CN109332962A - A kind of robot pneumatic soldering turret control system and method - Google Patents

A kind of robot pneumatic soldering turret control system and method Download PDF

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Publication number
CN109332962A
CN109332962A CN201811541346.7A CN201811541346A CN109332962A CN 109332962 A CN109332962 A CN 109332962A CN 201811541346 A CN201811541346 A CN 201811541346A CN 109332962 A CN109332962 A CN 109332962A
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CN
China
Prior art keywords
soldering turret
control
pneumatic
valve
robot
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811541346.7A
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Chinese (zh)
Inventor
刘宏波
张乂文
王彬彬
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刘宏波
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Application filed by 刘宏波 filed Critical 刘宏波
Priority to CN201811541346.7A priority Critical patent/CN109332962A/en
Publication of CN109332962A publication Critical patent/CN109332962A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/003Cooling means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0247Driving means

Abstract

The invention discloses a kind of robot pneumatic soldering turret control system and methods.The system includes: cooling system control subsystem, pneumatic system control subsystem and controller, and cooling system control subsystem includes the hand stop valve being sequentially arranged on water supply system pipeline, y-type filter, electromagnet cut off valve and flow sensor;Pneumatic system control subsystem includes the gas stop valve being mounted on total supply air line, the pressure-regulating valve being mounted on the low-pressure air pipe being connected with soldering turret compensating cylinder inlet end, the electromagnetic proportional valve being mounted on the high-pressure air pipe being connected with soldering turret master cylinder inlet end, and the baroceptor being mounted on low-pressure air pipe;Controller is according to the start and stop of flow sensor and baroceptor collected Numerical Control soldering turret, cooling system and pneumatic system.Robot pneumatic soldering turret control system and method provided by the invention provide the pneumatic power source and cooling water of high quality for robot pneumatic soldering turret, and can carry out automatic emergency processing to steam failure.

Description

A kind of robot pneumatic soldering turret control system and method
Technical field
Be welded automatically technical field the present invention relates to automobile, more particularly to a kind of robot pneumatic soldering turret control system and Method.
Background technique
Due to the promotion of domestic each depot's production capacity, the demand to automation welding line increasingly increases, especially automobile from The promotion of main brand and joint brand production capacity, in face of the increase of recruitment cost, a large amount of robot is applied to automation and is welded Line.This has resulted in robot pneumatic soldering turret to the requirements at the higher level of gas source power quality and welding cooling water quality.And due to Robot welding line is unmanned welding line, it has to be possible to carry out automatic emergency processing to some failures, avoid production process In heavy losses.
Summary of the invention
The object of the present invention is to provide a kind of robot pneumatic soldering turret control system and methods, mention for robot pneumatic soldering turret For the pneumatic power source and cooling water of high quality, and automatic emergency processing can be carried out to steam failure.
To achieve the above object, the present invention provides following schemes:
A kind of robot pneumatic soldering turret control system, the robot pneumatic soldering turret control system is in a kind of robot Pneumatic welding rod holder, the robot pneumatic soldering turret include: water supply system, return water system, soldering turret compensating cylinder and soldering turret master cylinder, soldering turret Water inlet is connected with water supply system, and soldering turret water outlet connects return water system, and cooling water enters robot soldering pliers by water supply system, Hydraulic pressure balancer is installed, hydraulic pressure balancer is used to adjust the pressure difference of water supply and return water on return water system;
The robot pneumatic soldering turret control system includes: cooling system control subsystem, pneumatic system control subsystem And controller, the cooling system control subsystem include the hand stop valve being sequentially arranged on water supply system pipeline, Y type mistake Filter, electromagnet cut off valve and flow sensor, cooling water successively pass through hand stop valve, y-type filter and electromagnet cut off valve into Enter soldering turret;Pneumatic system control subsystem includes the gas stop valve being mounted on total supply air line, is mounted on and balances with soldering turret Pressure-regulating valve on the connected low-pressure air pipe of cylinder inlet end, is mounted on the high-pressure air pipe being connected with soldering turret master cylinder inlet end Electromagnetic proportional valve, and the baroceptor being mounted on low-pressure air pipe;The controller is according to the flow sensor and institute State the start and stop of baroceptor collected Numerical Control soldering turret, cooling system and pneumatic system.
Optionally, it is also equipped with exhaust air-valve in the water supply system, the gas for being discharged in cooling water.
Optionally, oil water separator is installed on the pipeline between the gas stop valve and the baroceptor.
Optionally, the pipeline diameter of cooling system is 0.5 inch.
The present invention has also proposed a kind of robot pneumatic soldering turret control method, and the method is applied to machine provided by the invention Device people's pneumatic welding rod holder control system, which comprises
Obtain the flow value of the collected water supply system of flow sensor;
Judge whether the flow value is less than minimum setting flow value;
If so, stopping welding, on a display screen to production line master control cabinet report failure and by malfunction coefficient;
Judge whether the flow value is greater than highest setting flow value;
If the flow value is greater than highest setting flow value, electromagnet cut off valve is closed, the work of water supply system is stopped, Stop welding, on a display screen to production line master control cabinet report failure and by malfunction coefficient;
Obtain the pressure value on the collected low-pressure air pipe of baroceptor;
Judge whether the pressure value is less than minimum setup pressure value;
If the pressure value is less than minimum setup pressure value, stops welding to production line master control cabinet and report event Hinder and by malfunction coefficient on a display screen.
Optionally, the minimum flow value that sets is 4L/ minute.
Optionally, the highest setting flow value is 12L/ minutes.
Optionally, the minimum setup pressure value is 4bar.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: machine provided by the invention Successively installation hand stop valve, y-type filter, the electromagnetism of people's pneumatic welding rod holder control system and method on water supply system pipeline are cut Only valve and flow sensor, the gas stop valve on total supply air line, pressure-regulating valve and air pressure transmission on low-pressure air pipe Sensor, the electromagnetic proportional valve on high-pressure air pipe;Cooling water successively passes through hand stop valve, y-type filter and electromagnet cut off valve Into soldering turret;Controller is according to the flow sensor collected data on flows control electromagnet cut off valve and gas stop valve Opening and closing avoids in turn according to the opening and closing of baroceptor collected pressure data control electromagnet cut off valve and gas stop valve To lead to water supply system water flow too low or excessively high breaking down, or when leading to pneumatic system decompression, caused into one Step damage.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings Obtain other attached drawings.
Fig. 1 is robot pneumatic of embodiment of the present invention soldering turret cooling system control subsystem structure composition schematic diagram;
Fig. 2 is robot pneumatic of embodiment of the present invention soldering turret pneumatic system control subsystem structure composition schematic diagram;
Fig. 3 is robot pneumatic of embodiment of the present invention soldering turret control method flow chart.
1. being vented air-valve, 2. flow sensors, 3.IP67 bus module, 4. hydraulic pressure balancers, 5. electromagnet cut off valve, 6.Y Type filter, 7. baroceptors, 8. gas stop valves, 9. oil water separators, 10. gas pressure regulation filters, 11. copper water supply Pipe, 12. copper recirculation return pipes, 13. woollen goods latch segments, 14. hand stop valves, 15. electromagnetic proportional valves.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of robot pneumatic soldering turret control system and methods, mention for robot pneumatic soldering turret For the pneumatic power source and cooling water of high quality, and automatic emergency processing can be carried out to steam failure.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real Applying mode, the present invention is described in further detail.
Robot pneumatic soldering turret control system includes: cooling system control subsystem, pneumatic system control subsystem and control Device processed, Fig. 1 is robot pneumatic of embodiment of the present invention soldering turret cooling system control subsystem structure composition schematic diagram, such as Fig. 1 institute Show, cooling system control subsystem includes the hand stop valve being sequentially arranged on water supply system pipeline, y-type filter 6, electromagnetism Shut-off valve 5 and flow sensor 2, cooling water successively pass through hand stop valve, y-type filter 6 and electromagnet cut off valve 5 and enter weldering Pincers.The generation of bubble installs exhaust air-valve 1 on top in aqueous medium in order to prevent, and water supply system connects ground water supply by hose Pipeline, cooling water enter robot soldering pliers by water supply system and are cooled down, constantly recycled in the welding process, will be heated Recirculated water return water system is connected by soldering turret water outlet, installation hydraulic pressure balancer 4 is used to adjust water supply and returns on return water system Water pressure is poor.And play the role of check valve, guarantee that aqueous medium will not flow back to water supply system in return water system.Water in order to prevent Rust is deposited in soldering turret and cooling device, the protection especially to process sensor and electromagnet cut off valve 5, so ending in electromagnetism Y type liquid filter is installed, to guarantee the filtration grade of 200 mesh before valve 5.When needing personal replacement electrode holder electrode cap, in order to It prevents cooling circulating water from flowing out soldering turret, is closed by hand stop valve, to prevent water stream from flowing out from soldering turret, influence to produce Line.
Fig. 2 is robot pneumatic of embodiment of the present invention soldering turret pneumatic system control subsystem structure composition schematic diagram, such as Fig. 2 Shown, pneumatic system control subsystem includes the gas stop valve 8 being mounted on total supply air line, is mounted on and soldering turret compensating cylinder Pressure-regulating valve on the connected low-pressure air pipe of inlet end, is mounted on the high-pressure air pipe being connected with soldering turret master cylinder inlet end Electromagnetic proportional valve 15, and the baroceptor 7 being mounted on low-pressure air pipe, the pipe between gas stop valve 8 and baroceptor 7 Road is also equipped with oil water separator.Low-pressure gas pressure is 6bar, is used to supply to pneumatic welding rod holder compensating cylinder, since compression is empty Gas source is workshop compressor, and there are impurity due to erecting and welding with aqueous vapor, oil gas and welding slag ash in whole level-one pipeline The composition such as dirt is used to filter low-pressure gas so must increase an oil water separator, in order to guarantee the normal output of pressure, by Generally it is difficult to keep stablizing in once pipeline mesolow gas pressure so increasing Manual pressure regulating valve at one guarantees output Pressure is 6bar, can provide reliable gas source for pneumatic welding rod holder compensating cylinder.High-pressure gas pressure is 12bar, is used to gas Dynamic soldering turret master cylinders gas supply, also needs oil water separator to be filtered.Because the thickness of automobile board is different from material, weldering Welding pressure used is also different when connecing, and needs different variations so must achieve the purpose that automatic control, artificial pressure regulation is just Cannot meet the needs thus have to increase electromagnetic proportional valve 15, gas pressure is automatically adjusted between 7-10bar to reach To the purpose of control soldering turret pressure.
Through analyzing, water supply system pressure is 3bar, and return water system pressure is 1bar, and pressure difference is that 2bar can guarantee entirety Water flow is 6L/ minutes, can be fully cooled with butt welding tongs.So that it is determined that cooling device pipeline uses 1/2 inch Copper tube.
The present invention also provides a kind of control method applied to robot pneumatic soldering turret control system provided by the invention, As shown in figure 3, method includes the following steps:
Step 101: obtaining the flow value of the collected water supply system of flow sensor;
Step 102: judging whether flow value is less than minimum setting flow value;Minimum setting flow value can be 4L/ minutes;
Step 103: flow value is less than minimum setting flow value, then stops welding, reports to production line master control cabinet Failure and by malfunction coefficient on a display screen;
Step 104: judging whether flow value is greater than highest setting flow value;Height setting flow value can be 12L/ minutes;
Step 105: if flow value is greater than highest setting flow value, closing electromagnet cut off valve, stop water supply system Work stops welding, on a display screen to production line master control cabinet report failure and by malfunction coefficient;
Step 106: obtaining the pressure value on the collected low-pressure air pipe of baroceptor;
Step 107: judging whether pressure value is less than minimum setup pressure value;Minimum setup pressure value can be 4bar;
Step 108: if pressure value is less than minimum setup pressure value, stopping welding to production line master control cabinet report Accuse failure and by malfunction coefficient on a display screen.
When water flow is reduced to 4L/ minutes or less, low discharge signal is transferred to IP67 bus module by flow sensor, Bus module is transferred to robot, and robot stops welding, and reports failure to production line master control cabinet PLC simultaneously.By The master control screen of direct surveillance is shown, notifies maintenance personal.
When water flow is more than 12L/ minutes, high flow capacity signal is transferred to IP67 bus module, bus by flow sensor To robot, robot backdrop procedure judges automatically to be caused to fall off module transfer for motor cap adhesion, and leak event occurs for production line Barrier, robot will close and be sent to IP67 bus module to water signal, electromagnet cut off valve be controlled by bus module, automatically by water supply System is closed, due to playing the role of check valve there are water flow balancer in return water system so not needing to close, return water It will not be flowed out from failure soldering turret.Robot is automatically stopped welding, and reports failure to production line master control cabinet PLC simultaneously. It is shown by the master control screen of direct surveillance, notifies maintenance personal.
When low pressure gas is reduced to 4bar, pressure lossing signal is transferred to IP67 bus module, bus by baroceptor Module transfer stops welding to robot, robot, and reports failure to production line master control cabinet PLC simultaneously.By artificial The master control screen of monitoring is shown, notifies maintenance personal.And it is empty in factory that high pressure gas device, which does not increase the reason of baroceptor, Air compressor directly provides high pressure gas, provides low-voltage device by decompression, once low pressure goes wrong, possible high pressure can also be normal Work, so high-pressure control device does not increase baroceptor.
The successively installation hand of robot pneumatic soldering turret control system and method provided by the invention on water supply system pipeline Dynamic shut-off valve, y-type filter, electromagnet cut off valve and flow sensor, the gas stop valve on total supply air line, in low pressure gas Pressure-regulating valve and baroceptor on pipe, the electromagnetic proportional valve on high-pressure air pipe;Cooling water successively passes through manual shutoff Valve, y-type filter and electromagnet cut off valve enter soldering turret;Controller is controlled according to the collected data on flows of the flow sensor The opening and closing of electromagnet cut off valve and gas stop valve, it is gentle according to the collected pressure data control electromagnet cut off valve of baroceptor The opening and closing of body shut-off valve avoids breaking down that lead to water supply system water flow too low or excessively high in turn, or causes pneumatic When system decompression, caused further damage.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said It is bright to be merely used to help understand method and its core concept of the invention;At the same time, for those skilled in the art, foundation Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not It is interpreted as limitation of the present invention.

Claims (8)

1. a kind of robot pneumatic soldering turret control system, which is characterized in that the robot pneumatic soldering turret control system in A kind of robot pneumatic soldering turret, the robot pneumatic soldering turret include: water supply system, return water system, soldering turret compensating cylinder and soldering turret Master cylinder, soldering turret water inlet are connected with water supply system, and soldering turret water outlet connects return water system, and cooling water is entered by water supply system Robot soldering pliers, hydraulic pressure balancer is equipped on return water system, and hydraulic pressure balancer is used to adjust the pressure difference of water supply and return water;
The robot pneumatic soldering turret control system includes: cooling system control subsystem, pneumatic system control subsystem and control Device processed, the cooling system control subsystem include the hand stop valve being sequentially arranged on water supply system pipeline, the filtering of Y type Device, electromagnet cut off valve and flow sensor, cooling water successively pass through hand stop valve, y-type filter and electromagnet cut off valve and enter Soldering turret;Pneumatic system control subsystem includes the gas stop valve being mounted on total supply air line, is mounted on and soldering turret compensating cylinder Pressure-regulating valve on the connected low-pressure air pipe of inlet end, is mounted on the high-pressure air pipe being connected with soldering turret master cylinder inlet end Electromagnetic proportional valve, and the baroceptor being mounted on low-pressure air pipe;The controller is according to the flow sensor and described The start and stop of baroceptor collected Numerical Control soldering turret, cooling system and pneumatic system.
2. robot pneumatic soldering turret control system according to claim 1, which is characterized in that also pacify in the water supply system Gas equipped with exhaust air-valve, for being discharged in cooling water.
3. robot pneumatic soldering turret control system according to claim 1, which is characterized in that the gas stop valve and institute It states and oil water separator is installed on the pipeline between baroceptor.
4. robot pneumatic soldering turret control system according to claim 1, which is characterized in that the pipeline diameter of cooling system It is 0.5 inch.
5. a kind of robot pneumatic soldering turret control method, which is characterized in that the method is applied to such as any one of claim 1-4 The robot pneumatic soldering turret control system, which comprises
Obtain the flow value of the collected water supply system of flow sensor;
Judge whether the flow value is less than minimum setting flow value;
If so, stopping welding, on a display screen to production line master control cabinet report failure and by malfunction coefficient;
Judge whether the flow value is greater than highest setting flow value;
If the flow value is greater than highest setting flow value, electromagnet cut off valve is closed, the work of water supply system is stopped, being stopped Welding, on a display screen to production line master control cabinet report failure and by malfunction coefficient;
Obtain the pressure value on the collected low-pressure air pipe of baroceptor;
Judge whether the pressure value is less than minimum setup pressure value;
If the pressure value is less than minimum setup pressure value, stops welding to production line master control cabinet and report failure simultaneously On a display screen by malfunction coefficient.
6. robot pneumatic soldering turret control method according to claim 5, which is characterized in that the minimum setting flow value It is 4L/ minutes.
7. robot pneumatic soldering turret control method according to claim 5, which is characterized in that the highest setting flow value It is 12L/ minutes.
8. robot pneumatic soldering turret control method according to claim 5, which is characterized in that the minimum setup pressure value For 4bar.
CN201811541346.7A 2018-12-17 2018-12-17 A kind of robot pneumatic soldering turret control system and method Pending CN109332962A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811541346.7A CN109332962A (en) 2018-12-17 2018-12-17 A kind of robot pneumatic soldering turret control system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811541346.7A CN109332962A (en) 2018-12-17 2018-12-17 A kind of robot pneumatic soldering turret control system and method

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Publication Number Publication Date
CN109332962A true CN109332962A (en) 2019-02-15

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2295186A2 (en) * 2009-09-09 2011-03-16 Bürkert Werke GmbH Protective gas welding control device
CN204584576U (en) * 2015-03-25 2015-08-26 广州明珞汽车装备有限公司 A kind of soldering turret cooling-water treatment apparatus
CN206010193U (en) * 2016-08-17 2017-03-15 合肥亿翔智能制造有限公司 A kind of robot soldering pliers apparatus for placing
CN206455325U (en) * 2017-02-22 2017-09-01 十堰一诺机电科技有限公司 Auto welding jig water flowing revolving structure
CN108927616A (en) * 2018-08-31 2018-12-04 长春理工大学 Robot welding product line region pneumatic welding rod holder power and cooling control system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2295186A2 (en) * 2009-09-09 2011-03-16 Bürkert Werke GmbH Protective gas welding control device
CN204584576U (en) * 2015-03-25 2015-08-26 广州明珞汽车装备有限公司 A kind of soldering turret cooling-water treatment apparatus
CN206010193U (en) * 2016-08-17 2017-03-15 合肥亿翔智能制造有限公司 A kind of robot soldering pliers apparatus for placing
CN206455325U (en) * 2017-02-22 2017-09-01 十堰一诺机电科技有限公司 Auto welding jig water flowing revolving structure
CN108927616A (en) * 2018-08-31 2018-12-04 长春理工大学 Robot welding product line region pneumatic welding rod holder power and cooling control system

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