respectively with gouging torch electric loop 81 and
Welding gun electric loop 63 is connected, so that gouging torch electric loop 81 and welding gun electric loop 63 are single respectively by grounding carbon brush 10
Solely ground connection.When operation, insulation and ground connection are carried out, and detected with multimeter, it is ensured that reach design requirement.Ensure it is errorless after,
Robot 30 can be allowed to operate by program automatic running.By in gouging torch electric loop and welding gun electric loop and robot electricity
Independent grounding and insulation are set at the position between air circuit, can prevent plasma gouge high frequency from burning out robot and welding machine master
Plate is simply easily achieved, and sexual valence is relatively high, and the work station is also applied for TIG weld technique, and the high frequency for preventing TIG from generating is burnt
Bad robot mainboard.Ensure that robot carries out gouge and welding process full-automation carries out, and protects robot mainboard and welding machine
Mainboard.
In some embodiments of the invention, is provided between gouging torch electric loop 81 and robot electric loop 31
One relay 12, when current lead-through between gouging torch electric loop 81 and robot electric loop 31, work station passes through first
12 warning note of relay.It is provided with the second relay 13 between gouging torch electric loop 81 and welding gun electric loop 63, works as gas
When digging current lead-through between rifle electric loop 81 and welding gun electric loop 63, work station passes through 13 warning note of the second relay.
In some embodiments of the invention, grounding carbon brush 10 includes cylinder 11, and is stretched by being in the movement of cylinder 11
When out position, grounding carbon brush 10 connects welding gun electric loop 63, so that welding gun electric loop 63 is grounded；And act cylinder 11
When in retracted position, grounding carbon brush 10 connects gouging torch electric loop 81, so that gouging torch electric loop 81 is grounded.Namely
Grounding carbon brush 10 is said by the extended or retracted movement of cylinder 11, makes connecing for gouging torch electric loop 81 and welding gun electric loop 63
Ground switches over, and then switches over to gouge and welding and the conducting of workpiece.Further, grounding carbon brush 10 further includes structure
Part, insulation board, insulation sleeve and copper lug 14.
In some embodiments of the invention, insulation board is provided at the link position between robot 30 and lifting device
And insulation sleeve, so that robot 30 and lifting device insulation connect.Preferably, between robot 30, insulation board and lifting device
It is connected by four screws, an insulation sleeve is set at each screw, so that the quantity of insulation sleeve is 4.Robot 30 and public affairs
It is provided with green nylon flange at link position between head, so that robot 30 and male connector insulation connect.
In some embodiments of the invention, be provided at the link position between welding gun 60 and lifting device insulation board and
Insulation sleeve, so that welding gun 60 and lifting device insulation connect.Insulation sleeve quantity is 4.Between gouging torch 80 and lifting device
Insulation board and insulation sleeve are provided at link position, so that gouging torch 80 and lifting device insulation connect.Insulation sleeve quantity is 4
Part.It is provided with insulation board and insulation sleeve at link position between camera 70 and lifting device, so that camera 70 and lifting device
Insulation connection.Insulation sleeve quantity is 4.Wire-feed motor 61 is set on lifting device, the company between wire-feed motor 61 and lifting device
It connects and is provided with insulation board and insulation sleeve at position, so that wire-feed motor 61 and lifting device insulation connect.Insulation sleeve quantity is 4.
In some embodiments of the invention, robot electric loop 31 further includes robot control cabinet 32, is electrically connected and picks
Device people control cabinet 32, to constitute robot electric loop 31.And 32 independent grounding of robot control cabinet, grounding electrode spacing
1500mm or more, electrode ground resistance are less than 1K Ω.Further, robot electric loop 31 further includes changing rifle disk.Welding gun electricity
Air circuit 63 further includes welding machine, water tank, and be electrically connected welder and water tank, to constitute welding gun electric loop 63.Further, welding gun electricity
Air circuit 63 further includes wire-feed motor 61, turning rolls 40 and grounding carbon brush 10.Gouging torch electric loop 81 further includes 82 He of voltage-stablizer
Gouge electric power host is electrically connected voltage-stablizer 82 and gouge electric power host, to constitute gouging torch electric loop 81.And gouge power supply master
Machine independent grounding, grounding electrode spacing 1500mm or more, electrode ground resistance are less than 1K Ω.Further, gouging torch electrically returns
Road 81 further includes turning rolls 40 and grounding carbon brush 10.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (8)
1. a kind of robot automatic air gouging welds steel ring work station characterized by comprising
Control cabinet；
Base, with lifting device, and the lifting device independent grounding；
Turning rolls is set to the side of the base, and the turning rolls is for placing steel ring, and the turning rolls independent grounding；
Robot is installed on the lifting device, to carry out elevating movement with the lifting device, and it is exhausted with the lifting device
Edge connection；
Welding gun is removably set to the lifting device so that the robot takes the welding gun, and to the steel ring into
Row welding；And the welding gun and lifting device insulation connect；
Gouging torch is removably set to the lifting device, so that the robot takes the gouging torch, to the steel ring
Carry out gouge；And the gouging torch and lifting device insulation connect；
Robot electric loop is electrically connected the robot, the lifting device and the control cabinet, to control the machine
People；
Welding gun electric loop is electrically connected the welding gun and the control cabinet, to control the welding gun；
Gouging torch electric loop is electrically connected the gouging torch and the control cabinet, to control the gouging torch；
Grounding carbon brush, the grounding carbon brush are set on the turning rolls, and the grounding carbon brush is electrically returned with gouging torch respectively
Road is connected with welding gun electric loop, so that the gouging torch electric loop and the welding gun electric loop pass through the ground connection carbon
Brush is individually grounded.
2. robot automatic air gouging according to claim 1 welds steel ring work station, which is characterized in that
The first relay is provided between the gouging torch electric loop and the robot electric loop；
The second relay is provided between the gouging torch electric loop and the welding gun electric loop.
3. robot automatic air gouging according to claim 1 welds steel ring work station, which is characterized in that
The grounding carbon brush includes cylinder, and is configured to the extended or retracted movement by the cylinder, makes the gouging torch electricity
The ground connection of air circuit and the welding gun electric loop switches over.
4. robot automatic air gouging according to claim 1 welds steel ring work station, which is characterized in that further include changing rifle
Disk, it is described change rifle disk and have be set to the male connector of the robot, and be respectively arranged at the welding gun and the gouging torch
Female；
It is provided with insulation board and insulation sleeve at link position between the robot and the lifting device, so that the machine
People and lifting device insulation connect；
Green nylon flange is provided at link position between the robot and the male connector so that the robot with it is described
Male connector insulation connection.
5. robot automatic air gouging according to claim 1 welds steel ring work station, which is characterized in that
Be provided with insulation board and insulation sleeve at link position between the welding gun and the lifting device so that the welding gun with
The lifting device insulation connection；
It is provided with insulation board and insulation sleeve at link position between the gouging torch and the lifting device, so that the gouge
Rifle and lifting device insulation connect.
6. robot automatic air gouging according to claim 1 welds steel ring work station, which is characterized in that
Further include camera, is provided with insulation board and insulation sleeve at the link position between the camera and the lifting device, with
Make the camera and the lifting device insulate to connect.
7. robot automatic air gouging according to claim 1 welds steel ring work station, which is characterized in that
It further include wire-feed motor, the wire-feed motor is set on the lifting device, between the wire-feed motor and the lifting device
Link position at be provided with insulation board and insulation sleeve so that the wire-feed motor and the lifting device insulation connect.
8. robot automatic air gouging according to claim 1 welds steel ring work station, which is characterized in that further include:
Robot control cabinet is electrically connected the robot electric loop；
Welding machine and water tank are electrically connected the welding gun electric loop；
Voltage-stablizer and gouge electric power host are electrically connected the gouging torch electric loop.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111774789A (en) * | 2020-06-19 | 2020-10-16 | 邹佳 | Iron ring welding auxiliary device |
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| Publication number | Publication date |
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| CN109079355B (en) | 2024-09-17 |
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