CN109822196B - Swing arc tracking welding system based on double gyroscopes - Google Patents
Swing arc tracking welding system based on double gyroscopes Download PDFInfo
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- CN109822196B CN109822196B CN201910181062.XA CN201910181062A CN109822196B CN 109822196 B CN109822196 B CN 109822196B CN 201910181062 A CN201910181062 A CN 201910181062A CN 109822196 B CN109822196 B CN 109822196B
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Abstract
The utility model provides a swing arc tracking welding system based on two gyroscopes, it includes welding robot arm, the welding machine, the wire feeder of being connected with the welding machine, the gas cylinder, static gyroscope, the seam tracking oscillator, dynamic gyroscope and welder, connect gradually static gyroscope through the welding robot arm front end at swing arc welding robot body, the seam tracking oscillator, dynamic gyroscope and welder, gather the instantaneous transform signal of welder's position appearance and carry to the controller and carry out system operation through the two gyroscopes of static gyroscope and dynamic gyroscope combination, compensate system error, control welding robot arm carries out equivalent reverse motion, anti-shake performance when improving welder welding. The invention overcomes the problem of low welding precision of the original welding robot, and has the characteristics of simple structure, good anti-shake performance, weighting processing of welding waveforms and capability of realizing high-precision welding of the system under severe conditions.
Description
Technical Field
The invention belongs to the technical field of welding automation, and relates to a double-gyroscope-based swing arc tracking welding system.
Background
At present, welding processing basically stays in a manual or semi-automatic welding state, and along with technological progress, welding automation intellectualization is gradually improved. The working environment is very severe due to heat, smoke, arc light, electromagnetic pollution and the like in the welding process, and certain specific workpieces can be welded only by preheating to 100-300 ℃. In addition, with the development of nuclear energy industry, ocean engineering and space technology, welding and repairing are inevitably required to be carried out in places, underwater and space with radioactivity, the welding conditions are worse, the health of welding workers is seriously damaged, and the welding effect is influenced.
A significant difficulty with welding automation is how to perform efficient seam tracking. The invention has the following patents: dual lidar sensor tracking technology is employed in dual lidar detection sensor based automated welding systems (application No. 201610534425. X). However, the system has the defects that the sensor and the welding gun are integrally designed, the accessibility of the welding gun is limited, and the welding precision is low.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a double-gyroscope-based swing arc tracking welding system which is simple in structure, adopts the mode of organically combining a double gyroscope formed by combining a static gyroscope and a dynamic gyroscope with a swing arc welding robot, increases the anti-shaking performance of the welding system, and weights welding waveforms, so that the system can realize high-precision welding under severe conditions.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a swing arc tracking welding system based on double gyroscopes comprises a welding machine connected with an arm of a welding robot, a wire feeder connected with the welding machine, and a gas cylinder for supplying gas to the welding machine, wherein the front end of the arm of the welding robot is provided with a static gyroscope, a welding seam tracking oscillator, a dynamic gyroscope and a welding gun which are sequentially connected; the static gyroscope and the dynamic gyroscope are connected with the controller, the welding seam tracking oscillator is connected with the welding seam tracking main controller, and the welding seam tracking main controller is connected with the controller; and Hall current sensors are arranged between the welding machine and the welding wire feeder and between the welding wire feeder and the welding seam tracking main controller.
The controller is a Labelvview three-dimensional controller.
And the static gyroscope is fixedly connected to the welding seam tracking oscillator to identify the pose change of the welding gun.
And the static gyroscope and the dynamic gyroscope are used for weighting, correcting and compensating current signals in the Hall current sensor according to the phase difference.
The static gyroscope is kept static, the swing arc sensor on the welding seam tracking oscillator is in a swing state, when external disturbance is sensed, the static gyroscope collects a three-dimensional pose signal of the welding gun at the moment in real time and feeds the three-dimensional pose signal back to the controller, and the controller performs compensation operation on the signal and controls the welding robot arm to perform equivalent reverse motion.
And the dynamic gyroscope connected with the welding gun reflects the motion state of the welding gun at the moment according to the ordered swing of the arc sensor, the controller acquires the instantaneous motion parameters of the static gyroscope and the dynamic gyroscope by taking the signal of the static gyroscope as the reference, the amplitude of oscillation and the speed analog quantity of the welding gun are output in real time by the phase difference of the static gyroscope and the dynamic gyroscope, and the amplitude of oscillation and the speed analog quantity are digitally displayed on a display screen through a modular electric device.
The controller extracts real-time signals of the static gyroscope and the dynamic gyroscope, three waveform groups of displacement l, speed v and acceleration a of the movement of the welding gun are acquired, the three waveform groups are compared with tracking waveforms acquired under welding conditions, compensation calculation values are calculated through weighting, weighting coefficients of the displacement l, the speed v and the acceleration a to the welding tracking waveforms are alpha, beta and gamma, and current waveforms after weighting processing are obtained.
The welding gun motion signal acquired by the static gyroscope is theta, and the welding gun motion signal acquired by the dynamic gyroscope is theta
Is output by the controller
Namely, the movement signal of the welding gun, and the monitoring and the adjustment of the swing amplitude frequency of the welding gun are realized through a display screen of the controller.
With welding current collected in real time in the Hall current sensor
Data comparison is carried out in a welding seam tracking main controller, and the weighting coefficients of displacement l, speed v and acceleration a to welding tracking waveforms are alpha, beta and gamma through weighting calculation compensation operation values to obtain：
And (4) feeding back a control signal to the welding seam tracking oscillator and the arm of the welding robot to perform tracking welding after weighting the processed current waveform.
The method for using the dual gyroscope based oscillating arc tracking welding system comprises the following steps:
s1, starting the welding machine, the wire feeder and the welding robot arm, closing the controller, the welding seam tracking main controller and the power circuit connected with the controller, and keeping the welding robot in a working state;
s2, welding, wherein the arm of the welding robot acts, the welding gun approaches to the welding point, and meanwhile, the wire feeder feeds materials to the welding gun to supplement consumed welding wires in the welding gun;
s3, acquiring static data, and when sensing the disturbance of the welding gun, the static gyroscope transmits a signal of the instantaneous pose change of the welding gun to the controller;
s4, collecting dynamic data, driving the welding seam tracking oscillator to act by the static gyroscope along with the action of the welding gun, and transmitting a current signal during oscillation to the controller by the Hall current sensor;
s5, calculating, wherein the controller compares the acquired waveforms of displacement, speed and acceleration of the welding gun during movement with the waveforms of instantaneous motion parameters of the static gyroscope and the dynamic gyroscope, and calculates a compensation calculation value in a weighting manner;
s6, adjusting the fusion width, visually displaying the swing amplitude frequency of the welding gun on a display screen of the controller, adjusting the voltage of the welding machine according to the frequency amplitude on the display screen, and changing the fusion width of the welding point during voltage adjustment.
A swing arc tracking welding system based on double gyroscopes comprises a welding machine connected with an arm of a welding robot, a wire feeder connected with the welding machine, and a gas cylinder for supplying gas to the welding machine, wherein the front end of the arm of the welding robot is provided with a static gyroscope, a welding seam tracking oscillator, a dynamic gyroscope and a welding gun which are sequentially connected; the static gyroscope and the dynamic gyroscope are connected with the controller, the welding seam tracking oscillator is connected with the welding seam tracking main controller, and the welding seam tracking main controller is connected with the controller; hall current sensors are arranged between the welding machine and the welding wire feeder and between the welding wire feeder and the welding seam tracking main controller. Simple structure, the welding robot arm front end through at swing electric arc welding robot body connects gradually static gyroscope, the seam tracking oscillator, developments gyroscope and welder, gather the instantaneous transform signal of welder's position appearance and carry out systematic operation to the controller through the two gyroscopes of static gyroscope and developments gyroscope combination, compensation system error, control welding robot arm carries out equivalent reverse motion, improve the anti-shake performance when welder welds, the weighting processing welding waveform, make the system also can realize high accuracy welding in abominable situation.
In a preferred scheme, the controller is a Labelview three-dimensional controller. When the welding robot shakes due to external disturbance in the welding process, the static gyroscope transmits the acquired instantaneous change signal of the pose of the welding gun to the Labelview three-dimensional controller, and the Labelview three-dimensional controller compensates system errors according to system operation.
In the preferred scheme, the static gyroscope is fixedly connected to the seam tracking oscillator to identify the pose change of the welding gun. When the gyroscope is used, the static gyroscope is fixed to prevent the static gyroscope from shaking and is used as a static coordinate of the dynamic gyroscope.
In a preferred scheme, the static gyroscope and the dynamic gyroscope perform weighted correction on current signals in the compensated Hall current sensor according to the phase difference. When the welding line tracking oscillator is used, the static gyroscope is fixedly connected to the welding line tracking oscillator, the dynamic gyroscope is fixedly connected to the welding gun, the static gyroscope achieves the functions of signal reference and system anti-shaking, the dynamic gyroscope and the static gyroscope are combined to achieve digitization of welding gun motion and optimization of system welding line tracking, stability of a welding line system is enhanced, welding precision is improved, the dynamic gyroscope and the welding line tracking oscillator are in a synchronous oscillation state, a Hall current sensor senses a current signal during oscillation and transmits the current signal to the controller, phase difference of the static gyroscope and the dynamic gyroscope is measured, tracking effect is enhanced, stability under a system welding condition is enhanced, and system tracking precision is improved.
In the preferred scheme, the static gyroscope is kept static, the swing arc sensor on the welding seam tracking oscillator is in a swing state, when external disturbance is sensed, the static gyroscope collects a three-dimensional pose signal of the welding gun at the moment in real time and feeds the three-dimensional pose signal back to the controller, and the controller performs compensation operation on the signal and controls the arm of the welding robot to perform equivalent reverse motion. During the use, the swing arc sensor on the welding seam tracking oscillator is in the swing state, and static gyroscope keeps static, and the signal that records during static is more stable, carries to the controller, carries out compensation operation with the signal that dynamic gyroscope recorded, records the reverse motion volume of welding robot arm, and welding robot arm reverse motion drives the welder motion for welder realizes the anti-shake effect.
In the preferred scheme, a dynamic gyroscope connected with the welding gun reflects the motion state of the welding gun at the moment according to the orderly swing of the arc sensor, the signal of the static gyroscope is taken as the reference, the controller collects the instantaneous motion parameters of the static gyroscope and the dynamic gyroscope, the swing amplitude and the speed analog quantity of the welding gun are output in real time according to the phase difference of the static gyroscope and the dynamic gyroscope, and the digital display is carried out on a display screen through a module electric device. When the device is used, the controller collects instantaneous motion parameters of the static gyroscope and the dynamic gyroscope, compares the instantaneous motion parameters with the swing amplitude and the speed of the welding gun to measure analog quantity, and digitally displays the analog quantity on the display screen through the analog-to-digital device to realize the digitization of the movement of the welding gun and facilitate the visual control of the welding state.
In a preferable scheme, the controller extracts real-time signals of the static gyroscope and the dynamic gyroscope, three waveform groups of displacement l, speed v and acceleration a of the movement of the welding gun are acquired, the three waveform groups are compared with tracking waveforms acquired under the welding condition, the weighting coefficients of the displacement l, the speed v and the acceleration a to the welding tracking waveforms are alpha, beta and gamma, and current waveforms after weighting processing are obtained through weighting calculation compensation calculation values. When the current waveform weighting device is used, the waveform of displacement, speed and acceleration of movement of the welding gun is collected, the waveform is compared with the instantaneous movement parameters of the static gyroscope and the dynamic gyroscope collected during welding, the compensation calculation value is weighted, the weighting coefficient is measured, the current waveform after weighting processing is carried out, the tracking precision is improved, and the system stability is better.
In a preferred scheme, the signal of the welding gun motion acquired by the static gyroscope is theta, and the signal of the welding gun motion acquired by the dynamic gyroscope is theta
Is output by the controller
Namely, the movement signal of the welding gun, and the monitoring and the adjustment of the swing amplitude frequency of the welding gun are realized through a display screen of the controller. When the welding gun is used, the oscillation amplitude frequency of the welding gun is visually displayed on a display screen of the controller, so that the welding fusion width can be conveniently and visually adjusted, and the welding quality is improved.
In a preferred scheme, the welding current is acquired in real time from a Hall current sensor
Data comparison is carried out in a welding seam tracking main controller, and the weighting coefficients of displacement l, speed v and acceleration a to a welding tracking waveform are alpha, beta and gamma through weighting calculation compensation calculation values, so that the following results are obtained:
and (4) feeding back a control signal to the welding seam tracking oscillator and the arm of the welding robot to perform tracking welding after weighting the processed current waveform. During the use, in the welding process of welding robot arm and base metal, through establishing the database certainly, the system gathers the weighted data of three groups of data, constantly improves stability can and precision through the analysis data.
In a preferred embodiment, the method for using a dual gyroscope based weaving arc tracking welding system as described above comprises the steps of:
s1, starting the welding machine, the wire feeder and the welding robot arm, closing the controller, the welding seam tracking main controller and the power circuit connected with the controller, and keeping the welding robot in a working state;
s2, welding, wherein the arm of the welding robot acts, the welding gun approaches to the welding point, and meanwhile, the wire feeder feeds materials to the welding gun to supplement consumed welding wires in the welding gun;
s3, acquiring static data, and when sensing the disturbance of the welding gun, the static gyroscope transmits a signal of the instantaneous pose change of the welding gun to the controller;
s4, collecting dynamic data, driving the welding seam tracking oscillator to act by the static gyroscope along with the action of the welding gun, and transmitting a current signal during oscillation to the controller by the Hall current sensor;
s5, calculating, wherein the controller compares the acquired waveforms of displacement, speed and acceleration of the welding gun during movement with the waveforms of instantaneous motion parameters of the static gyroscope and the dynamic gyroscope, and calculates a compensation calculation value in a weighting manner;
s6, adjusting the fusion width, visually displaying the swing amplitude frequency of the welding gun on a display screen of the controller, adjusting the voltage of the welding machine according to the frequency amplitude on the display screen, and changing the fusion width of the welding point during voltage adjustment. The method is simple to operate, convenient to use and convenient to control the fusion width of the welding gun during welding.
The utility model provides a swing arc tracking welding system based on two gyroscopes, it includes welding robot arm, the welding machine, the wire feeder of being connected with the welding machine, the gas cylinder, static gyroscope, the seam tracking oscillator, dynamic gyroscope and welder, connect gradually static gyroscope through the welding robot arm front end at swing arc welding robot body, the seam tracking oscillator, dynamic gyroscope and welder, gather the instantaneous transform signal of welder's position appearance and carry to the controller and carry out system operation through the two gyroscopes of static gyroscope and dynamic gyroscope combination, compensate system error, control welding robot arm carries out equivalent reverse motion, anti-shake performance when improving welder welding. The invention overcomes the problem of low welding precision of the original welding robot, and has the characteristics of simple structure, good anti-shake performance, weighting processing of welding waveforms and capability of realizing high-precision welding of the system under severe conditions.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic flow diagram of the system of the present invention.
Fig. 3 is a schematic position diagram of a static gyroscope and a dynamic gyroscope according to the present invention.
In the figure: the welding robot comprises a welding robot arm 1, a welding machine 2, a wire feeder 3, a gas cylinder 4, a static gyroscope 5, a welding seam tracking oscillator 6, a dynamic gyroscope 7, a welding gun 8, a controller 9, a welding seam tracking main controller 10 and a Hall current sensor 11.
Detailed Description
As shown in fig. 1 to 3, a swing arc tracking welding system based on dual gyroscopes comprises a welding machine 2 connected with a welding robot arm 1, a wire feeder 3 connected with the welding machine 2, and a gas cylinder 4 for supplying gas to the welding machine, wherein a static gyroscope 5, a seam tracking oscillator 6, a dynamic gyroscope 7 and a welding gun 8 are arranged at the front end of the welding robot arm 1 and are connected in sequence; the static gyroscope 5 and the dynamic gyroscope 7 are connected with a controller 9, the welding seam tracking oscillator 6 is connected with a welding seam tracking main controller 10, and the welding seam tracking main controller 10 is connected with the controller 9; hall current sensors 11 are arranged between the welding machine 2 and the wire feeder 3 and the welding seam tracking main controller 10. Simple structure, 1 front end of welding robot arm through at swing electric arc welding robot body connects gradually static gyroscope 5, seam tracking oscillator 6, dynamic gyroscope 7 and welder 8, gather the instantaneous transform signal of welder 8's position appearance and carry to controller 9 and carry out systematic operation through the two gyroscopes of static gyroscope 5 and the combination of dynamic gyroscope 7, the compensation system error, control welding robot arm 1 carries out equivalent reverse motion, improve the anti-shake performance when welder 8 welds, weighting processing welding waveform, make the system also can realize high accuracy welding in adverse circumstances.
Preferably, the gas in the cylinder 4 is CO2。
In a preferred embodiment, the controller 9 is a Labelview three-dimensional controller. When the welding robot shakes due to external disturbance in the welding process, the static gyroscope 5 transmits the acquired instantaneous change signal of the pose of the welding gun 8 to the Labelview three-dimensional controller, and the Labelview three-dimensional controller compensates system errors according to system operation.
In the preferred scheme, the static gyroscope 5 is fixedly connected to the seam tracking oscillator to identify the pose change of the welding gun 8. In use, the static gyroscope 5 is fixed to prevent shaking and serves as the static coordinates of the dynamic gyroscope 7.
In a preferred embodiment, the static gyroscope 5 and the dynamic gyroscope 7 perform weighting correction to compensate the current signal in the hall current sensor 11 according to the phase difference. When the device is used, the static gyroscope 5 is fixedly connected to the welding seam tracking oscillator 6, the dynamic gyroscope 7 is fixedly connected to the welding gun 8, the static gyroscope 5 achieves the functions of signal reference and system anti-shake, the dynamic gyroscope 7 and the static gyroscope 5 are combined to achieve digitization of movement of the welding gun 8 and optimization of system welding seam tracking, stability of a welding seam system is enhanced, welding accuracy is improved, the dynamic gyroscope 7 and the welding seam tracking oscillator 6 are in a synchronous oscillation state, a current signal generated when the dynamic gyroscope 7 and the welding seam tracking oscillator 6 oscillate is sensed by the Hall current sensor 11 and is transmitted to the controller 9, phase difference between the static gyroscope 5 and the dynamic gyroscope 7 is measured, tracking effect is enhanced, stability under system welding conditions is enhanced, and system tracking accuracy is improved.
In the preferred scheme, the static gyroscope 5 is kept static, the swing arc sensor on the seam tracking oscillator 6 is in a swing state, when external disturbance is sensed, the static gyroscope 5 collects a three-dimensional pose signal of the welding gun 8 at the moment in real time and feeds the signal back to the controller 9, and the controller 9 performs compensation operation on the signal to control the welding robot arm 1 to perform equivalent reverse motion. During the use, the swing arc sensor on the welding seam tracking oscillator 6 is in the swing state, and static gyroscope 5 keeps static, and the signal that records is more stable during static, carries to controller 9, and the signal that surveys with dynamic gyroscope 7 carries out the compensation operation, records the reverse motion volume of welding robot arm 1, and welding robot arm 1 reverse motion drives welder 8 motion for welder realizes the anti-shake effect.
In a preferable scheme, the dynamic gyroscope 7 connected with the welding gun 8 reflects the motion state of the welding gun 8 at the moment according to the orderly swing of the arc sensor, the controller 9 acquires instantaneous motion parameters of the static gyroscope 5 and the dynamic gyroscope 7 by taking a signal of the static gyroscope 5 as a reference, the amplitude of oscillation and the speed analog quantity of the welding gun 8 are output in real time by the phase difference of the two parameters, and the amplitude of oscillation and the speed analog quantity are digitally displayed on a display screen through a mode electric device. When the device is used, the controller 9 acquires instantaneous motion parameters of the static gyroscope 5 and the dynamic gyroscope 7, compares the instantaneous motion parameters with the swing amplitude and the speed of the welding gun 8 to obtain analog quantity, and digitally displays the analog quantity on a display screen through a modular electric device to realize the digitization of the motion of the welding gun and facilitate the intuitive control of the welding state.
In a preferred scheme, the controller 9 extracts real-time signals of the static gyroscope 5 and the dynamic gyroscope 7, acquires three waveform groups of displacement l, speed v and acceleration a of the movement of the welding gun 8, compares the three waveform groups with tracking waveforms acquired under welding conditions, calculates compensation calculation values through weighting to obtain current waveforms of which the weighting coefficients of the displacement l, the speed v and the acceleration a to the welding tracking waveforms are alpha, beta and gamma, and the current waveforms are subjected to weighting processing. When the device is used, the waveforms of displacement, speed and acceleration of the movement of the welding gun 8 are collected, the waveforms are compared with instantaneous movement parameters of the static gyroscope 5 and the dynamic gyroscope 7 collected during welding, the calculated values are weighted and compensated, weighting coefficients are measured, the current waveforms after weighting processing are obtained, the tracking precision is improved, and the system stability is better.
In a preferred embodiment, the signal of the movement of the welding gun 8 collected by the static gyroscope 5 is θ, and the signal of the movement of the welding gun 8 collected by the dynamic gyroscope 7 is θ
Is output by the controller
That is, the movement signal of the welding gun 8, and the monitoring and the adjustment of the oscillation amplitude frequency of the welding gun 8 are realized through the display screen of the controller 9. When in use, the oscillation amplitude frequency of the welding gun 8 is visually displayed on the display screen of the controller 9, so that the welding flux can be conveniently and visually adjustedWide, and improves the welding quality.
In a preferred scheme, the welding current is acquired in real time from the Hall current sensor 11
Data comparison is carried out in the welding seam tracking main controller 10, and the weighting coefficients of displacement l, speed v and acceleration a to the welding tracking waveform are alpha, beta and gamma through weighting calculation compensation calculation values, so that the following results are obtained:
In a preferred embodiment, the method for using a dual gyroscope based oscillating arc tracking welding system as described above comprises the steps of:
s1, starting the welding machine, closing the power supply of the welding machine 2, the power supply of the wire feeder 3 and the power supply of the welding robot arm 1, closing the controller 9, the welding seam tracking main controller 10 and a power supply circuit connected with the welding seam tracking main controller, and enabling the welding robot to be in a working state;
s2, welding, wherein the welding robot arm 1 acts, the welding gun 8 is close to the welding point, and meanwhile, the wire feeder 3 feeds materials to the welding gun 8 to supplement the consumed welding wire in the welding gun 8;
s3, acquiring static data, and when sensing the disturbance of the welding gun 8, the static gyroscope 5 transmits a signal of instantaneous pose transformation of the welding gun 8 to the controller 9;
s4, acquiring dynamic data, driving the welding seam tracking oscillator 6 to act by the static gyroscope 5 along with the action of the welding gun 8, and transmitting a current signal during oscillation to the controller 9 by the Hall current sensor 11;
s5, calculating, wherein the controller 9 compares the acquired waveforms of displacement, speed and acceleration of the welding gun 8 during movement with the instantaneous movement parameters of the static gyroscope 5 and the dynamic gyroscope 7, and calculates a compensation calculation value in a weighting manner;
s6, adjusting the fusion width, visually displaying the swing amplitude frequency of the welding gun 8 on the display screen of the controller 9, adjusting the voltage of the welding machine 2 according to the frequency amplitude on the display screen, and changing the fusion width of the welding point during voltage adjustment. The method is simple to operate, convenient to use and convenient to control the fusion width of the welding gun 8 during welding.
During installation and use, the static gyroscope 5 is connected in proper order at the welding robot arm 1 front end of swing electric arc welding robot body, seam tracking oscillator 6, dynamic gyroscope 7 and welder 8, gather the instantaneous transform signal of the position appearance of welder 8 and carry to controller 9 and carry out systematic operation through the two gyroscopes of static gyroscope 5 and the combination of dynamic gyroscope 7, compensate system error, control welding robot arm 1 carries out equivalent reverse motion, improve the anti-shake performance when welder 8 welds, weighting processing welding waveform, make the system also can realize high accuracy welding in adverse circumstances.
When the welding robot shakes due to external disturbance in the welding process, the static gyroscope 5 transmits the acquired instantaneous change signal of the pose of the welding gun 8 to the Labelview three-dimensional controller, and the Labelview three-dimensional controller compensates system errors according to system operation.
In use, the static gyroscope 5 is fixed to prevent shaking and serves as the static coordinates of the dynamic gyroscope 7.
When the device is used, the static gyroscope 5 is fixedly connected to the welding seam tracking oscillator 6, the dynamic gyroscope 7 is fixedly connected to the welding gun 8, the static gyroscope 5 achieves the functions of signal reference and system anti-shake, the dynamic gyroscope 7 and the static gyroscope 5 are combined to achieve digitization of movement of the welding gun 8 and optimization of system welding seam tracking, stability of a welding seam system is enhanced, welding accuracy is improved, the dynamic gyroscope 7 and the welding seam tracking oscillator 6 are in a synchronous oscillation state, a current signal generated when the dynamic gyroscope 7 and the welding seam tracking oscillator 6 oscillate is sensed by the Hall current sensor 11 and is transmitted to the controller 9, phase difference between the static gyroscope 5 and the dynamic gyroscope 7 is measured, tracking effect is enhanced, stability under system welding conditions is enhanced, and system tracking accuracy is improved.
During the use, the swing arc sensor on the welding seam tracking oscillator 6 is in the swing state, and static gyroscope 5 keeps static, and the signal that records is more stable during static, carries to controller 9, carries out the compensation operation with the signal that dynamic gyroscope 7 recorded, records the reverse motion volume of welding robot arm 1, and welding robot arm 1 reverse motion drives welder 8 motion for welder realizes the anti-shake effect.
When the device is used, the controller 9 acquires instantaneous motion parameters of the static gyroscope 5 and the dynamic gyroscope 7, compares the instantaneous motion parameters with the swing amplitude and the speed of the welding gun 8 to obtain analog quantity, and digitally displays the analog quantity on a display screen through a modular electric device to realize the digitization of the motion of the welding gun and facilitate the intuitive control of the welding state.
When the device is used, the waveforms of displacement, speed and acceleration of the movement of the welding gun 8 are collected, the waveforms are compared with instantaneous movement parameters of the static gyroscope 5 and the dynamic gyroscope 7 collected during welding, the calculated values are weighted and compensated, weighting coefficients are measured, the current waveforms after weighting processing are obtained, the tracking precision is improved, and the system stability is better.
When the welding gun is used, the oscillation amplitude frequency of the welding gun 8 is visually displayed on the display screen of the controller 9, so that the welding fusion width can be conveniently and visually adjusted, and the welding quality is improved.
During the use, welding machine arm 1 and the welding process of parent metal, through establishing the database certainly, the system gathers the weighted data of three groups of data, constantly improves stability can and precision through the analysis data.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.
Claims (5)
1. The utility model provides a swing electric arc tracking welding system based on two gyroscopes, it includes welding machine (2) of being connected with welding robot arm (1), send a machine (3) of being connected with welding machine (2) to gas cylinder (4) to the welding machine air feed, characterized by: the front end of the welding robot arm (1) is provided with a static gyroscope (5), a welding seam tracking oscillator (6), a dynamic gyroscope (7) and a welding gun (8) which are connected in sequence; the static gyroscope (5) and the dynamic gyroscope (7) are connected with the controller (9), the welding seam tracking oscillator (6) is connected with the welding seam tracking main controller (10), and the welding seam tracking main controller (10) is connected with the controller (9); a Hall current sensor (11) is arranged between the welding machine (2) and the wire feeder (3) and the welding seam tracking main controller (10);
the controller (9) is a Labelview three-dimensional controller;
the static gyroscope (5) is fixedly connected to the welding seam tracking oscillator and used for identifying pose transformation of the welding gun (8);
the static gyroscope (5) and the dynamic gyroscope (7) weight, correct and compensate current signals in the Hall current sensor (11) according to the phase difference;
the static gyroscope (5) is kept static, a swinging arc sensor on the welding seam tracking oscillator (6) is in a swinging state, when external disturbance is sensed, the static gyroscope (5) collects a three-dimensional pose signal of the welding gun (8) at the moment in real time and feeds the signal back to the controller (9), and the controller (9) performs compensation operation on the signal to control the welding robot arm (1) to perform equivalent reverse motion;
and a dynamic gyroscope (7) connected with the welding gun (8) reflects the motion state of the welding gun (8) at the moment according to the ordered swing of the arc sensor, a signal of the static gyroscope (5) is taken as a reference, a controller (9) acquires instantaneous motion parameters of the static gyroscope (5) and the dynamic gyroscope (7), the amplitude of oscillation and the speed analog quantity of the welding gun (8) are output in real time according to the phase difference of the static gyroscope (5) and the dynamic gyroscope (7), and digital display is carried out on a display screen through a mode electric device.
2. The dual gyroscope based weaving arc tracking welding system as claimed in claim 1 wherein: the controller (9) extracts real-time signals of the static gyroscope (5) and the dynamic gyroscope (7), three waveform groups of displacement l, speed v and acceleration a of movement of the welding gun (8) are acquired, the three waveform groups are compared with tracking waveforms acquired under welding conditions, compensation calculation values are calculated through weighting, weighting coefficients of the displacement l, the speed v and the acceleration a to the welding tracking waveforms are alpha, beta and gamma, and current waveforms after weighting processing are obtained.
3. The dual gyroscope based weaving arc tracking welding system as claimed in claim 1 wherein: the motion signal of the welding gun (8) collected by the static gyroscope (5) is theta, and the motion signal of the welding gun (8) collected by the dynamic gyroscope (7) is theta
Is output by the controller
Namely, the movement signal of the welding gun (8) is monitored and adjusted to the oscillation amplitude frequency of the welding gun (8) through a display screen of the controller (9).
4. The dual gyroscope based weaving arc tracking welding system as claimed in claim 2 wherein: with welding current collected in real time in the Hall current sensor (11)
Data comparison is carried out in a welding seam tracking main controller (10), and through weighting calculation compensation operation values, weighting coefficients of displacement l, speed v and acceleration a to welding tracking waveforms are obtained to be alpha, beta and gamma, and the following results are obtained:
and feeding back a control signal to the welding seam tracking oscillator (6) and the welding robot arm (1) for tracking welding according to the weighted current waveform.
5. Use of a dual gyroscope based oscillating arc tracking welding system according to any of claims 1 to 4 comprising the steps of:
s1, starting the welding machine, respectively closing a power supply of the welding machine (2), a power supply of the wire feeder (3) and a power supply of the welding robot arm (1), closing a controller (9), a welding seam tracking main controller (10) and a power supply circuit connected with the controller, and enabling the welding robot to be in a working state;
s2, welding, wherein the arm (1) of the welding robot acts, the welding gun (8) is close to the welding point, and meanwhile, the wire feeder (3) feeds materials to the welding gun (8) to supplement consumed welding wires in the welding gun (8);
s3, static data acquisition, wherein when the static gyroscope (5) senses the disturbance of the welding gun (8), a signal for instantaneous pose transformation of the welding gun (8) is transmitted to the controller (9);
s4, collecting dynamic data, driving a welding seam tracking oscillator (6) to act by the static gyroscope (5) along with the action of a welding gun (8), and transmitting a current signal during oscillation to a controller (9) by a Hall current sensor (11);
s5, calculating, wherein the controller (9) compares the acquired waveforms of displacement, speed and acceleration of the welding gun (8) during movement with the waveforms of instantaneous movement parameters of the static gyroscope (5) and the dynamic gyroscope (7) and calculates a compensation calculation value in a weighting mode;
s6, adjusting the fusion width, visually displaying the swing amplitude frequency of the welding gun (8) on a display screen of the controller (9), adjusting the voltage of the welding machine (2) according to the frequency amplitude on the display screen, and changing the fusion width of the welding point when the voltage is adjusted.
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| CN115156662B (en) * | 2022-08-03 | 2023-07-21 | 湘潭大学 | Space weld track step-by-step adjustment welding method for fan impeller |
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| CN102615390B (en) * | 2012-04-28 | 2013-12-25 | 湘潭大学 | Swing arc-based multi-layer and multi-channel weld tracking system and identification method thereof |
| CN102717173B (en) * | 2012-06-08 | 2014-12-10 | 江苏科技大学 | Detectors for movement speeds of semi-automatic consumable electrode and non-consumable electrode electric-arc welding molten baths |
| CN203887375U (en) * | 2014-06-04 | 2014-10-22 | 青岛东方铁塔股份有限公司 | Full-position automatic welding trolley for joint steel tube and flange |
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