CN109551161B - Speed matching method for external PLC (programmable logic controller) positioner system and welding robot - Google Patents

Speed matching method for external PLC (programmable logic controller) positioner system and welding robot Download PDF

Info

Publication number
CN109551161B
CN109551161B CN201910045303.8A CN201910045303A CN109551161B CN 109551161 B CN109551161 B CN 109551161B CN 201910045303 A CN201910045303 A CN 201910045303A CN 109551161 B CN109551161 B CN 109551161B
Authority
CN
China
Prior art keywords
welding
speed
plc
positioner system
robot
Prior art date
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.)
Active
Application number
CN201910045303.8A
Other languages
Chinese (zh)
Other versions
CN109551161A (en
Inventor
邰文涛
王卫林
侯闰棋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Hagong Yike Robot Co ltd
Original Assignee
Suzhou Hagong Yike Robot Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou Hagong Yike Robot Co ltd filed Critical Suzhou Hagong Yike Robot Co ltd
Priority to CN201910045303.8A priority Critical patent/CN109551161B/en
Publication of CN109551161A publication Critical patent/CN109551161A/en
Application granted granted Critical
Publication of CN109551161B publication Critical patent/CN109551161B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0252—Steering means

Abstract

The invention discloses a speed matching method of an external PLC (programmable logic controller) positioner system and a welding robot, which comprises a PLC positioner system, a driven PLC positioner system and a self-adaptive positionerThe dynamic welding robot and the welded spiral piece; the automatic welding robot comprises a welding gun, the welded spiral part rotates, and the automatic welding robot drives the welding gun to move along the axial direction of the welded spiral part to complete spiral line welding; the specific welding comprises the following steps: (1) the torch speed V is obtained from the given welding speed V1：
Figure DDA0002491899860000011
(2) Determining PLC command pulse frequency f0Relation to welding speed V:
Figure DDA0002491899860000012
through the two steps, the relation between the speed of the welding gun and the welding speed and the matching relation between the PLC instruction pulse frequency and the welding speed can be obtained, and then the PLC positioner system and the welding robot weld under reasonable welding parameters. And a welding robot is adopted to replace manual welding, so that high welding precision and wider applicability are ensured.

Description

Speed matching method for external PLC (programmable logic controller) positioner system and welding robot
Technical Field
The invention relates to a method for matching the speed of an external PLC positioner system and a robot, which is applied to the field of robot automatic welding; the spiral automatic welding speed matching device is mainly capable of matching the spiral automatic welding speed of cylinders or other rotating body surfaces with various sizes, and welding quality and welding speed are improved.
Background
The spiral structural member is widely applied to the fields of spiral propulsion of ships, sewage treatment, crushing and conveying parts of shield machines, tunneling and dredging, spiral structure feeders and the like, and the market demand is large, so that the welding quality and efficiency of the spiral structural member are particularly important.
The existing spiral welding field basically adopts a manual welding mode, but generally, the manual welding cannot ensure the welding speed, and the welding technology levels of different welders are different; the labor intensity of the site is high; because workers cannot work continuously, the welding effect is poor due to speed matching, and the welding efficiency is low compared with that of automatic equipment; potential safety hazards in production exist; the defective rate is high, and the welding quality can not be well guaranteed.
Disclosure of Invention
The invention aims to provide a method for matching the angular speed of an external PLC positioner system with the linear speed of a welding robot and matching the linear speed of the welding robot with the welding frequency during spiral welding, which can solve one or more of the technical problems.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the speed matching method of the external PLC positioner system and the welding robot comprises a PLC positioner system, a driven PLC positioner system, an automatic welding robot and a welded spiral piece; the automatic welding robot comprises a welding gun, the welded spiral part rotates, and the automatic welding robot drives the welding gun to move along the axial direction of the welded spiral part to complete spiral line welding; the specific welding comprises the following steps:
(1) the torch speed V is obtained from the given welding speed V1；
First, the welding speed is V and the welding gun speed V1Have the following relationship between:
Figure GDA0002491899850000011
where T is the welding time, LABIs the welding linear distance, SABThe length of the welding spiral rib is the welding length;
welding linear distance:
Figure GDA0002491899850000012
wherein the coordinates of the welding start point are (x)0，y0，z0) (ii) a Wherein the coordinate of the welding end point is (x)1，y1，z1)；
Welding the length of the spiral rib:
Figure GDA0002491899850000021
wherein N2 π r is the path length of N circles of circular motion around the cylinder, N is the number of spiral layers, N ∈ N*；
To sum up, the welding speed V and the welding gunVelocity V1Has the following relationship:
Figure GDA0002491899850000022
(2) determining PLC command pulse frequency f0Relation to welding speed V:
firstly, obtaining the linear speed V of the PLC positioner system through the rotating speed omega of the PLC positioner system0Speed N of servo motor0The relationship of (1):
because the rotation speed omega of the PLC positioner system and the linear speed V of the PLC positioner system0Has the following relationship:
Figure GDA0002491899850000023
rotation speed omega of PLC (programmable logic controller) positioner system and rotation speed N of servo motor0And has the following relationship: 2 pi N0(ii) a Thus, it is possible to provide
Figure GDA0002491899850000024
Wherein the linear velocity V of the PLC positioner system0The following relationship with the welding speed V:
V＝V1+V0(ii) a Wherein:
Figure GDA0002491899850000025
therefore, the temperature of the molten metal is controlled,
Figure GDA0002491899850000026
therefore, the linear velocity V of the PLC positioner system0Speed N of servo motor0The relationship of (1):
Figure GDA0002491899850000027
and, PLC command pulse frequency f0Speed N of servo motor0Has the following relationship;
Figure GDA0002491899850000028
wherein:
Figure GDA0002491899850000029
an electronic gear ratio;
in summary,
Figure GDA0002491899850000031
therefore, through the above two steps, the welding torch speed V can be obtained1Relation to welding speed V, and PLC command pulse frequency f0And the PLC positioner system and the welding robot are welded under reasonable welding parameters through the matching relation with the welding speed V.
The invention has the technical effects that:
the calculation mode of the method can match the robot with a PLC positioner system under the condition of obtaining simple known quantity, and can obtain higher precision and better stability; the robot welding replaces manual welding, automatic welding production is realized, and the production efficiency is improved; the measurement error of the spiral rib is reduced.
In conclusion, the method is simple, high in precision, good in stability, capable of processing different sizes of workpieces with different diameters and lengths and wide in applicability.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic front view of the structure of FIG. 1;
FIG. 3 is a left side view schematic of the weldment of FIG. 2;
FIG. 4 is a schematic right side view of the weldment of FIG. 2;
FIG. 5 shows a welding linear distance LABAnd the welding length SABA schematic diagram of the relationship of (1);
FIG. 6 is a logic block diagram of the present invention;
FIG. 7 is a schematic diagram of a servo motor versus pulse frequency;
wherein the figures include the following reference numerals:
1 PLC positioner system, 2 welding guns, 4 PLC positioner system followers, 3 welded spiral parts, a welding starting point A and a welding terminal point B.
Detailed Description
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided only for the purpose of illustrating the present invention and are not to be construed as unduly limiting the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1-6; the speed matching method of the external PLC positioner system and the welding robot comprises a PLC positioner system, a driven PLC positioner system, an automatic welding robot and a welded spiral piece; the automatic welding robot comprises a welding gun, the welded spiral part rotates, and the automatic welding robot drives the welding gun to move along the axial direction of the welded spiral part to complete spiral line welding; the specific welding comprises the following steps:
(1) the torch speed V is obtained from the given welding speed V1；
First, the welding speed is V and the welding gun speed V1Have the following relationship between:
Figure GDA0002491899850000041
where T is the welding time, LABIs the welding linear distance, SABThe length of the welding spiral rib is the welding length;
welding linear distance:
Figure GDA0002491899850000042
wherein the coordinates of the welding start point are (x)0，y0，z0) (ii) a Wherein the coordinate of the welding end point is (x)1，y1，z1)；
Welding the length of the spiral rib:
Figure GDA0002491899850000043
wherein N2 π r is the path length of N circles of circumferential motion around the cylinder (the screw to be welded), N is the number of layers of the screw, N ∈ N*；
To sum up, the welding speed V and the welding gun speed V1Has the following relationship:
Figure GDA0002491899850000044
in the above relation, the radius of the helix is r (mm), the number of helix layers is N (N ∈ N)*) A circumferential ratio of pi, a welding speed of V (mm/min), and a welding linear distance from point A to point B of LAB(mm) and coordinates of the welding starting point A are (x)0，y0，z0) (ii) a The coordinate of the welding end point B is (x)1，y1，z1) (ii) a Are all known amounts;
(2) determining PLC command pulse frequency f0Relation to welding speed V:
firstly, obtaining the linear speed V of the PLC positioner system through the rotating speed omega of the PLC positioner system0Speed N of servo motor0The relationship of (1):
because the rotation speed omega of the PLC positioner system and the linear speed V of the PLC positioner system0Has the following relationship:
Figure GDA0002491899850000045
rotation speed omega of PLC (programmable logic controller) positioner system and rotation speed N of servo motor0And has the following relationship: 2 pi N0(ii) a Thus, it is possible to provide
Figure GDA0002491899850000046
Wherein the linear velocity of PLC positioner systemV0The following relationship with the welding speed V:
V＝V1+V0(ii) a Wherein:
Figure GDA0002491899850000051
therefore, the temperature of the molten metal is controlled,
Figure GDA0002491899850000052
therefore, the linear velocity V of the PLC positioner system0Speed N of servo motor0The relationship of (1):
Figure GDA0002491899850000053
and, PLC command pulse frequency f0Speed N of servo motor0Has the following relationship;
Figure GDA0002491899850000054
wherein:
Figure GDA0002491899850000055
an electronic gear ratio;
in summary,
Figure GDA0002491899850000056
therefore, through the above two steps, the welding torch speed V can be obtained1Relation to welding speed V, and PLC command pulse frequency f0And (when a differential linear driver is adopted) and the welding speed V, and then the PLC positioner system and the welding robot weld under reasonable welding parameters.
As shown in fig. 7, the servo motor is operated at a speed at which the command pulse and the feedback pulse are equal. Therefore, the command pulse frequency and the feedback pulse frequency are equal. There is therefore the relation:
Figure GDA0002491899850000057
wherein, CDV electronic gear (command pulse multiplier numerator), CMX electronic gear (command pulse multiplier denominator), Pt (pluses/rev is feedback pulse number); obtaining the PLC command pulse frequency according to the formula (c)
Figure GDA0002491899850000058
The following specifically exemplifies the manner of obtaining CDV electronic gear (command pulse multiplier numerator) and CMX electronic gear (command pulse multiplier denominator) parameters,
taking a certain motor as an example: it is at 3000r/min (N)0) Speed operation, feedback pulse number Pt 262114, electronic gear ratio is first set
Figure GDA0002491899850000059
(initial parameter value) is 1, then:
Figure GDA0002491899850000061
however, since the maximum command pulse frequency value of the differential linear drive system is 1Mpps (1Mpps is 1000000pps), 13107200pps cannot be input for the general servo.
To operate a servo motor at 3000r/min and with a command frequency below 1Mpps, the setting parameters of the electronic gear need to be changed, at which time f is taken01, electronic gear ratio:
Figure GDA0002491899850000062
(the simplest integer ratio, the divisible ratio, does not affect the use).
Therefore, the effective electronic gear transmission ratio can be obtained through the formula (c), and the welding gun speed V can be effectively matched through the formula (a) and the formula (b) obtained through the two steps1The rotating speed omega of the PLC positioner system and the speed V of the welding gun1And PLC command pulse frequency f0。
Through the formulas (a) and (b), for spiral welding, only the reasonable setting needs to be carried out according to actual needs and actual parameters, the position arrangement freedom degree of a welding gun in the welding process is large, manual welding is replaced by robot welding, the production efficiency is high, the welding quality is good, the machining cost of spiral welding is effectively reduced, and the spiral welding machine is particularly suitable for large-batch spiral welding production; the device is safer and more reliable, and reduces the labor intensity of workers.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (1)

1. The speed matching method of the external PLC positioner system and the welding robot is characterized in that: the automatic welding robot comprises a PLC positioner system, a driven PLC positioner system, an automatic welding robot and a welded spiral piece; the automatic welding robot comprises a welding gun, the welded spiral part rotates, and the automatic welding robot drives the welding gun to move along the axial direction of the welded spiral part to complete spiral line welding; the specific welding comprises the following steps:
(1) the torch speed V is obtained from the given welding speed V1；
First, a welding speed V and a welding gun speed V1Have the following relationship between:
Figure FDA0002491899840000011
where T is the welding time, LABIs the welding linear distance, SABThe length of the welding spiral rib is the welding length;
welding linear distance:
Figure FDA0002491899840000012
wherein the coordinates of the welding start point are (x)0，y0，z0) (ii) a Wherein the coordinate of the welding end point is (x)1，y1，z1)；
Welding the length of the spiral rib:
Figure FDA0002491899840000013
wherein N2 π r is the path length of N circles of circular motion around the cylinder, N is the number of spiral layers, N ∈ N*；
To sum up, the welding speed V and the welding gun speed V1Has the following relationship:
Figure FDA0002491899840000014
(2) determining PLC command pulse frequency f0Relation to welding speed V:
firstly, obtaining the linear speed V of the PLC positioner system through the rotating speed omega of the PLC positioner system0Speed N of servo motor0The relationship of (1):
because the rotation speed omega of the PLC positioner system and the linear speed V of the PLC positioner system0Has the following relationship:
Figure FDA0002491899840000015
rotation speed omega of PLC (programmable logic controller) positioner system and rotation speed N of servo motor0And has the following relationship: 2 pi N0(ii) a Thus, it is possible to provide
Figure FDA0002491899840000016
Wherein the linear velocity V of the PLC positioner system0The following relationship with the welding speed V:
V＝V1+V0(ii) a Wherein:
Figure FDA0002491899840000021
therefore, the temperature of the molten metal is controlled,
Figure FDA0002491899840000022
therefore, the linear velocity V of the PLC positioner system0Speed N of servo motor0The relationship of (1):
Figure FDA0002491899840000023
and, PLC command pulse frequency f0Speed N of servo motor0Has the following relationship;
Figure FDA0002491899840000024
wherein:
Figure FDA0002491899840000025
an electronic gear ratio;
in summary,
Figure FDA0002491899840000026
therefore, through the above two steps, the welding torch speed V can be obtained1Relation to welding speed V, and PLC command pulse frequency f0And the PLC positioner system and the welding robot are welded under reasonable welding parameters through the matching relation with the welding speed V.
CN201910045303.8A 2019-01-17 2019-01-17 Speed matching method for external PLC (programmable logic controller) positioner system and welding robot Active CN109551161B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910045303.8A CN109551161B (en) 2019-01-17 2019-01-17 Speed matching method for external PLC (programmable logic controller) positioner system and welding robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910045303.8A CN109551161B (en) 2019-01-17 2019-01-17 Speed matching method for external PLC (programmable logic controller) positioner system and welding robot

Publications (2)

Publication Number Publication Date
CN109551161A CN109551161A (en) 2019-04-02
CN109551161B true CN109551161B (en) 2020-07-03

Family

ID=65873160

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910045303.8A Active CN109551161B (en) 2019-01-17 2019-01-17 Speed matching method for external PLC (programmable logic controller) positioner system and welding robot

Country Status (1)

Country Link
CN (1) CN109551161B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112548380A (en) * 2020-12-03 2021-03-26 广东斯铠工业自动化科技有限公司 Automatic welding device and method for shield machine screw shaft

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06320267A (en) * 1993-05-13 1994-11-22 Kawasaki Steel Corp Welding equipment for spiral rib on inner surface of steel pipe
CN102513751B (en) * 2011-12-31 2014-11-26 长春大正博凯汽车设备有限公司 Welding robot and welding method thereof
JP2016175117A (en) * 2015-03-23 2016-10-06 京葉リース株式会社 Welding method and device therefor
CN106217375A (en) * 2016-08-26 2016-12-14 广州市银三环机械有限公司 The robot welding system that a kind of welding machine and robot match
CN107096979A (en) * 2017-06-10 2017-08-29 中国人民解放军装甲兵工程学院 A kind of arc-welding of Shaft of Titanium Alloy class wear-out part increases material reproducing method
CN108127217B (en) * 2018-01-16 2023-12-05 中国计量大学 Welding device and method for automatic guided welding of end face weld joint of spiral plate type heat exchanger
CN108890184B (en) * 2018-08-22 2020-03-17 合肥工业大学 Coordination welding control method based on discrete six-axis robot and two-axis positioner
CN109015652A (en) * 2018-08-29 2018-12-18 苏州艾利特机器人有限公司 A kind of control method of robot and the positioner coordinated movement of various economic factors

Also Published As

Publication number Publication date
CN109551161A (en) 2019-04-02

Similar Documents

Publication Publication Date Title
JP2022106979A (en) User interface with real-time pictograph representation of parameter settings
CN204818482U (en) Multiaxis automatic weld cutting equipment
CN109278048B (en) Welding path planning method of five-axis welding robot and five-axis welding robot
CA2840557C (en) Metal cored welding method and system using rotating electrode
CN102962549B (en) Robot control method for welding along any curve trace in vertical plane
CN109551161B (en) Speed matching method for external PLC (programmable logic controller) positioner system and welding robot
CN109262268A (en) A kind of increase and decrease material integration system manufacturing apparatus and its increase and decrease manufacture process
CN102091889A (en) Surfacing method and device
US10300544B2 (en) Machining and manufacturing systems and method of operating the same
TW202019611A (en) Fluid nozzle device for machine tool
JP5126195B2 (en) Tooth surface processing method
KR101400603B1 (en) Automatic overlay-welding equipment of valve inner with constant welding speed in regardless of valve shape
CN112872557B (en) Method for welding shield machine screw shaft by robot
CN205660394U (en) Carousel formula automatic weld attacks tooth machine
CN205200870U (en) Equipment is welded in seamless build -up welding restoration
CN107336220A (en) End effector of robot
CN111482675B (en) Semi-circular arc oscillating type electric arc CMT additive manufacturing printing device
CN103464961A (en) Round ring seam welding clamp as well as bent head and straight pipe welding method
CN103926878B (en) Vortex Workpiece machining apparatus and Work piece processing method
CN105234442B (en) For processing the cutter of endoporus and system
CN109551066A (en) A kind of spatially spiral hole electric spark processing unit (plant)
CN205437415U (en) A automatic thread feeding mechanism of hand -held type for high -frequency induction brazing
CN213470137U (en) Angle steel welding is with many welder fixed knot construct
CN103521989A (en) Automatic welding device and method of steel ring and flange
CN207873529U (en) A kind of automatic welding machine

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant