CN109848595A - Welding system and method - Google Patents
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- CN109848595A CN109848595A CN201811297453.XA CN201811297453A CN109848595A CN 109848595 A CN109848595 A CN 109848595A CN 201811297453 A CN201811297453 A CN 201811297453A CN 109848595 A CN109848595 A CN 109848595A
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Abstract
A method of for detecting the profile of the position to be welded of welding object.The welding object includes the first weldment and the second weldment being welded to together.Method includes the following steps: the starting point of detection, the desired guiding trajectory for providing detection are determined, from starting point, along desired guiding trajectory mobile tracking device；While mobile, the shape in the gap between the first weldment and the second weldment is scanned using the tracking device；And seam shape is digitized, to obtain the geometry of position to be welded.Welding method in the present invention is full automatic.Operator only needs to carry out minimal amount of manpower work, such as initializes to welding system, and then welding system can be automatically completed from measurement scanning, positioning, cut, until the whole work process of welding etc..
Description
Technical field
It is especially a kind of to be by what mechanical arm carried out automatic welding the present invention relates to a kind of system welded
System.
Background technique
Automatic welding is increasingly wider with the development of electronic technology, computer technology, numerical control and robot technology
Generally applied in the production process of all trades and professions.For example, many automatic weldings can pass through robot technology now
To realize, and especially it is widely used in automobile chassis welding production in auto manufacturing.Existing big portion absolutely
Point welding robot is substantially all category articulated robot, including the mechanical arm being made of several joint segments, so as to by position
Different spatial positions is sent in the soldering appliance of mechanical arm tail end and with different tool posture progress operations.
However, existing automatic welding system comes with some shortcomings.Firstly, the welding system of the overwhelming majority is actually still
It so needs the intervention of manpower to carry out the positioning of solder joint and guide to the movement of mechanical arm in large quantities, is not real
Automatic operation.In particular, traditional welding system needs that first the size of object to be welded is measured and inputted by manpower,
And it is programmed, then starts the running of machine, this greatly reduces the efficiency of work.Secondly, most of existing welding system
System has only included single robot (mechanical arm), and single robot also results in the low of working efficiency.Finally, existing
Automatic welding system majority is used in indoor environment, carries out weldment to lesser object, and cannot be for other purposes.
Summary of the invention
Therefore, it the embodiment provides a kind of improved welding system and method, is able to solve or at least
Alleviate above-mentioned technical problem.
The first aspect of the invention provides a kind of method for detecting the profile of the position to be welded of welding object.It should
Welding object includes the first weldment and the second weldment being welded to together.Method includes the following steps: determining detection
Starting point provides the desired guiding trajectory detected, from starting point, along desired guiding trajectory mobile tracking device；While mobile,
The shape in the gap between the first weldment and the second weldment is scanned using the tracking device；And seam shape is counted
Word, to obtain the geometry of position to be welded.
Preferably, this method further includes that the gap between the first weldment and the second weldment is divided into several sections；
And for each described section, carry out above-mentioned step.
In a specific embodiment, this method further includes after digitization step, according to geometry to gap
The step of being welded.
Preferably, this method further includes following steps after the welding step: being swept again to the gap welded
It retouches to obtain the shape that it has updated；And the shape having updated is digitized, to obtain the update of position to be welded
Geometry.
In another embodiment, scanning step further include the edge of the first weldment is scanned, and
The above method further includes the steps that carrying out chamfer cutting to it according to the shape at edge.
In another embodiment, this method further includes after digitization step, according to geometry to
The step of edge adjacent with gap of one weldment or the second weldment is cut.
In one embodiment, the first weldment and the second weldment all have the enclosed shape on the extending direction of gap
Shape.
In another embodiment, scanning step further includes detecting to whether there is on the path along desired guiding trajectory to draw
Guiding element.
In another embodiment, the position of starting point is determined according to the size of welding object.
Preferably, desired guiding trajectory is determined according to the position of starting point and the size of welding object.
In another embodiment, the size for welding object is judged by optical identification method.
In another embodiment, welding object is industrial pipeline, and the first weldment and the second weldment are respectively work
Two sections of industry pipeline.
In another aspect of the invention, it provides a kind of for that will have close-shaped the first weldment and the second weldering
The system that fitting is welded together.First weldment and the second weldment are suitable for being soldered together along welding direction, wherein
Close-shaped is the shape along welding direction.The system includes platform and the multiple mechanical arms for being connected to platform.The platform
With installing mechanism to fix the first weldment and the second weldment at least one of them.Each mechanical arm can be relative to
Other mechanical arm independent operations, and the bottom end of each mechanical arm is fixed to the different location of platform, so that multiple
The opereating specification of mechanical arm can cover close-shaped altogether.
Preferably, the quantity of mechanical arm is four, and they are distributed substantially on four vertex of a rectangular shape.
Preferably, there is overlapping in the opereating specification of multiple mechanical arms from each other.
In a specific embodiment, the first weldment and the second weldment are respectively two sections of industrial pipeline.Peace
Mounting mechanism is the cavity of the shape with the first weldment of adaptation or the second weldment, to accommodate the first weldment or the second weldering
Fitting simultaneously secures it to platform.
In another embodiment, multiple mechanical arms include the mechanical arm with 7 degree of freedom.
In another embodiment, each mechanical arm includes flame cutter, camera, climatic protection
Device and soldering apparatus.
In another aspect of the invention, it provides a kind of for that will have close-shaped the first weldment and the second weldering
The system that fitting is welded together.First weldment and the second weldment are suitable for being soldered together along welding direction, wherein
Close-shaped is the shape along welding direction.The system includes platform, track and mechanical arm on platform.This is flat
Platform has installing mechanism to fix the first weldment and the second weldment at least one of them.Mechanical arm is configured as can be along
Track is mobile so that the opereating specification of mechanical arm can cover it is close-shaped.
Preferably, the quantity of mechanical arm is two or more, and they are suitable for independently moving relative to each other in orbit
It is dynamic.
It is highly preferred that there is overlapping from each other in the opereating specification of the two or more mechanical arm.
In a specific embodiment, the first weldment and the second weldment are respectively two sections of industrial pipeline.Peace
Mounting mechanism is the cavity of the shape with the first weldment of adaptation or the second weldment, to accommodate the first weldment or the second weldering
Fitting simultaneously secures it to platform.
In another embodiment, multiple mechanical arms include the mechanical arm with 7 degree of freedom.
In another embodiment, each mechanical arm includes flame cutter, camera, climatic protection
Device and soldering apparatus.
In another aspect of the invention, a kind of use multiple mechanical arms are provided, welding or cutter is carried out to welding object
The method of work.Method includes the following steps: detection welding object position to be processed profile, in multiple mechanical arms wherein
A part of each distribution profile；And in multiple mechanical arms wherein each according to the part of its assigned profile into
Row welding or cutting work.
Preferably, detecting step includes the profile that position to be processed is detected using optical identification, and is digitized into
For geometry.
Preferably, allocation step wherein each distribution profile that include based on geometry be automatically in multiple mechanical arms
A part.
In a specific embodiment, there is overlapping in the opereating specification of multiple mechanical arms from each other.
Preferably, the mutual running of multiple mechanical arm automatic synchronizations, to avoid that grazing or interference occurs.
In another embodiment, welding object has close-shaped.
For example, welding object is industrial pipeline.
In another embodiment, detecting step includes using ultrasonic wave, physical measurement, signal processing and meter
Calculate, magnetic field detection or manual input obtain the profile at position to be processed, and be digitized into as geometry.
In another aspect of the invention, it provides a kind of for that will have close-shaped the first weldment and the second weldering
The system that fitting is welded together.First weldment and the second weldment are suitable for being soldered together along welding direction,
Described in it is close-shaped for along the welding direction shape.The system includes mechanical arm.The mechanical arm is mounted on coaster,
And the coaster can move freely so that the opereating specification of mechanical arm can cover it is described close-shaped.
Preferably, the quantity of mechanical arm is two or more, and they are adapted to move independently of one another.
It is highly preferred that there is overlapping from each other in the opereating specification of the two or more mechanical arm.
In a specific embodiment, the first weldment and the second weldment are respectively two sections of industrial pipeline.Peace
Mounting mechanism is the cavity with the shape for being adapted to first weldment or the second weldment, to accommodate the first weldment or the
Two weldments simultaneously secure it to platform.
In another embodiment, multiple mechanical arms include the mechanical arm with 7 degree of freedom.
In another embodiment, turntable is provided on coaster.Mechanical arm is mounted on the turntable, thus
Mechanical arm can be rotated via turntable in the case that coaster does not move.
In another embodiment, each mechanical arm includes flame cutter, camera, climatic protection
Device and soldering apparatus.
According to another aspect of the present invention, it discloses a kind of for that will have close-shaped the first weldment and second
The system that weldment is welded together.First weldment and the second weldment are suitable for being soldered together along welding direction,
It is wherein close-shaped for along the shape of welding direction.The system includes mechanical arm.The mechanical arm is mounted on turntable；The turntable
It can be rotated relative to first weldment or the second weldment, so that the mechanical arm is around first weldering
Fitting or second weldment are mobile so that the opereating specification of the mechanical arm can cover it is described close-shaped.
The present invention provides many advantages.Firstly, the welding method in the present invention is full automatic.Operator only needs
Carry out minimal amount of manpower work, such as welding system initialized, then welding system can be automatically completed from
Measurement scanning positioning, is cut, until the whole work process of welding etc..Midway is not needed during these automatic works
Manual intervention.In addition, since welding system is capable of the size of automatic identification welding object, and the road scanned according to the dimensioned
Diameter, therefore welding system of the invention can automatically adapt to any welding object with unknown shape, and can be to be welded
Socket part position is scanned to obtain accurate geometry.Welding system of the invention has greatly been expanded in such design can be with
The object range of processing.Also, due to welding object outer dimension and weld gap shape be all by detected,
Therefore the present invention is not restricted for the installation direction for welding object itself.Even welding object such as pipeline etc. is with tilt angle
It places, the welding being segmented to it can also be ideally accomplished.The present invention is permitted by the real-time detection of the shape to soldered gap
Perhaps multiple welding is carried out to same position, and can be carried out scanning after welding each time to update the newest shape in gap,
So that system can be welded next time automatically according to the shape of update, to be gradually completing entire welding process.
On the other hand, the present invention can for example be run along the free-moving coaster in surface, along track in many ways
Coaster or fixed form multiple mechanical arms (robot) are installed, it is often more important that work between these mechanical arms can be with
It carries out in an automated way mutually coordinated, avoids interfering with each other between them and collide, so that it is guaranteed that all mechanical arm energy
Enough work independently of one another, and the welding to entire welding object can be completed together.It is such coordination do not need manpower into
Row decreases the chance of mistake generation to save a large amount of manpower.Multiple mechanical arms work at the same time, and can increase
The efficiency made is processed, the time required to reducing.
In addition, welding system of the invention is particularly suitable for carrying out operation outdoors, although this not welding as much as to say
System cannot or be not suitable for working indoors.Mechanical arm on welding system not only has protection adverse weather condition and outdoor ash
The climatic protection device of dirt etc., and size possessed by platform of welding system itself allows it to accommodate sizable welding
Part, such as bigbore industrial pipeline etc..And the entire close-shaped range of such heavy caliber weldment can pass through
The mechanical arm of automatic moving or multiple mechanical arms positioned at different location are completely covered.
Detailed description of the invention
Performance and advantage of the invention can be further understood from referring to the remaining part and attached drawing of this specification；This
The label of the same component is identical in a little attached drawings.In some cases, sub- label be placed in behind some label and hyphen with
Indicate one of them of many similar components.When mentioning some label but not writing some existing sub- label exactly especially,
Just refer to all these similar components.
Fig. 1 a is the appearance diagram of welding system according to first embodiment of the invention, plurality of mechanical arm quilt
It is fixed on the different location of platform.
Fig. 1 b is the top view of the welding system in Fig. 1 a.
Fig. 2 is the appearance diagram of welding system according to another embodiment of the invention, two of them mechanical arm list
Member can be moved by coaster and track on platform.
Fig. 3 is the system unit connection block diagram of the welding system in Fig. 1 a-1b and Fig. 2.
Fig. 4 be according to another embodiment of the invention in welding system Initialize installation the step of flow chart.
Fig. 5 be according to another embodiment of the invention in the stream that the movement of automatically scanning gap profile is configured
Cheng Tu.
Fig. 6 be according to another embodiment of the invention in welding system execute welding operation flow chart.
Fig. 7 be according to another embodiment of the invention in welding system execute gas flame cuttiug operation flow chart.
Fig. 8 be according to another embodiment of the invention in welding system execute chamfering operation flow chart.
Fig. 9 is the appearance diagram of welding system according to another embodiment of the invention, wherein mechanical arm unit is logical
Crossing coaster can move on platform.
Specific embodiment
The embodiment of the present invention has used gap scanning technique and other optical recognitions, so as to judge automatically
It welds the size of object and the profile in the gap of unknown shape is scanned, thus the cutting automated or Welder
Make.It can be with other different benefits and advantage provided by apparent each embodiment of the invention from narration below.
In the following description, " profile " and " shape " in the gap between weldment may be used interchangeably.They are all
Surface structure, lines and the feature etc. of webs gap (being defined by two adjacent edges of weldment).
Look first at Fig. 1 a and Fig. 1 b.One embodiment of the invention is a kind of welding system 20, including platform 24.Figure
1a and Fig. 1 b shows the welding object placed among platform 24, in the present embodiment specifically a kind of industrial tubes 22.
Pipeline 22 can have sizable size, such as diameter is greater than 6 meters.Pipeline 22 includes two parts, i.e. first segment 22a and second
Section 22b.The two duct sections 22a and 22b is separation in the initial state, there is gap 34 between the two.But first segment
22a and second segment 22b needs are welded together to constitute complete pipeline, therefore they are also claimed respectively in the present embodiment
For the first weldment and the second weldment.Although merely illustrating two duct sections in Fig. 1 a, it is understood that more pipelines
Section can also successively be soldered together length needed for constituting, complete pipeline.First segment 22a and second segment 22b tool
There is similar size and close-shaped, they all have hollow structure, and cross section is circle.It is designated herein it is close-shaped just
Refer to the shape on the direction extended along gap 34, it is close-shaped in this embodiment for circle.It is noted that in other direction
On, such as in vertical direction in Fig. 1 a, first segment 22a and second segment 22b do not have close-shaped simultaneously.In Fig. 1 a and Fig. 1 b
It can be seen that second segment 22b is accommodated in a cavity (not shown) in platform 24, which has the circumference with first segment 22a
The shape and size that shape matches, so that second segment 22b can be fixed relative to platform 24.The cavity also therefore at
For the installing mechanism of second segment 22b, it should be noted that this fixation is interim.The second segment 22b quilt before welding starts
It is moved in above-mentioned cavity, and second segment 22b and first segment 22a can also be removed from platform 24 after the welding is completed.It can
To see, second segment 22b is actually to break through platform 24, therefore platform 24 has seemed one kind relative to second segment 22b
The hanging feeling in bottom.
Guardrail 30 is installed, so that staff is needing available guarantor when on platform 24 that stands on platform 24
Shield.In four corners of platform 24, there are four fixed bits 26 respectively, and for fixing four mechanical arms 28, they are identical.
Pay attention in Fig. 1 a and Fig. 1 b, it is clear for expression, illustrate only a mechanical arm 28.This four mechanical arms 28 are substantially upper
In on four vertex positions of a rectangular shape, and the rectangular shape generally corresponds to the shape of platform 24 itself.Such as Fig. 1 b
In show most clear, each mechanical arm 28 include several joint segments 32a, 32b being mutually pivotably coupled together
And 32c.Wherein, the arm that joint segments 32a has a circular part and stretches out from circular portion.The circular portion can pacify
It sets in the cylindrical base 36 for being fixedly attached to platform 24, to be rotated relative to cylindrical base 36.Joint segments 32b and
32c has the arm shape of elongation, and joint segments 32a, 32b and 32c pass sequentially through two groups of double-shaft mechanisms 38 and connect.At this
In, each group of double-shaft mechanism 38 all includes two independently rotatable axis, so that in two joint segments interconnected
One can be pivoted in two different directions relative to another.In the end of joint segments 32c, pass through another group
Double-shaft mechanism 38 is connected with a series of tool (being not shown), including welding gun, tracking device, flame-cutting plant, Yi Jiqi
Its end-of-arm tooling component etc..These tools will be described in detail later.Due to having three groups on each mechanical arm 28
Double-shaft mechanism 38, and joint segments 32a can also be rotated relative to pedestal 36, therefore each mechanical arm 28 has substantially constituted tool
There is the structure of 7 degree of freedom.Wherein, preceding six-freedom degree is realized by above-mentioned double-shaft mechanism 38, and 7 degree of freedom
It is to be realized since joint segments 32a is rotated relative to pedestal 36.
In the welding system shown in Fig. 1 a-1b, although four mechanical arms 28 be respectively provided at platform 24 different location that
This separation, but they can cover whole length in the gap 34 between first segment 22a and second segment 22b altogether, also
It is the close-shaped perimeter of entire pipeline 22, including 360 ° of range.Each mechanical arm 28 is responsible for a section in gap 34,
Therefore entire gap 34 has been divided four sections, each corresponds to 90 ° of angular range.This four mechanical arms 28 can be independent
The work such as profile scan, gas flame cuttiug, welding are completed alone in work.Also, in order to guarantee certain redundancy, this four machinery
28 maximum of arm can and angular range will be greater than 90 °, that is to say, that their opereating specification has certain overlapping.But it is
Avoid interference between each other at work, the control that this four mechanical arm 28 passes through the calculating equipment (not shown) of welding system
System, can be avoided to contact with each other in operation and collides and interfere each other.Such as the boundary between two sections, if certain
It is carved with a mechanical arm 28 for the moment and is carrying out operation, then another mechanical arm 28 adjacent thereto then can be separate, to avoid
It collides and interferes.It will be about the step of work such as profile scan, gas flame cuttiug, the chamfering cutting of mechanical arm 28, welding
It is described in more detail below.
Fig. 2 is referred now to, depicted therein is welding system according to another embodiment of the invention.The welding system
Section components and its weldment applicatory such as industrial pipeline 122 in system are identical as those of in above-mentioned Fig. 1 a-1b,
Details are not described herein.With the welding system in Fig. 1 a-1b the difference is that, on the platform 124 of the welding system in Fig. 2 no longer
It is provided with the fixed bit fixed for mechanical arm.On the contrary, being provided with a track 140 on platform 124.Two 128 energy of mechanical arm
Enough movements carried out respectively by two coasters 138 along track 140 on circumferencial direction.In the present embodiment, track 140 is circle
Shape, diameter is big as far as possible, and close to the length of platform 124 or the one smaller between the two of width.Track 140
Concentric circles can be considered as with the pipeline 122 being mounted on platform 124.Each mechanical arm 128 has the structure of 7 degree of freedom,
But its with the mechanical arm in Fig. 1 a-1b the difference is that cylindrical base is formed by seven freedom becomes in Fig. 2
At the seven freedom formed due to movement of the coaster 138 on the track 140.It is similar with the situation in Fig. 1 a-1b, figure
Two mechanical arms 128 in 2 can also work independently, and complete the work such as profile scan, gas flame cuttiug, welding alone.In fact,
Since each coaster 138 can be run on 360 ° of angular ranges of entire track 140, a mechanical arm 128 is just
Can complete entire weldment it is close-shaped on welding, certainly in the case where having two mechanical arm 128, work
Efficiency can be double.For example, each mechanical arm 128 can be responsible for the work in 180 ° of angular range.Also, in order to guarantee one
Fixed redundancy, the two mechanical arms 128 can and angular range will be greater than 180 °, that is to say, that their opereating specification has
Certain overlapping.In order to avoid interference between each other at work, the two mechanical arms 128 pass through the calculating equipment of welding system
The control of (not shown) can be avoided and contact with each other and be interfered each other in operation.Such as the coaster below two mechanical arms 128
136 can avoid bumping against at runtime, and mechanical arm 128 itself can be located remotely from each other, to avoid colliding and interfering.
Fig. 2 also shows guiding piece 142 present in welding system, which is located at two of industrial pipeline 122
Relative position between section and for fixing them.This is because before welding is fully completed, the weldment of part welding
Between still may be subjected to displacement, to affect continuing for welding.For guiding piece 142 by manually installed, it is fixed to play
Position and the effect reinforced, and only temporarily exist.After welding is fully completed, guiding piece 142 can be removed.Welding
System welding and edge cut during can automatically detect the presence of guiding piece 142, and avoid to guiding piece 142 into
Row welding or cutting, this will be further described in more detail below.Although it should be noted that showing guidance in Fig. 2
Part, but similar guiding piece also can be set in the welding system shown in Fig. 1 a-1b completely.It in one example, can be with
It is provisionally attached on two weldments there are three such guiding piece 142.
Refer now to Fig. 3, it illustrates in welding system according to another embodiment of the invention with mechanical arm phase
The control of pass and the block diagram of workpiece, and structure depicted herein both can be adapted for the welding system in Fig. 1 a- Fig. 1 b,
It can be adapted for the welding system in Fig. 2.System shown in Fig. 3 includes central controller 44, and is connected to central control
Control panel 48, tracking equipment 46, vision and the audible prompts device 50 of device 44, mechanical arm unit 62, welding unit 76 and
Gas flame cuttiug unit 79.Central controller 44 can be calculating equipment, have storage and operational capability to complete various physics
The work such as calculating, analysis, the modeling of data.Also, central controller 44 has communication capacity, can be with other mechanical arms
Similar central controller communication is simultaneously mutually coordinated.In addition, central controller optionally can have display device (not shown),
The realtime graphic in various operation informations such as gap and threedimensional model can be shown to user by it.Control panel 48 is as use
Family input equipment can control the running of welding system for user's input control order when needed.Vision and audible prompts
Device 50 is used to provide visual stimulus and/or sonic stimulation whenever necessary to user, to report the corresponding feelings of welding system
Condition, such as error situation etc..Tracking equipment 46 includes the camera (not shown) with optical imagery ability, can be to welding
The outside of object carries out dynamic realtime imaging, and image model is supplied to central controller 44 for further analysis.Although Fig. 3
In do not show, but tracking equipment 46 is actually to be located at the end of mechanical arm unit 62, and can be with machine
The movement of tool arm unit 62 and move.In addition, though a mechanical arm unit 62 is merely illustrated in Fig. 3, it is to be appreciated that welding
For welding system there are in the case where multiple mechanical arm units 62, the central controller 44 of each such mechanical arm unit 62 can
To be connected with each other and communicate, and these mechanical arm units each may be coupled to their own consumables storage unit,
As will be described below.
Mechanical arm unit 62 includes the six shaft mechanical arms 66 and one seventh freedom similar with described in Fig. 1 a-2
Spend device 64.The seven freedom device 64 can be the combination of rounded knuckle part and cylindrical base described above, or
Person is coaster movable in orbit.And in the end of six shaft mechanical arms 66, there is a series of additional component with facilitate into
Row welding.Specifically, climatic protection device 70 for example can be a mask, welding unit 76 can protect, flame is cut
Cut unit 79 and other electrical or mechanical components etc. influences from ambient weather and environment, such as wind and rain, air-flow, dust etc..
Tool sensor 72 is for being connected to and sensing welding unit 76, gas flame cuttiug unit 79 and their corresponding consumables
It is appropriate whether storage device has connected.End-of-arm tooling clamper 74 is then for clamping welding unit 76 and/or gas flame cuttiug list
Member 79, and do not need using when can allow for them to unload down from end-of-arm tooling clamper 74.Although should be noted that
A mechanical arm unit 62 is merely illustrated in Fig. 3, but other mechanical arm units 62 also may be coupled to central controller 44
And it is controlled by.
Welding unit 76 and gas flame cuttiug unit 79 described above is all independently of the component of mechanical arm unit 62, still
It can be mounted on mechanical arm unit 62 to be moved to specific position by the latter and enter specific angle/appearance
State.Welding unit 76 includes welding machine and dispenser 77, and the welding gun 78 connecting with welding machine and dispenser 77.Welding machine and dispenser
77 another aspects are connected to the consumables storage unit 52 in welding system, specifically include in consumables storage unit 52
Monitoring unit 54, electrode memory cell 56 and inert gas storage unit 58.Welding gun 78 need motor storage unit 56 and
Inert gas storage unit 58, which distinguishes supplying electrode and inert gas, to be worked normally.Monitoring unit 54 can then monitor weldering
Order member 76 and specifically welding machine and the case where needing consumables of dispenser 77, so that 52 energy of consumables storage unit
It is enough sufficiently timely supply.Gas flame cuttiug unit 79 includes flame cutter 75, which also connects
To consumables storage unit 52, acetylene gas storage unit 60 specifically therein, so that the latter is flame cutter 75
Required acetylene gas is provided.Above-mentioned welding unit, consumables storage unit, gas flame cuttiug unit etc. are all art technologies
Technological means known to personnel, herein without more detailed description.
Fig. 4-Fig. 8 is referred now to, discloses can be used for above-mentioned welding system in another embodiment of the present invention
Operating method and process.It should be noted that it is in order not to the operation of same purpose, although and these are operated that Fig. 4-is shown in Fig. 8
Description is concentrated herein, but they are practically independent of each other and carry out.But should not be understood as all operations is all
It needs simultaneous.Fig. 4 is looked first at, if user will use welding system to carry out any other operation, such as welding, fire
Flame cutting, chamfering cutting etc. if, first have to initialize the system, this can for example system is powered on it is laggard
Row.The Initialize installation since step 80, first can by the controller (such as central controller shown in Fig. 3) of welding system
The sum of mechanical arm unit in system is determined in step 81.This is by the way that during startup, user is in any one machinery
Start installation procedure on arm to carry out.This starts the mechanical arm unit of installation procedure for the main list as welding system
Member, and the main mechanical arm unit will be with the mechanical arm of other in system unit communication (they are used as from unit) to determine system
The sum of the quantity of middle machinery arm unit.Then, in step 82, in determining system after the sum of mechanical arm unit, control
Device processed can determine whether the relative position between all mechanical arm units, no matter these mechanical arm units are such as that in Fig. 1 a-1b
Sample is mounted on the fixed bit of platform, or is mounted in the supratrochlear of track as shown in Figure 2.All mechanical arm units will
It can link up and mutual perception, and obtain the relative position of other machinery arm unit from main mechanical arm unit there.Next, in step
System will detect the positions and dimensions of welding object to be welded in rapid 83.Such welding object is, for example, above-mentioned industry pipe
Road.Determining that all mechanical arm units are all each after relative position of the mechanical arm unit relative to main mechanical arm unit
Each be will test to the distance for welding object, and they can be in communication with each other to use geometrical relationship that welding object is calculated
Positions and dimensions.Above-mentioned distance detection is realized by optical recognition, and the tracking device on mechanical arm unit is used
In camera come the identification that shoots and analyze the depth of field in picture and carry out object, lines, profile etc., to calculate weldering
Connect distance of the object apart from each mechanical arm.Finally, in step 84, based on the information collected from above step, system will
Judging required amount of mechanical arm unit whether there is and on the position appropriate that is already installed in welding system.Pass through weldering
The dimension information of object is connect, system then can be according to the quantity for the mechanical arm unit installed, for all mechanical arm units point
Close-shaped range with entire welding object, with welding/cutting operation starting point of each determining mechanical arm unit
The position x-y-z.But if above-mentioned any information is loss or invalid, system will be with message appropriate, such as leads to
The vision and audible prompts device in Fig. 3 are crossed, to remind user to correct.It is not initialized effectively in system
Before, any welding or cutting operation will not be started.
Fig. 5 then shows the setting steps that welding system needs to carry out before executing automatic profile scanner program.In this way
Setting steps need to execute each welding object it is primary because the shape of welding object and the position in gap to be welded are all not
Know, it is therefore desirable to ensure smoothly execute next automatic profile scanner program for unknown welding object.If
Step is set since step 85, it should be noted that each mechanical arm in welding system will execute their own setting steps.?
In step 86, each mechanical arm will be moved to tracking device the identified x-y-z in above-mentioned initialization procedure and rise
Initial point position, and attempt to start to be scanned step.In step 87, when tracking device is moved to by each mechanical arm unit
After predetermined starting point, they determine whether the gap between two weldments is in scanning range for respective.As above
The close-shaped shape of entire welding object described in face is divided into one or more sections according to the quantity of mechanical arm unit, because
The a part in the entire gap between this each such corresponding two weldment of section.If the gap between two weldments
Scanning range is had exceeded, that is, is in the outside of scanning range, then welding system will be alert by user interface and vision
It reports to user report state and is corrected with demand.Finally, it will terminate in step 88 if setting program smoothly completes.
From the point of view of Fig. 6, there is shown welding system to welding object weld the step of.It is necessary to note that shown in Fig. 6
The step of execute before, it should first ensure that automatic profile scan setting program in the initialization program and Fig. 5 in Fig. 4 all
Through carry out.Method in Fig. 6 is since step 89.In step 90, required correct end is welded in system identification and verifying
Whether tool has been installed, such as welding gun etc..This can be judged by the tool sensor in Fig. 3.If required
Tool then system will not continue to next step, but can give a warning user there is no correct installation, should with expectation
Situation can be resolved.Then, in the starting point of each section of step 91 system based on gap to be welded having verified that
Coordinate generates desired guiding trajectory for the welding of each section.The section for paying attention to so-called gap herein is actually webs gap
Same part (such as gap in some section), but all due to the shape in gap same in multiple welding acts
It is likely to occur variation, therefore refers to the gap under different conditions using section.The same part in gap can carry out repeatedly
Part when welding, and welding each time all becomes a different section.Above-mentioned desired guiding trajectory is the ruler based on welding object
The position of very little (as the method in Fig. 4 is obtained) and the starting point having verified that is determined.Then, in step 92, base
In the mobile desired guiding trajectory of mechanical arm, tracking device will be moved by mechanical arm along the desired guiding trajectory, to scan the section
Exact shape, to carry out subsequent welding.In step 93, according to the scanning result of tracking device, system can be known
The shape not saved, and be digitized into as geometry.That is, in this step, by tracking device to gap
The shoot on location of section and its peripheral region, welding system can analyze the side for adjoining gap of the first weldment and the second weldment
The shape of edge, and such shape contour is modeled in a digital manner, become a three-dimensional data-object.Above-mentioned geometric form
Shape just refers to the digitized planform of physical appearance or structure relative to object.Then, in step 94, welding system
Guiding piece be will do it with the presence or absence of the judgement in the section to be welded.As described above, in the first round of welding process, draw
Guiding element temporarily used with keep welding object two weldments between position, such as circular hollow industrial pipeline and
Speech guiding piece is used to keep the position of upper and lower circular configuration.The detection of guiding piece is also to be carried out by tracking device, such as pass through
The distinguished symbol with unique color or shape of camera detection guide faces.Then, according to the section in the gap to be welded
Geometry, and whether there is guiding piece within the scope of the welding of the section, welding system could be made that the welding to the section is dynamic
The decision of work.Then, in step 96, mechanical arm by drive welding gun according to it is determined that movement weld.This time has been welded
At of section and next section that later, welding system has just welded judgement (such as passing through welding gun/mechanical arm position)
Initial point is with the presence or absence of overlapping.If there is overlapping, then proving that the welding of current session has been completed, then welding movement is in step
Rapid 98 terminate.If there is no overlapping, then prove to still have blank (unwelded part), the secondary welding in the gap of current session
Movement can't be completed at last, it is necessary to return to step 91 and be scanned again to the same section in gap, construct geometry, weldering
The movement such as connect.Such repetitive process can carry out repeatedly, until of the section welded in step 97 and next section
Until there is overlapping in initial point.
Then Fig. 7 from the point of view of, there is illustrated according to another embodiment of the invention between two weldments to
The method that edge in welding region is cut.The purpose of cutting is to be by originally may be uneven, coarse unfavorable
More smooth, mutually identical rectilinear form is cut into the edge of welding, so that solder can be complete when welding
The entire part at all standing edge simultaneously increases its intensity.Therefore, the welding step that step shown in fig. 7 should be shown in Fig. 6
It carries out before.Firstly, the step of cutting in step 189 starts.In step 190, required for system identification and verifying cutting
Whether correct end-of-arm tooling has been installed, such as flame cutter etc..This can be sentenced by the tool sensor in Fig. 3
It is disconnected.If required tool is there is no correct installation, system will not continue to next step, but can send out user
It alerts out, it is expected that the situation can be resolved.If required tool is correctly installed, method proceeds to step
191, wherein welding system scans the profile in gap between two weldments by tracking system is used, and is digitized,
To form the geometry in gap.In the process, guiding piece can also be whether there is as the situation in Fig. 6 and is visited
It surveys.Meanwhile whether the size for determining gap is also in tolerance defined in the hypothesis situation of system design by tracking system.Such as
The profile in the fruit gap has exceeded the range of the hypothesis according to system design, and system will not continue to the cutting process of next step.Phase
Instead, system will use information reminding user it is expected to exclude the problem.Next, welding system can be formulated in step 192
Carrying out the first stage cuts the mechanical arm track that follow, first stage cutting here just refer to two weldments its
In one edge adjacent with gap cut.For example, in the industrial pipeline shown in Fig. 1 a-2, first to following
The top edge of pipeline member cut.Here cutting needs to consider in step 191 either with or without detecting guiding piece.According to
The profile in guiding piece presence or absence and detected gap determines the track for carrying out horizontal resection, then according to the track
Mobile mechanical arm cuts above-mentioned edge.It above-mentioned track should be perpendicular to the surface of the weldment.Next, in step
Welding system, which can be formulated, in rapid 193 carries out the mechanical arm track that second stage cutting should follow, second stage cutting here
Just refer to that the edge adjacent with gap to the another one of two weldments is cut.For example, in Fig. 1 a-2
Shown in industrial pipeline, be here exactly to be cut to the lower edge of pipeline member above.Then, to be similar to step 192
In mode mobile mechanical arm above-mentioned edge is cut.Specified cutting track should be reduced farthest and be cut
The amount of the material gone guarantees the smoothness and continuity at the edge after cutting to reduce waste simultaneously.Next, in step
Welding system, which can be formulated, in rapid 194 carries out the mechanical arm track that phase III cutting should follow, phase III cutting here
Just refer to and two edges between two weldments are vertically cut.Then, mobile in the mode being similar in step 192
Mechanical arm cuts two above-mentioned edges.Here cut portion average length for example can be 30cm+/- 5cm.Nothing
By under any circumstance, above-mentioned horizontally or vertically cutting shall not cut any part of guiding piece.It has been cut all
At later, this method terminates in step 198.
Then Fig. 8 from the point of view of, there is illustrated according to another embodiment of the invention to wherein the one of two weldments
The method that a edge carries out chamfering gas flame cuttiug.Firstly, the step of cutting in step 289 starts.In step 290, system
Correctly whether end-of-arm tooling has been installed required for identification and verifying cutting, such as flame cutter etc..This can pass through Fig. 3
In tool sensor judged.If there is no correct installation, systems will not continue to down for required tool
One step, but user can be given a warning, it is expected that the situation can be resolved.If required tool is correct
Installation, then method proceeds to step 291, wherein welding system scan a weldment by tracking system is used and gap
The profile at adjacent edge, and digitized, to form the geometry at the edge.For example, the institute in Fig. 1 a-2
It is here exactly to be cut to the lower edge of pipeline member above in the industrial pipeline shown.It in the process, also can be such as Fig. 6
In situation equally to guiding piece with the presence or absence of detecting.Next, welding system can be formulated and be cut in step 292
The mechanical arm track that should be followed.Here cutting needs to consider in step 291 either with or without detecting guiding piece.According to guidance
The profile at part presence or absence and detected edge determines the track for carrying out chamfering cutting.Then in step 293,
Above-mentioned edge is cut according to the track mobile mechanical arm.After the cut has been completed, this method terminates in step 298.
Fig. 9 is referred now to, depicted therein is welding system according to another embodiment of the invention.The welding system
Section components and its weldment applicatory such as industrial pipeline 122 in system and phase those of in above-mentioned Fig. 1 a-1b and 2
Together, details are not described herein.With the welding system in Fig. 1 a-1b and 2 the difference is that, the machinery in welding system in Fig. 9
Arm unit 328 is installed in one can be along on the free-moving coaster 338 in surface.Surface mentioned here can be ground
Face, the platform being above the ground level etc., and surface not only can be plane, be also possible to the shape to rise and fall with height.Coaster 338
Bottom be mounted with four wheels 339 in order to which coaster 338 is mobile.Each mechanical arm 328 has the structure of 7 degree of freedom,
But its with the mechanical arm in Fig. 1 a-1b and Fig. 2 the difference is that in the present embodiment seven freedom be by can from
It is realized by mobile coaster.The coaster is not only able to move in horizontal extent along any direction, can also overcome ground
Be uneven and move in vertical direction.
Therefore, after introducing several examples, it will also be recognized by those skilled in the art that it is different changes, another
Outer structure, equivalent, can be utilized without departing from essence of the invention.Correspondingly, above description should not be by
It is considered as the limitation to the scope of the invention as determined by the following claim.
For example, the shape of shown platform is hanging rectangular shape in Fig. 1 a-2.But it is welded in the present invention
Platform used in system is not limited to this, but can be the frame of any other type or shape, supporter etc..Citing comes
It says, platform is also possible to a stereochemical structure, and with the size on three-dimensional, and mechanical arm can be arranged in different levels
On position and different height.In another example, platform can be the wire frame of hollow out.
In addition, a circular orbit is shown in Fig. 2, it is coaxial with pipeline to be welded.But in other embodiments
In, track used in mechanical arm coaster is also possible to other shapes, direction and length in welding system of the invention.Citing
For, track can be irregular shape, can also extend in vertical direction, or inclination etc..The section of track can also be with
With different shapes, such as be conducive to the shape etc. for hanging mechanical arm coaster in vertical direction.
Industrial pipeline is used to carry out the explanation of embodiment as welding object in Fig. 1 a-2.But welding of the invention
System can be applied on other shapes of welding object, as long as they have closed shape.It should be noted that designated herein
The close-shaped shape for being only referred in welding direction (such as circumferencial direction) welds object without requiring on other directions
With close-shaped.Welding object for example can be I-shaped, rectangular etc..
Fig. 1 a-1b and Fig. 2 respectively illustrate four fixed mechanical arm units and two mobile mechanical arm lists
Member.But in other embodiments, if it is fixed mechanical arm unit, then their quantity can be greater than or
Less than four, depending on the size of object to be welded and system design complexity/cost.If mechanical arm unit is movable type
, then its quantity can be one or three or more.
In addition, being described as in Fig. 1 a-1b and multiple mechanical arm units shown in Figure 2 identical from one another.But
In other embodiments, it is mounted on same system, such as multiple mechanical arm units in identical platform also can have not
Same structure and size and performance, but this does not interfere these mechanical arm units to cooperate to complete welding jointly.
In the above-described embodiment, the mode for detecting the opposite profile of weldment and the profile at position to be processed is
Optical detection.But without deviating from the spirit of the present invention, it also can be used including ultrasonic wave, physical measurement, signal
Processing and calculate, magnetic field detection or manual input obtain the profile at position to be processed, and be digitized into as geometric form
Shape.
Just the movement of mechanical arm unit describes several embodiments in above embodiment, such as along track operation
Coaster, free-moving coaster etc..But in other embodiment, mechanical arm unit also may be mounted on turntable.This
The turntable of sample can be sufficiently large, such as the center for enabling component to be welded to be placed in turntable, but not with turntable
Rotation.Mechanical arm unit due to being mounted on turntable, can relative to relay part to be welded, industrial pipeline as escribed above
First weldment or the second weldment are rotated, so that mechanical arm can surround first weldment or described second
Weldment is mobile.So, the opereating specification of mechanical arm can cover the close-shaped of relay part to be welded.
Claims (39)
1. a kind of method for detecting the profile of the position to be welded of welding object, the welding object include the be welded to together
One weldment and the second weldment, which is characterized in that method includes the following steps:
Determine the starting point of detection；
The desired guiding trajectory of detection is provided；
From the starting point, along the desired guiding trajectory mobile tracking device；
While mobile, the gap between first weldment and second weldment is scanned using the tracking device
Shape；And
The seam shape is digitized, to obtain the geometry of the position to be welded.
2. according to the method described in claim 1, further include:
The gap between first weldment and second weldment is divided into several sections；And
For each described section, the step of progress described in claim 1.
3. according to the method described in claim 1, further including after the digitization step, according to the geometry to institute
State the step of gap is welded.
4. according to the method described in claim 3, further including the following steps after the welding step:
The gap welded is scanned again to obtain the shape that it has updated；And
The shape having updated is digitized, to obtain the geometry of the update of the position to be welded.
5. according to the method described in claim 4, further including after the geometry for obtaining the update again to the seam
The step of gap is welded.
6. according to the method described in claim 1, wherein the scanning step includes carrying out to the edge of first weldment
Scanning, and the method also includes carrying out chamfer cutting to it according to the shape at the edge.
7. according to the method described in claim 1, further including after the digitization step, according to the geometry to institute
State the step of edge adjacent with the gap of the first weldment or second weldment is cut.
8. according to method described in above-mentioned any one claim, wherein first weldment and second weldment are all
With close-shaped on the extending direction in the gap.
9. method described in any one in -7 according to claim 1, wherein the scanning step further includes detection along institute
It states on the path of desired guiding trajectory with the presence or absence of guiding piece.
10. method described in any one in -7 according to claim 1, wherein the position of the starting point is according to the welding object
Size determine.
11. according to the method described in claim 10, wherein the desired guiding trajectory is according to the position of the starting point and described
The size for welding object determines.
12. method described in any one in -7 according to claim 1, wherein the size of the welding object passes through optical identification side
Method judgement.
13. method described in any one in -7 according to claim 1, wherein the welding object is industrial pipeline, and described the
One weldment and second weldment are respectively two sections of the industrial pipeline.
14. a kind of system for that will have close-shaped the first weldment and the second weldment to be welded together, described
One weldment and second weldment are suitable for being soldered together along welding direction, wherein described close-shaped for along institute
State the shape of welding direction；The system comprises:
Platform, with installing mechanism with fixation first weldment and the second weldment at least one of them；
It is connected to multiple mechanical arms of the platform；Wherein each described mechanical arm can be relative to other machinery
Arm independent operation；
Wherein, the bottom end of each mechanical arm is fixed to the different location of the platform, so that the multiple machinery
The opereating specification of arm can cover described close-shaped altogether.
15. system according to claim 14, wherein the quantity of the mechanical arm is four, and they are distributed substantially over
On four vertex of one rectangular shape.
16. system according to claim 14, wherein the opereating specification of the multiple mechanical arm exists from each other
Overlapping.
17. system described in any one in 4-16 according to claim 1, wherein first weldment and second welding
Part is respectively two sections of industrial pipeline；The installing mechanism is with adaptation first weldment or second weldment
Shape cavity, to accommodate first weldment or second weldment and secure it to the platform.
18. system described in any one in 4-16 according to claim 1, wherein the multiple mechanical arm include have seven from
By the mechanical arm spent.
19. system described in any one in 4-16 according to claim 1, wherein each described mechanical arm is cut including flame
Cutter, camera, climatic protection device and soldering apparatus.
20. a kind of system for that will have close-shaped the first weldment and the second weldment to be welded together, described
One weldment and second weldment are suitable for being soldered together along welding direction, wherein described close-shaped for along institute
State the shape of welding direction；The system comprises:
Platform, with installing mechanism with fixation first weldment and the second weldment at least one of them；
Track on platform；And
Mechanical arm is configured as to move along the track, so that the opereating specification of mechanical arm can cover institute
It states close-shaped；
Wherein the quantity of the mechanical arm is two or more, and they are suitable for independently moving relative to each other on the track
It is dynamic.
21. system according to claim 20, wherein the opereating specification of described two above mechanical arms is from each other
There are overlappings.
22. the system according to any one in claim 20-21, wherein first weldment and second welding
Part is respectively two sections of industrial pipeline；The installing mechanism is with adaptation first weldment or second weldment
Shape cavity, to accommodate first weldment or second weldment and secure it to the platform.
23. the system according to any one in claim 20-21, wherein the multiple mechanical arm include have seven from
By the mechanical arm spent.
24. the system according to any one in claim 20-21, wherein each described mechanical arm is cut including flame
Cutter, camera, climatic protection device and soldering apparatus.
25. a kind of method for being welded or being cut work to welding object using multiple mechanical arms, which is characterized in that this method packet
Include following steps:
Detect the profile at the position to be processed of the welding object；
For in the multiple mechanical arm wherein each distribute a part of the profile；And
In the multiple mechanical arm wherein each according to the part of its assigned profile carry out it is described welding or cut
Cut work.
26. according to the method for claim 25, wherein the detecting step include detected using optical identification it is described to
The profile for the treatment of site, and be digitized into as geometry.
27. according to the method for claim 25, wherein it is institute that the allocation step includes based on the geometry automatically
State in multiple mechanical arms wherein each distribute a part of the profile.
28. the system according to any one in claim 25-27, wherein the opereating specification of the multiple mechanical arm
There is overlapping from each other.
29. system according to claim 28, wherein the running that the multiple mechanical arm automatic synchronization is mutual, thus
It avoids that grazing or interference occurs.
30. the system according to any one in claim 25-27, wherein the welding object is with close-shaped.
31. system according to claim 30, wherein the welding object is industrial pipeline.
32. according to the method for claim 25, wherein the detecting step includes using ultrasonic wave, physical measurement, signal
Processing and calculate, magnetic field detection or manual input obtain the profile at the position to be processed, and be digitized into
For geometry.
33. a kind of system for that will have close-shaped the first weldment and the second weldment to be welded together, described
One weldment and second weldment are suitable for being soldered together along welding direction, wherein described close-shaped for along institute
State the shape of welding direction；The system comprises:
Mechanical arm；The mechanical arm is mounted on coaster, and the coaster can move freely, so that the opereating specification of mechanical arm
It can cover described close-shaped.
34. system according to claim 33, wherein the quantity of the mechanical arm is two or more, and they are suitable for phase
For moving independently of one another.
35. system according to claim 34, wherein the opereating specification of described two above mechanical arms is from each other
There are overlappings.
36. the system according to any one in claim 33-35, wherein first weldment and second welding
Part is respectively two sections of industrial pipeline；The installing mechanism is with adaptation first weldment or second weldment
Shape cavity, to accommodate first weldment or second weldment and secure it to the platform.
37. the system according to any one in claim 33-35, wherein the multiple mechanical arm include have seven from
By the mechanical arm spent.
38. the system according to any one in claim 33-35, wherein each described mechanical arm is cut including flame
Cutter, camera, climatic protection device and soldering apparatus.
39. a kind of system for that will have close-shaped the first weldment and the second weldment to be welded together, described
One weldment and second weldment are suitable for being soldered together along welding direction, wherein described close-shaped for along institute
State the shape of welding direction；The system comprises:
Mechanical arm；The mechanical arm is mounted on turntable；The turntable can relative to first weldment or the second weldment into
Row rotation, so that the mechanical arm is mobile around first weldment or second weldment, so that the machine
The opereating specification of tool arm can cover described close-shaped.
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| CN110421292A (en) * | 2019-08-14 | 2019-11-08 | 异起(上海)智能科技有限公司 | A kind of method and apparatus to objects' contour positioning of welding robot |
| CN110449789A (en) * | 2019-08-22 | 2019-11-15 | 深圳市威博特科技有限公司 | A kind of adaptive welder and method |
| CN111545962A (en) * | 2020-04-26 | 2020-08-18 | 安徽中腾汽车零部件有限公司 | Welding auxiliary support of cold welding machine |
| CN117260083A (en) * | 2023-07-13 | 2023-12-22 | 广州富士汽车整线集成有限公司 | Welding control method, and related automotive processing system and storage medium |
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