CN110102928A - A kind of draught fan impeller rush-harvesting and rush-planting welds the control system and method for simplified teaching - Google Patents
A kind of draught fan impeller rush-harvesting and rush-planting welds the control system and method for simplified teaching Download PDFInfo
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- CN110102928A CN110102928A CN201910488055.4A CN201910488055A CN110102928A CN 110102928 A CN110102928 A CN 110102928A CN 201910488055 A CN201910488055 A CN 201910488055A CN 110102928 A CN110102928 A CN 110102928A
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- 238000003306 harvesting Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims description 14
- 238000003466 welding Methods 0.000 claims abstract description 250
- 239000000523 sample Substances 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 56
- 239000000463 material Substances 0.000 claims description 33
- 238000003825 pressing Methods 0.000 claims description 33
- 238000009434 installation Methods 0.000 claims description 20
- 230000032258 transport Effects 0.000 claims description 20
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 230000000877 morphologic effect Effects 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims description 3
- 239000011230 binding agent Substances 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 claims 1
- 238000009713 electroplating Methods 0.000 claims 1
- 238000005457 optimization Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 3
- 238000010622 cold drawing Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- Engineering & Computer Science (AREA)
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
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- Manipulator (AREA)
Abstract
The present invention designs impeller welding technical field, and a kind of draught fan impeller rush-harvesting and rush-planting welds the control system of simplified teaching, including wire-feeding device of welding machine, welding machine, welding manipulator B, welding manipulator A, feed device, positioner, Main Control Tank；The Main Control Tank side is provided with wire-feeding device of welding machine, and the wire-feeding device of welding machine is arranged at the top of welding machine；The other side is provided with feed device, positioner, and the feed device is disposed adjacent with positioner；It is provided with sliding rail at the top of the Main Control Tank, successively slidably connects welding manipulator A and welding manipulator B on the sliding rail；The welding manipulator A and welding manipulator B respectively include welding gun A and welding gun B；Tracking and positioning probe is provided on the welding gun A, the present invention has carried out strength optimization and speed-optimization on device structure, welds than traditional single rifle, speed of welding is faster more stable.
Description
Technical field
The invention belongs to draught fan impeller rush-harvesting and rush-planting welding technology fields, specifically, being related to a kind of draught fan impeller rush-harvesting and rush-planting welding
Simplify the control system and control method of teaching.
Background technique
In existing field, manual welding is only limitted to for the welding technique of workpiece draught fan impeller or semi-hand is welded,
Not only speed of welding is slow, but also welding positioning is not accurate, and the impeller appearance for welding out unsightly, and is wanted the technology of welder
Ask higher.In order to solve this status, our company carries out the research and development of full-automatic welding equipment, accomplishes in workpiece blower leaf
Human weld or repair welding are not needed in the welding procedure of wheel, non-technical personnel can all operate, and complete the perfect welding of workpiece.
Chinese utility model patent (a kind of CN207806848U: draught fan impeller automatic welding machine) includes rack, the machine
Frame upper end is equipped with a workbench；Top and the bottom are equipped with mutually symmetrical linear slide rail, workbench side or so on front side of the workbench
Both ends are all equipped with the boss seat to match with linear slide rail；The boss seat is equipped with workpiece positioning clamping mechanism；The work
Platform left part is equipped with the screw rod with left end boss seat bolt；The workbench right part is fixed with the first cylinder, and the first cylinder passes through
Itself piston rod is connected with right end boss seat；A wedge to match with screw rod is equipped on the left of the workbench, wedge passes through
Bearing is connected with screw rod；Described screw rod one end is through wedge out and is connected with an adjusting handle；Left and right above the workbench
Two sides are equipped with mutually symmetrical welder.
Chinese utility model patent (a kind of CN205184094U: automatic welding equipment of axial flow fan vane wheel)；It is solved
Determined existing axial flow fan vane wheel production efficiency it is low, the problem of poor welding quality.The automatic welding of this axial flow fan vane wheel
In equipment, which is made of wheel hub and several blades being welded on wheel hub peripheral wall, which includes welding
The transmission shaft of robot, spindle box and the bracket being set on spindle box, frame bottom and spindle box is fixedly connected with, cradle top
Installation is equipped with fixed plate between two columns, the central part of fixed plate has to be inserted in for wheel hub there are two the column that is parallel to each other
Central axis, the fastening nut that setting can clamp wheel hub on central axis also has several around central axis week in fixed plate
To the fixture of distribution.
Although automatic welding may be implemented in above-mentioned two utility model patent file, it is unable to automatic Arc Welding
Programming is complicated, and the intensity of above-mentioned welding equipment and speed are both needed to further increase, and the welding equipment of the prior art is not
A kind of control method of simplified teaching of draught fan impeller rush-harvesting and rush-planting welding is provided.
Summary of the invention
In view of the above-mentioned problems, the present invention is achieved through the following technical solutions: on the one hand, a kind of draught fan impeller rush-harvesting and rush-planting weldering
Connect the control system of simplified teaching, which is characterized in that including wire-feeding device of welding machine, welding machine, welding manipulator B, welding manipulator
A, feed device, positioner, Main Control Tank；The Main Control Tank side is provided with wire-feeding device of welding machine, and the wire-feeding device of welding machine is set
It sets at the top of welding machine；The other side is provided with feed device, positioner, and the feed device is disposed adjacent with positioner；The master
Control box top is provided with sliding rail, successively slidably connects welding manipulator A and welding manipulator B on the sliding rail；
The welding manipulator A and welding manipulator B respectively include welding gun A and welding gun B；Be provided on the welding gun A with
Track positioning probe；
The feed device includes that assembly, universal fixturing, material pressing device assembly are transported in feeding, and assembly top is transported in the feeding
Portion is provided with material pressing device assembly, and the material pressing device assembly is connect with universal fixturing；
The positioner includes pedestal, fixing device for wheel hub；The fixing device for wheel hub is set on the base；
The fixing device for wheel hub includes installation axle, fixture nut, wheel hub fixed disk, fixed handle screw, cushion cover；It is described
Cushion cover is arranged in installation axle, the wheel hub fixed disk is fixed on the mounting shaft by fixture nut, the fixed handle screw
On the mounting shaft across cushion cover setting.
Preferably, feeding transports assembly and includes first straight line sliding rail, chassis, transports upper plate, stepper motor, linear motion system
System, the linear motion system are set on chassis, and the first straight line sliding rail is installed on chassis, the transport upper plate installation
In first straight line sliding rail, the stepper motor, which is mounted on, to be transported below upper plate.
Preferably, material pressing device assembly includes down-pressed pole, pushes guide rod, linear bearing, mounting plate and cylinder；The installation
Cylinder and linear bearing are installed on plate；The pushing guide rod and cylinder are all connected with down-pressed pole, and the cylinder drives on down-pressed pole
Lower movement.
Preferably, the welding manipulator A and welding manipulator B further includes wire-feed motor, Z axis movement assembly, sliding rail bottom
Seat, X-axis move mould group；Z axis movement assembly is provided in the slide rail base on vertical direction, the Z axis movement assembly is lateral
Square upward sliding is provided with X-axis movement mould group, is provided with wire-feed motor in the X-axis movement mould group；The welding manipulator A and weldering
X-axis movement mould group on welding manipulator B is respectively arranged with welding gun A and welding gun B far from one end of slide rail base.
Preferably, Z axis movement assembly includes mounting base, second straight line sliding rail, the first ball screw, motion platform,
First servo motor, speed reducer, gear；The second straight line sliding rail is installed on mounting base, and the motion platform is installed on second
Line slide rail top, the mounting base top is provided with motor, the first ball screw connection motion platform and motor, described
Mounting base lower part is equipped with first servo motor and speed reducer, and the speed reducer is mounted directly gear, and the gear cooperates chassis
The rack drives Z axis assembly of installation moves left and right.
Preferably, the X-axis movement mould group includes module base, third line slide rail, mould group movement mounting base, mould group lid
Plate, mould group foreboard, mould group back plate, the second servo motor, the second ball screw；Third line slide rail is installed on module base, institute
It states mould group movement mounting base and is installed on third line slide rail, after being respectively arranged with mould group foreboard and mould group before and after the module base
Plate, the mould group cover board are installed on mould group foreboard and mould group back plate across module base, and is provided on the mould group foreboard
Two servo motors, the second ball screw connection mould group movement mounting base and the second servo motor, complete the straight line of X-direction
Movement.
Preferably, control device is provided on institute's Main Control Tank, the control device includes main control unit, human-computer interaction list
Member, Motor execution unit, data acquisition unit, welding unit；
The main control unit connects with man-machine interaction unit, Motor execution unit, data acquisition unit, welding unit respectively
It connects,
The man-machine interaction unit is for completing to exchange with the data command of operator；
The Motor execution unit is made of welding manipulator A and welding manipulator B, positioner and feed device, institute
Main control unit control welding manipulator A and welding manipulator B, positioner and feed device movement are stated, is placed on the positioner
Have a main workpiece, main workpiece follows positioner overturning variation, feed device for adjust blade angle and position so as to main workpiece
Cooperation；
The welding unit is made of welding machine, wire-feed motor and welding gun A and welding gun B, and the welding unit is by main control unit control
System welding, wire-feed motor are driven by welding machine, and welding gun A and welding gun B carry out weld job；
Data acquisition unit includes tracking and positioning probe, for acquiring the morphological feature at main workpiece and blade cooperation.
On the other hand, control draught fan impeller rush-harvesting and rush-planting provided by the invention welds the controlling party for simplifying the control system of teaching
Method includes the following steps:
S1: the mobile welding gun of control execution unit control welding manipulator A after material pressing device fixed blade, in control device
The initial position that A is welded to blade obtains a coordinate a by data acquisition unit herein and production file is recorded, again
Mobile welding gun A is controlled to welding end position, a coordinate b is obtained by data acquisition unit herein and production text is recorded
Part；One-dimensional track is obtained using the laser scanning program built in control device according to blade state pause judgments position；
S2: control positioner converts blade welding posture, keeps blade vertical from flip horizontal, and control welding gun A is moved to
Positioner overturns the space tracking state pause judgments position of rear blade welding, and respectively records a coordinate (c, d)；
S3: control execution unit control welding gun B is moved to the welding position of the blade other side, and record start terminates to sit respectively
It marks (e, f)；
(welding gun A and welding gun B are not in same coordinate system or error of coordinate)
S3: control welding gun B is moved to the welding position of the blade other side, respectively record start end coordinate (e, f), due to
The feature invariant of blade, can be with the combinatorial coordinates of record at welding track；
S4: due to the feature invariant of blade, the space coordinate of one-dimensional trace information and record that data acquisition unit obtains
(c, d), (e, f) combination calculate, the space curve track of weld seam, reset blade quantity, speed of welding, fixed spot welding mode,
Amplitude of oscillation parameter completes successively programming operation；
S5: automatic Arc Welding；
After the completion of teaching, control device controls material pressing device fixed blade, and controls manipulator A according to the space of acquisition
Curvilinear path carries out spot welding, and universal fixturing is fallen after the first blade of spot welding, and positioner horizontally rotates certain angle, universal fixturing liter
It rises, artificial blade of placing is on material pressing device, automatic spot again after fixed blade, until general after the completion of the spot welding of blade whole
Fixture is fallen, and feeding transports assembly and retracts origin automatically, and positioner vertical direction is rotated by 90 °, and places blade vertically；
After blade is placed vertically, manipulator A and manipulator B respectively according to space curve track at left and right sides of blade simultaneously
It is welded, after the completion of single blade welding, positioner trunnion axis rotates by a certain angle, and so that blade is rotated by a certain angle vertically,
The welding of next blade is carried out, until the welding of all blades is completed.
Preferably, the step in the step S1 before material pressing device fixed blade are as follows:
S01: it replaces according to welding blade shape in advance before workpiece welding or adjusts universal fixturing, then wheel hub is placed in wheel
In hub fixed disk, hub centre hole passes through installation axle, and fixture nut fixes wheel hub, and be locked handle screw；
S02: it manually controls feeding and transports assembly, universal fixturing is moved at wheel hub 20mm, data acquisition unit records position
Data are set, universal fixturing rises, and manually places blade, material pressing device starting, and cylinder moves downward, and down-pressed pole is driven to transport downwards
It is dynamic, while it is horizontal to push guide rod auxiliary down-pressed pole holding.
Compared with prior art, beneficial effects of the present invention: draught fan impeller rush-harvesting and rush-planting welding equipment has abandoned traditional single rifle
Single seat is set as rush-harvesting and rush-planting single seat, has saved use space, and has carried out in structure strength optimization (traditional welding manipulator is logical
It is often made of the cold drawing straight line mould group of outsourcing, (the Z axis movement in such as Figure 11 is total for the frame mode that the present invention is spliced using aluminium plate
At set-up mode), intensity is more preferable compared with cold drawing die group and speed-optimization (the first ball screw and the second ball screw are using leading greatly
Journey, rush-harvesting and rush-planting operate simultaneously, with improve efficiency and speed), welded than traditional single rifle, speed of welding is faster more stable；Workpiece is fixed
It is upper to use fixing device for wheel hub, it is provided with the pin hole of series of rules on fixing device for wheel hub, has on part 18 a series of
Regular pin hole, different model wheel hub convert pin hole site, and versatility is extensive, and the scope of application is big；Welding positioning uses
Tracking and positioning probe does not need complicated System Programming, can automatic collection workpiece pad, welded automatically.
The present invention detects the profile of workpiece, the single blade of teaching, the two combines using tracking and positioning probe auxiliary detection
Complete welding track is generated, the time of teaching is reduced, guarantees that the welding track of different leaves is identical from programming.
Rush-harvesting and rush-planting welding equipment provided by the invention compares single arm robot, the structure of both arms it is inevitable bring welding efficiency
It is promoted, simultaneously because the reason of rush-harvesting and rush-planting welds, the problem of avoiding thermal deformation in traditional single rifle welding.
The main simplified work of the present invention is track programming aspect, obtains track characteristic using tracking and positioning probe technologies
Many and diverse programming operation is replaced, to save human resources, is improved efficiency.Operating process and step are fixed up simultaneously, dropped
The low requirement to operator.
Detailed description of the invention
Fig. 1 is draught fan impeller general assembly structural schematic diagram provided by the invention；
Fig. 2 is the structural schematic diagram of welding gun manipulator A provided by the invention；
Fig. 3 is the structural schematic diagram of welding gun manipulator A provided by the invention；
Fig. 4 is the structural schematic diagram of welding gun manipulator B provided by the invention；
Fig. 5 is the structural schematic diagram of feed device provided by the invention；
Fig. 6 is the structural schematic diagram of positioner provided by the invention；
Fig. 7 is the front view of positioner provided by the invention；
Fig. 8 is the schematic enlarged-scale view of Fig. 7；
Fig. 9 is the structural schematic diagram that assembly is transported in feeding provided by the invention；
Figure 10 is the structural schematic diagram of material pressing device assembly provided by the invention；
Figure 11 is the structural schematic diagram that Z axis provided by the invention moves assembly；
Figure 12 is the structural schematic diagram that X-axis provided by the invention moves mould group；
Figure 13 is control device mechanism provided by the invention topological diagram.
Attached concrete meaning marked in the figure is as follows:
1, wire-feeding device of welding machine；2, welding machine；3, welding manipulator B；4, welding manipulator A；5, feed device；6, it conjugates
Machine；7, tracking and positioning is popped one's head in；8, wire-feed motor；9, Z axis transports assembly；10, X-axis moves mould group；11, slide rail base；12, welding gun B；
13, feeding campaign assembly；14, material pressing device assembly；15, universal fixturing；16, installation axle；17, fixture nut；18, wheel hub is fixed
Disk；19, cushion cover；20, fixed handle screw；21: transporting upper plate；22: first straight line sliding rail；23: linear motion system；24: bottom
Frame；25: pushing guide rod；26: mounting plate；27: cylinder；28: down-pressed pole；29: motion platform；30: second straight line sliding rail, 31: the
One ball screw；32: mounting base；33: first servo motor；34: speed reducer；35: gear；36: motor；37: module base；
38: mould group moves mounting base；39: mould group cover board；40: mould group foreboard；41: mould group back plate；42: the second servo motors；43: the second
Ball screw.
Specific embodiment
With reference to the accompanying drawing, a specific embodiment of the invention is described in detail.
The present invention is achieved through the following technical solutions: on the one hand, a kind of draught fan impeller rush-harvesting and rush-planting, which welds, simplifies teaching
Control system, including wire-feeding device of welding machine 1, welding machine 2, welding manipulator B 3, welding manipulator A 4, feed device 5, positioner
6, Main Control Tank；The Main Control Tank side is provided with wire-feeding device of welding machine 1, and the setting of wire-feeding device of welding machine 1 is at 2 top of welding machine；
The other side is provided with feed device 5, positioner 6, and the feed device 5 is disposed adjacent with positioner 6；It is set at the top of the Main Control Tank
It is equipped with sliding rail, successively slidably connects welding manipulator A 4 and welding manipulator B 4 on the sliding rail；
Welding manipulator A 4 and welding manipulator B 3 respectively include welding gun A and welding gun B 12；It is provided on the welding gun A
Tracking and positioning probe 7；
Feed device 5 includes that assembly 13, universal fixturing 15, material pressing device assembly 14 are transported in feeding, and the feeding is transported total
13 tops are provided with material pressing device assembly 14, the material pressing device assembly 14 is connect with universal fixturing；
Wherein: positioner 6 includes pedestal, fixing device for wheel hub；The fixing device for wheel hub is set on the base；
The fixing device for wheel hub include installation axle 16, fixture nut 17, wheel hub fixed disk 18, fixed handle screw 20,
Cushion cover 19；Cushion cover 19 is arranged in the installation axle 16, the wheel hub fixed disk 18 is fixed on installation axle by fixture nut 17
On 16, the fixed handle screw 20 passes through cushion cover 19 and is arranged in installation axle 16.
Wherein: feeding transports assembly 13 and includes first straight line sliding rail 22, chassis 24, transports upper plate 21, linear motion system
23, the first straight line sliding rail 22 is installed on chassis 24, and linear motion system 23 is set on chassis 24, the transport upper plate
21 are installed on first straight line sliding rail 22, and stepper motor, which is mounted on, transports 21 lower section of upper plate.
Material pressing device assembly 14 includes down-pressed pole 28, pushes guide rod 25, linear bearing, mounting plate 26 and cylinder 27；It is described
Cylinder 27 and linear bearing are installed on mounting plate 26；The pushing guide rod 28 is all connected with down-pressed pole 28, the cylinder with cylinder
27 drive down-pressed pole 28 to move up and down.
Ginseng Fig. 2-4, welding manipulator A 4 and welding manipulator B 3 further include wire-feed motor 8, Z axis movement assembly 9, sliding rail
Pedestal 11, X-axis move mould group 10；Z axis movement assembly 9, the Z axis movement are provided in the slide rail base 11 on vertical direction
Sliding is provided with X-axis movement mould group 10 in 9 transverse direction of assembly, is provided with wire-feed motor 8 in the X-axis movement mould group 10；It is described
X-axis movement mould group 10 on welding manipulator A and welding manipulator B is respectively arranged with welding gun A far from one end of slide rail base 11
With welding gun B 12.
To join shown in Figure 11, Z axis movement assembly includes mounting base 32, second straight line sliding rail 30, the first ball screw 31,
Motion platform 29, first servo motor 33, speed reducer 34, gear 35；The second straight line sliding rail 30 is installed on mounting base 32, institute
It states motion platform 29 and is installed on 30 top of second straight line sliding rail, motor 36, first rolling are provided at the top of the mounting base 32
Ballscrew 31 connects motion platform 29 and motor 36,32 lower part of mounting base are equipped with first servo motor 33 and speed reducer
34, the speed reducer 34 is mounted directly gear 35, and the gear 35 cooperates the rack drives Z axis assembly or so of chassis installation to move
It is dynamic.
Wherein, join shown in Figure 12, the X-axis movement mould group 10 includes module base 37, third line slide rail, the movement of mould group
Mounting base 38, mould group cover board 39, mould group foreboard 40, mould group back plate 41, the second servo motor 42, the second ball screw 43；Third
Line slide rail is installed on module base 37, and the mould group movement mounting base 38 is installed on third line slide rail, the module base
37 front and backs are respectively arranged with mould group foreboard 40 and mould group back plate 41, and the mould group cover board 39 is installed on mould group across module base 37
On foreboard 40 and mould group back plate 41, the second servo motor 42, second ball screw 43 are provided on the mould group foreboard 40
Mould group movement mounting base 38 and the second servo motor 42 are connected, the linear motion of X-direction is completed.
Wherein, it is provided with control device on Main Control Tank provided by the invention, the control device includes main control unit, man-machine
Interactive unit, Motor execution unit, data acquisition unit, welding unit；
The main control unit connects with man-machine interaction unit, Motor execution unit, data acquisition unit, welding unit respectively
It connects,
The man-machine interaction unit is for completing to exchange with the data command of operator；
The Motor execution unit is made of welding manipulator A and welding manipulator B, positioner and feed device, institute
Main control unit control welding manipulator A and welding manipulator B, positioner and feed device movement are stated, is placed on the positioner
Have a main workpiece, main workpiece follows positioner overturning variation, feed device for adjust blade angle and position so as to main workpiece
Cooperation；
The welding unit is made of welding machine, wire-feed motor and welding gun A and welding gun B, and the welding unit is by main control unit control
System welding, wire-feed motor are driven by welding machine, and welding gun A and welding gun B carry out weld job；
Data acquisition unit includes tracking and positioning probe, for acquiring the morphological feature at main workpiece and blade cooperation.
On the other hand, control draught fan impeller rush-harvesting and rush-planting provided by the invention welds the controlling party for simplifying the control system of teaching
Method includes the following steps:
S1: the mobile welding gun of control execution unit control welding manipulator A after material pressing device fixed blade, in control device
The initial position that A is welded to blade obtains a coordinate a by data acquisition unit herein and production file is recorded, again
Mobile welding gun A is controlled to welding end position, a coordinate b is obtained by data acquisition unit herein and production text is recorded
Part；One-dimensional track is obtained using the laser scanning program built in control device according to blade state pause judgments position；
S2: control positioner converts blade welding posture, keeps blade vertical from flip horizontal, and control welding gun A is moved to
Positioner overturns the space tracking state pause judgments position of rear blade welding, and respectively records a coordinate (c, d)；
S3: control execution unit control welding gun B is moved to the welding position of the blade other side, and record start terminates to sit respectively
It marks (e, f)；
(welding gun A and welding gun B are not in same coordinate system or error of coordinate)
S3: control welding gun B is moved to the welding position of the blade other side, respectively record start end coordinate (e, f), due to
The feature invariant of blade, can be with the combinatorial coordinates of record at welding track；
S4: due to the feature invariant of blade, the space coordinate of one-dimensional trace information and record that data acquisition unit obtains
(c, d), (e, f) combination calculate, the space curve track of weld seam, reset blade quantity, speed of welding, fixed spot welding mode,
Amplitude of oscillation parameter completes successively programming operation；
S5: automatic Arc Welding；
After the completion of teaching, control device controls material pressing device fixed blade, and controls manipulator A according to the space of acquisition
Curvilinear path carries out spot welding, and universal fixturing is fallen after the first blade of spot welding, and positioner horizontally rotates certain angle, universal fixturing liter
It rises, artificial blade of placing is on material pressing device, automatic spot again after fixed blade, until general after the completion of the spot welding of blade whole
Fixture is fallen, and feeding transports assembly and retracts origin automatically, and positioner vertical direction is rotated by 90 °, and places blade vertically；
After blade is placed vertically, manipulator A and manipulator B respectively according to space curve track at left and right sides of blade simultaneously
It is welded, after the completion of single blade welding, positioner trunnion axis rotates by a certain angle, and so that blade is rotated by a certain angle vertically,
The welding of next blade is carried out, until the welding of all blades is completed.
Wherein, the step in the step S1 before material pressing device fixed blade are as follows:
S01: it replaces according to welding blade shape in advance before workpiece welding or adjusts universal fixturing, then wheel hub is placed in wheel
In hub fixed disk, hub centre hole passes through installation axle, and fixture nut fixes wheel hub, and be locked handle screw；
S02: it manually controls feeding and transports assembly, universal fixturing is moved at wheel hub 20mm, data acquisition unit records position
Data are set, universal fixturing rises, and manually places blade, material pressing device starting, and cylinder moves downward, and down-pressed pole is driven to transport downwards
It is dynamic, while it is horizontal to push guide rod auxiliary down-pressed pole holding.
The specific welding process and working principle of control system of the invention；
It is fixed in advance according to the replacement of welding blade shape or adjustment universal fixturing 15 further according to hub motor before workpiece welding
The pin of left and right two in the spacing adjustment wheel hub fixed disk 18 in hole, makes it correspond to the spacing of hub motor fixation hole.It adjusts
Wheel hub is placed on wheel hub fixed disk 18 afterwards, hub centre hole passes through installation axle 16, wheel hub is fixed with fixture nut 17,
The handle screw that is locked can carry out welding operation in next step.
It needs to be scanned teaching by tracking and positioning probe 7 before workpiece automatic welding, determines neat space tracking, first hand
Assembly 13,20mm or so computer record position data, universal fixturing before universal fixturing 15 is sent to wheel hub are transported in dynamic control feeding
15 rise, artificial to place blade and snap, and material pressing device 14 starts, and cylinder 27 moves downward, and down-pressed pole 28 is driven to move downward,
It is pushed after guide rod 25 assists the horizontal material pressing device of 28 holding of down-pressed pole to fix blade simultaneously referring to the control system for simplifying teaching
Control method S1-S4 carry out operation and obtain space tracking and welding data；
Early-stage preparations can carry out automatic welding after debugging, feeding transports assembly 13 and automatically send universal fixturing 15 to wheel hub
Preceding 20mm or so, universal fixturing 15 rise, and simultaneously snap material pressing device 14 starts artificial placement blade, and cylinder 27 moves downward, band
Dynamic down-pressed pole 28 moves downward, while pushing guide rod 25 and assisting 28 holding of down-pressed pole horizontal；Material pressing device fixes blade.It is mechanical
Hand A 4, which drives, carries out spot welding according to the data of acquisition, and universal fixturing 15 is fallen after the first blade is lived in spot welding, and positioner 6 is horizontal to be turned
Dynamic certain angle, universal fixturing 15 rise, artificial to place blade and snap material pressing device 14 starts, fix after blade again from
Dynamic spot welding, until universal fixturing 15 is fallen after the completion of the spot welding of blade whole, feeding transports assembly 13 and retracts origin automatically.Positioner
6 vertical directions are rotated by 90 °, and place impeller vertically.
After impeller is placed vertically, manipulator A 4 and manipulator B 3 respectively according to training data at left and right sides of blade simultaneously
It is welded.After the completion of single blade welding, 6 trunnion axis of positioner rotates by a certain angle, and impeller is made to rotate by a certain angle vertically,
Carry out the welding of next blade.Until the welding of all blades is completed.
After the completion of welding, 6 vertical direction of positioner is rotated by 90 °, and returns to horizontal position, and worker comes loose fixture nut 17 just
The impeller being welded can be removed.Specification welding workpiece of the same race only needs teaching primary, so can directly carry out after removing workpiece next
The automatic welding of a size workpiece of the same race.It is recycled with this.
A series of detailed description illustrating only for feasible embodiment of the invention described above,
They are not to limit the scope of the invention, in the knowledge that the technical field those of ordinary skill has
Interior, the various change made without departing from the purpose of the present invention all belongs to the scope of protection of the present invention.
Claims (9)
1. a kind of draught fan impeller rush-harvesting and rush-planting welds the control system for simplifying teaching, which is characterized in that including wire-feeding device of welding machine, weldering
Machine, welding manipulator B, welding manipulator A, feed device, positioner, Main Control Tank；The Main Control Tank side is provided with welding machine and send
Silk device, the wire-feeding device of welding machine are arranged at the top of welding machine；The other side is provided with feed device, positioner, the feeding dress
It sets and is disposed adjacent with positioner；It is provided with sliding rail at the top of the Main Control Tank, successively slidably connects electroplating equipment wielding machine on the sliding rail
Hand A and welding manipulator B；
The welding manipulator A and welding manipulator B respectively include welding gun A and welding gun B；It is fixed that tracking is provided on the welding gun A
Position probe；
The feed device includes that assembly, universal fixturing, material pressing device assembly are transported in feeding, and the feeding is transported to be set at the top of assembly
It is equipped with material pressing device assembly, the material pressing device assembly is connect with universal fixturing；
The positioner includes pedestal, fixing device for wheel hub；The fixing device for wheel hub is set on the base；
The fixing device for wheel hub includes installation axle, fixture nut, wheel hub fixed disk, fixed handle screw, cushion cover；The installation
Cushion cover is arranged on axis, the wheel hub fixed disk is fixed on the mounting shaft by fixture nut, and the fixed handle screw passes through
Cushion cover is arranged on the mounting shaft.
2. draught fan impeller rush-harvesting and rush-planting as described in claim 1 welds the control system for simplifying teaching；It is characterized in that, feeding is transported
Assembly is sent to include first straight line sliding rail, chassis, transport upper plate, stepper motor, linear motion system, the linear motion system is set
It is placed on chassis, the first straight line sliding rail is installed on chassis, and the transport upper plate is installed on first straight line sliding rail, the step
It is mounted on and is transported below upper plate into motor.
3. draught fan impeller rush-harvesting and rush-planting as described in claim 1 welds the control system for simplifying teaching；It is characterized in that, binder fills
Assembly is set to include down-pressed pole, push guide rod, linear bearing, mounting plate and cylinder；Cylinder and straight line are installed on the mounting plate
Bearing；The pushing guide rod and cylinder are all connected with down-pressed pole, and the cylinder drives down-pressed pole to move up and down.
4. draught fan impeller rush-harvesting and rush-planting as described in claim 2 welds the control system for simplifying teaching；It is characterized in that, the weldering
Welding manipulator A and welding manipulator B further includes wire-feed motor, Z axis movement assembly, slide rail base, X-axis movement mould group；The cunning
Z axis movement assembly is provided on rail bottom seat on vertical direction, sliding is provided with X-axis fortune in the Z axis movement assembly transverse direction
Dynamic model group, the X-axis move and are provided with wire-feed motor in mould group；X-axis movement on the welding manipulator A and welding manipulator B
Mould group is respectively arranged with welding gun A and welding gun B far from one end of slide rail base.
5. draught fan impeller rush-harvesting and rush-planting as described in claim 4 welds the control system for simplifying teaching；It is characterized in that, the Z
Axis movement assembly includes mounting base, second straight line sliding rail, the first ball screw, motion platform, first servo motor, speed reducer,
Gear；The second straight line sliding rail is installed on mounting base, and the motion platform is installed on second straight line sliding rail top, the installation
Seat top is provided with motor, and the first ball screw connection motion platform and motor, the mounting base lower part are equipped with first
Servo motor and speed reducer, the speed reducer are mounted directly gear, the rack drives Z axis assembly of the gear cooperation chassis installation
It moves left and right.
6. draught fan impeller rush-harvesting and rush-planting as described in claim 5 welds the control system for simplifying teaching；It is characterized in that, the X
Axis movement mould group includes module base, third line slide rail, and mould group moves mounting base, mould group cover board, mould group foreboard, after mould group
Plate, the second servo motor, the second ball screw；Third line slide rail is installed on module base, the mould group movement mounting base peace
Loaded on third line slide rail, mould group foreboard and mould group back plate are respectively arranged with before and after the module base, the mould group cover board is horizontal
It is installed on mould group foreboard and mould group back plate across module base, is provided with the second servo motor on the mould group foreboard, described
Two ball screws connect mould group movement mounting base and the second servo motor, complete the linear motion of X-direction.
7. draught fan impeller rush-harvesting and rush-planting as described in claim 1 welds the control system for simplifying teaching；It is characterized in that, the master
It is provided with control device on control case, the control device includes main control unit, man-machine interaction unit, Motor execution unit, data
Acquisition unit, welding unit；
The main control unit is connect with man-machine interaction unit, Motor execution unit, data acquisition unit, welding unit respectively,
The man-machine interaction unit is for completing to exchange with the data command of operator；
The Motor execution unit is made of welding manipulator A and welding manipulator B, positioner and feed device, the master
Unit control welding manipulator A and welding manipulator B, positioner and feed device movement are controlled, is placed with master on the positioner
Workpiece, main workpiece follow positioner overturning variation, feed device for adjust blade angle and position so as to main work pieces mate；
The welding unit is made of welding machine, wire-feed motor and welding gun A and welding gun B, and the welding unit is controlled by main control unit and welded
It connects, wire-feed motor is driven by welding machine, and welding gun A and welding gun B carry out weld job；
Data acquisition unit includes tracking and positioning probe, for acquiring the morphological feature at main workpiece and blade cooperation.
8. as control draught fan impeller rush-harvesting and rush-planting of any of claims 1-7 welds the control of the control system of simplified teaching
Method, which comprises the steps of:
S1: after material pressing device fixed blade, the mobile welding gun A of control execution unit control welding manipulator A in control device is arrived
The initial position of blade welding obtains a coordinate a by data acquisition unit herein and production file, then secondary control is recorded
Mobile welding gun A obtains a coordinate b by data acquisition unit herein and production file is recorded to welding end position；Root
One-dimensional track is obtained using the laser scanning program built in control device according to blade state pause judgments position；
S2: control positioner converts blade welding posture, keeps blade vertical from flip horizontal, and control welding gun A is moved to displacement
Machine overturns the space tracking state pause judgments position of rear blade welding, and respectively records a coordinate (c, d)；
S3: control execution unit control welding gun B is moved to the welding position of the blade other side, respectively record start end coordinate
(e,f)；
(welding gun A and welding gun B are not in same coordinate system or error of coordinate)
S3: control welding gun B is moved to the welding position of the blade other side, respectively record start end coordinate (e, f), due to blade
Feature invariant, can be with the combinatorial coordinates of record at welding track；
S4: due to the feature invariant of blade, data acquisition unit obtain one-dimensional trace information and record space coordinate (c,
D), (e, f) combination calculates, the space curve track of weld seam, resets blade quantity, speed of welding, fixed spot welding mode, the amplitude of oscillation
Parameter completes successively programming operation；
S5: automatic Arc Welding；
After the completion of teaching, control device controls material pressing device fixed blade, and controls manipulator A according to the space curve of acquisition
Track carries out spot welding, and universal fixturing is fallen after the first blade of spot welding, and positioner horizontally rotates certain angle, and universal fixturing rises,
Artificial blade of placing is on material pressing device, automatic spot again after fixed blade, until universal clamp after the completion of the spot welding of blade whole
Tool is fallen, and feeding transports assembly and retracts origin automatically, and positioner vertical direction is rotated by 90 °, and places blade vertically；
After blade is placed vertically, manipulator A and manipulator B respectively carries out the blade left and right sides according to space curve track simultaneously
Welding, after the completion of single blade welding, positioner trunnion axis rotates by a certain angle, and blade is made to rotate by a certain angle vertically, carries out
The welding of next blade, until the welding of all blades is completed.
9. control draught fan impeller rush-harvesting and rush-planting welds the control method for simplifying the control system of teaching as claimed in claim 8, special
Sign is, the step in the step S1 before material pressing device fixed blade are as follows:
S01: it replaces according to welding blade shape before workpiece welding or adjusts universal fixturing, then wheel hub is placed in wheel hub fixed disk
On, hub centre hole passes through installation axle, and fixture nut fixes wheel hub, and be locked handle screw；
S02: it manually controls feeding and transports assembly, universal fixturing is moved at wheel hub 20mm, data acquisition unit records positional number
According to universal fixturing rises, and manually places blade, material pressing device starting, and cylinder moves downward, and drives down-pressed pole to move downward, together
When push guide rod auxiliary down-pressed pole and keep horizontal.
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| CN110497122A (en) * | 2019-08-12 | 2019-11-26 | 格力电器（武汉）有限公司 | Welder and its welding method |
| CN111112863A (en) * | 2019-11-26 | 2020-05-08 | 福尼斯智能装备(珠海)有限公司 | Wind wheel rapid welding workstation |
| CN111408874A (en) * | 2020-02-17 | 2020-07-14 | 湖南鑫宏源机械设备有限公司 | Axial fan flabellum welded fastening device |
| CN111515595A (en) * | 2020-07-06 | 2020-08-11 | 湖南翰坤实业有限公司 | Butt-joint robot |
| CN111673306A (en) * | 2020-07-02 | 2020-09-18 | 上海乾庾智能科技有限公司 | Cable reel welding production line |
| CN111716054A (en) * | 2020-07-06 | 2020-09-29 | 湖南翰坤实业有限公司 | Intelligent butt-welding machine |
| CN112658481A (en) * | 2020-12-31 | 2021-04-16 | 湖南创研智能装备有限公司 | Air duct volute laser welding device |
| CN114378471A (en) * | 2022-02-16 | 2022-04-22 | 斯图加特航空自动化(广东)有限公司 | Impeller blade welding method and equipment thereof |
| CN114734175A (en) * | 2022-06-10 | 2022-07-12 | 河南广鹰机械制造有限公司 | Mixed-flow runner welding device for water turbine |
| CN117548893A (en) * | 2024-01-12 | 2024-02-13 | 兴恒环境科技集团有限公司 | Fan impeller welding device |
| CN117655626A (en) * | 2024-02-01 | 2024-03-08 | 广东鑫风风机有限公司 | Fan blade welding device and application method thereof |
| CN118060833A (en) * | 2024-04-25 | 2024-05-24 | 广东鑫风风机有限公司 | Multi-angle welding table for fan impeller and use method thereof |
| CN118060833B (en) * | 2024-04-25 | 2024-07-05 | 广东鑫风风机有限公司 | Multi-angle welding table for fan impeller and use method thereof |
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| CN110497122A (en) * | 2019-08-12 | 2019-11-26 | 格力电器（武汉）有限公司 | Welder and its welding method |
| CN111112863A (en) * | 2019-11-26 | 2020-05-08 | 福尼斯智能装备(珠海)有限公司 | Wind wheel rapid welding workstation |
| CN111408874A (en) * | 2020-02-17 | 2020-07-14 | 湖南鑫宏源机械设备有限公司 | Axial fan flabellum welded fastening device |
| CN111673306A (en) * | 2020-07-02 | 2020-09-18 | 上海乾庾智能科技有限公司 | Cable reel welding production line |
| CN111515595A (en) * | 2020-07-06 | 2020-08-11 | 湖南翰坤实业有限公司 | Butt-joint robot |
| CN111716054A (en) * | 2020-07-06 | 2020-09-29 | 湖南翰坤实业有限公司 | Intelligent butt-welding machine |
| CN112658481A (en) * | 2020-12-31 | 2021-04-16 | 湖南创研智能装备有限公司 | Air duct volute laser welding device |
| CN114378471A (en) * | 2022-02-16 | 2022-04-22 | 斯图加特航空自动化(广东)有限公司 | Impeller blade welding method and equipment thereof |
| CN114734175A (en) * | 2022-06-10 | 2022-07-12 | 河南广鹰机械制造有限公司 | Mixed-flow runner welding device for water turbine |
| CN117548893A (en) * | 2024-01-12 | 2024-02-13 | 兴恒环境科技集团有限公司 | Fan impeller welding device |
| CN117548893B (en) * | 2024-01-12 | 2024-03-19 | 兴恒环境科技集团有限公司 | Fan impeller welding device |
| CN117655626A (en) * | 2024-02-01 | 2024-03-08 | 广东鑫风风机有限公司 | Fan blade welding device and application method thereof |
| CN117655626B (en) * | 2024-02-01 | 2024-04-02 | 广东鑫风风机有限公司 | Fan blade welding device and application method thereof |
| CN118060833A (en) * | 2024-04-25 | 2024-05-24 | 广东鑫风风机有限公司 | Multi-angle welding table for fan impeller and use method thereof |
| CN118060833B (en) * | 2024-04-25 | 2024-07-05 | 广东鑫风风机有限公司 | Multi-angle welding table for fan impeller and use method thereof |
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Denomination of invention: A control system and method for simplified teaching of double gun welding of fan impeller Effective date of registration: 20211223 Granted publication date: 20191217 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Panyu branch Pledgor: GUANGZHOU YUANSHENG AUTOMATION TECHNOLOGY Co.,Ltd. Registration number: Y2021980016130 |
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