CN110102928B - Control system and method for simplified teaching of double-gun welding of fan impeller - Google Patents
Control system and method for simplified teaching of double-gun welding of fan impeller Download PDFInfo
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- CN110102928B CN110102928B CN201910488055.4A CN201910488055A CN110102928B CN 110102928 B CN110102928 B CN 110102928B CN 201910488055 A CN201910488055 A CN 201910488055A CN 110102928 B CN110102928 B CN 110102928B
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- 238000003466 welding Methods 0.000 title claims abstract description 262
- 238000000034 method Methods 0.000 title claims description 16
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- 230000033001 locomotion Effects 0.000 claims description 65
- 238000003825 pressing Methods 0.000 claims description 43
- 238000009434 installation Methods 0.000 claims description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000003993 interaction Effects 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
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- 239000000463 material Substances 0.000 claims description 4
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- 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
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- 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
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- 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
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- 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
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- 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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Abstract
The invention relates to the technical field of impeller welding, in particular to a control system for simplifying and demonstrating double-gun welding of a fan impeller, which comprises a welding machine wire feeding device, a welding machine, a welding manipulator B, a welding manipulator A, a feeding device, a positioner and a main control box, wherein the welding machine wire feeding device is arranged on the welding machine wire feeding device; a welding machine wire feeding device is arranged on one side of the main control box and is arranged at the top of the welding machine; the other side is provided with a feeding device and a position changing machine, and the feeding device and the position changing machine are arranged adjacently; the top of the main control box is provided with a slide rail, and a welding manipulator A and a welding manipulator B are sequentially connected onto the slide rail in a sliding manner; the welding manipulator A and the welding manipulator B respectively comprise a welding gun A and a welding gun B; the tracking positioning probe is arranged on the welding gun A, the intensity and the speed of the device structure are optimized, and compared with the traditional single gun welding, the device has the advantages that the welding speed is higher and more stable.
Description
Technical Field
the invention belongs to the technical field of double-gun welding of fan impellers, and particularly relates to a control system and a control method for simplifying teaching of double-gun welding of fan impellers.
Background
in the prior art, the welding technology for the workpiece fan impeller is only limited to manual welding or semi-manual welding, the welding speed is low, the welding positioning is not accurate, the welded impeller is not attractive in appearance, and the technical requirement for a welder is high. In order to solve the current situation, the research and development of full-automatic welding equipment are carried out by my department, manual welding or repair welding is not needed in the welding process of the workpiece fan impeller, non-technical personnel can operate the welding equipment, and the perfect welding of the workpiece is completed.
The Chinese utility model patent (CN 207806848U: an automatic welding machine for a fan impeller) comprises a frame, wherein a workbench is arranged at the upper end of the frame; the upper part and the lower part of the front side of the workbench are provided with linear slide rails which are symmetrical with each other, and the left end and the right end of the side of the workbench are provided with boss seats matched with the linear slide rails; the boss base is provided with a workpiece positioning and clamping mechanism; the left part of the workbench is provided with a screw rod which is in threaded connection with the boss base at the left end; a first air cylinder is fixed at the right part of the workbench and is connected with a boss seat at the right end through a piston rod of the first air cylinder; the left side of the workbench is provided with a pressing seat matched with the screw rod, and the pressing seat is connected with the screw rod through a bearing; one end of the screw rod penetrates through the pressing seat and is connected with an adjusting hand wheel; and welding devices which are symmetrical to each other are arranged on the left side and the right side above the workbench.
Chinese utility model patent (CN 205184094U: an automatic welding device for axial flow fan impeller); the axial flow fan impeller solves the problems of low production efficiency and poor welding quality of the existing axial flow fan impeller. Among this axial fan impeller's the automatic welding equipment, this axial fan impeller comprises wheel hub and a plurality of blade that welds on the wheel hub perisporium, this equipment includes welding robot, headstock and the support that sets up on the headstock, the support bottom links firmly mutually with the transmission shaft of headstock, two stands that are parallel to each other are installed to the support top, install the fixed plate between the coexistence post, the central part of fixed plate has the center pin that supplies wheel hub to embolia, it can be with the tight fastening nut of wheel hub clamp to set up on the center pin, still have a plurality of anchor clamps around center pin circumference distribution on the fixed plate.
although above-mentioned two utility model patent documents all can realize automatic weld, but can not automatic weld process's programming is complicated, and foretell welding equipment's intensity and speed all need further improve, and prior art's welding equipment does not provide a control method that the teaching is simplified in the welding of fan wheel double gun.
Disclosure of Invention
Aiming at the problems, the invention is realized by the following technical scheme: on one hand, the control system for simplifying and demonstrating the double-gun welding of the fan impeller is characterized by comprising a welding machine wire feeding device, a welding machine, a welding manipulator B, a welding manipulator A, a feeding device, a positioner and a main control box; a welding machine wire feeding device is arranged on one side of the main control box and is arranged at the top of the welding machine; the other side is provided with a feeding device and a position changing machine, and the feeding device and the position changing machine are arranged adjacently; the top of the main control box is provided with a slide rail, and a welding manipulator A and a welding manipulator B are sequentially connected onto the slide rail in a sliding manner;
the welding manipulator A and the welding manipulator B respectively comprise a welding gun A and a welding gun B; a tracking positioning probe is arranged on the welding gun A;
The feeding device comprises a feeding and conveying assembly, a universal clamp and a pressing device assembly, wherein the pressing device assembly is arranged at the top of the feeding and conveying assembly and is connected with the universal clamp;
The positioner comprises a base and a hub fixing device; the hub fixing device is arranged on the base;
The hub fixing device comprises a mounting shaft, a fixing nut, a hub fixing disc, a fixing handle screw and a cushion sleeve; the epaxial cover of installation is equipped with the pad cover, the wheel hub fixed disk passes through fixation nut to be fixed on the installation axle, fixed handle screw passes the pad cover and sets up on the installation axle.
preferably, the feeding and conveying assembly comprises a first linear sliding rail, a bottom frame, a conveying upper plate, a stepping motor and a linear motion system, wherein the linear motion system is arranged on the bottom frame, the first linear sliding rail is arranged on the bottom frame, the conveying upper plate is arranged on the first linear sliding rail, and the stepping motor is arranged below the conveying upper plate.
preferably, the pressing device assembly comprises a lower pressing rod, a lower pressing guide rod, a linear bearing, an installation plate and a cylinder; the mounting plate is provided with an air cylinder and a linear bearing; the lower pressure guide rod and the cylinder are both connected with a lower pressure rod, and the cylinder drives the lower pressure rod to move up and down.
preferably, the welding manipulator A and the welding manipulator B also comprise wire feeders, Z-axis motion assemblies, slide rail bases and X-axis motion modules; a Z-axis movement assembly is arranged on the slide rail base in the vertical direction, an X-axis movement module is arranged on the Z-axis movement assembly in the transverse direction in a sliding manner, and a wire feeder is arranged on the X-axis movement module; and one ends of the X-axis movement modules on the welding manipulator A and the welding manipulator B, which are far away from the slide rail base, are respectively provided with a welding gun A and a welding gun B.
preferably, the Z-axis motion assembly comprises a mounting seat, a second linear slide rail, a first ball screw, a motion platform, a first servo motor, a speed reducer and a gear; the second linear slide rail is installed on the installation seat, the moving platform is installed on the upper portion of the second linear slide rail, a motor is arranged at the top of the installation seat, the first ball screw is connected with the moving platform and the motor, a first servo motor and a speed reducer are installed on the lower portion of the installation seat, a gear is directly installed on the speed reducer, and a rack installed by the gear in cooperation with the underframe drives the Z-axis assembly to move left and right.
preferably, the X-axis movement module comprises a module base, a third linear slide rail, a module movement mounting base, a module cover plate, a module front plate, a module rear plate, a second servo motor and a second ball screw; the third linear sliding rail is installed on the module base, the module motion installation seat is installed on the third linear sliding rail, a module front plate and a module rear plate are arranged on the front and the rear of the module base respectively, the module cover plate stretches across the module base and is installed on the module front plate and the module rear plate, a second servo motor is arranged on the module front plate, and the second ball screw is connected with the module motion installation seat and the second servo motor to complete linear motion in the X-axis direction.
Preferably, a control device is arranged on the main control box and comprises a main control unit, a man-machine interaction unit, a motion execution unit, a data acquisition unit and a welding unit;
The main control unit is respectively connected with the human-computer interaction unit, the movement execution unit, the data acquisition unit and the welding unit,
The human-computer interaction unit is used for finishing data instruction communication with an operator;
The motion execution unit is composed of a welding manipulator A, a welding manipulator B, a position changing machine and a feeding device, the main control unit controls the welding manipulator A, the welding manipulator B, the position changing machine and the feeding device to move, a main workpiece is placed on the position changing machine and changes along with the overturning of the position changing machine, and the feeding device is used for adjusting the angle and the position of a blade so as to be matched with the main workpiece;
the welding unit consists of a welding machine, a wire feeder, a welding gun A and a welding gun B, the welding unit is controlled by the main control unit to weld, the wire feeder is driven by the welding machine, and the welding gun A and the welding gun B perform welding operation;
the data acquisition unit comprises a tracking positioning probe and is used for acquiring morphological characteristics of the matching part of the main workpiece and the blade.
on the other hand, the control method of the control system for controlling the simplified teaching of the double-gun welding of the fan impeller, provided by the invention, comprises the following steps:
S1: after the blade is fixed by the pressing device, a control execution unit in the control device controls a welding manipulator A to move a welding gun A to the initial position of blade welding, a coordinate a is obtained through a data acquisition unit and recorded in a production file, the welding gun A is controlled to move to the welding end position again, and a coordinate b is obtained through the data acquisition unit and recorded in the production file; obtaining a one-dimensional track by using a laser scanning program built in the control device according to the starting and ending positions of the blades;
S2: controlling the positioner to change the welding attitude of the blade, enabling the blade to turn over from horizontal to vertical, controlling the welding gun A to move to the initial and end positions of the space track welded by the blade after the positioner turns over, and recording a coordinate (c, d) respectively;
s3: the control execution unit controls the welding gun B to move to the welding position on the other side of the blade, and respectively records the initial and end coordinates (e and f);
(welding gun A and welding gun B are not in the same coordinate system or coordinate error)
s3: controlling the welding gun B to move to the welding position on the other side of the blade, and respectively recording initial and end coordinates (e and f), wherein the welding gun B and the recorded coordinates can be combined into a welding track due to the unchanged characteristics of the blade;
s4: because the characteristics of the blades are not changed, the one-dimensional track information acquired by the data acquisition unit and the recorded space coordinates (c, d), (e, f) are combined for calculation, the space curve track of the welding line is calculated, the number of the blades, the welding speed, the fixed spot welding mode and the swing amplitude parameter are set, and the sequential programming operation is finished;
S5: an automatic welding process;
after the teaching is finished, the control device controls the pressing device to fix the blades, controls the manipulator A to perform spot welding according to the acquired space curve track, lowers the universal fixture after the first blade is subjected to spot welding, horizontally rotates a certain angle by the position changer, raises the universal fixture, manually places the blades on the pressing device, automatically performs spot welding again after the blades are fixed, lowers the universal fixture after all the blades are subjected to spot welding, automatically returns the original point of the feeding and conveying assembly, and vertically rotates 90 degrees by the position changer so that the blades are vertically placed;
after the blades are vertically placed, the left side and the right side of each blade are welded simultaneously by the manipulator A and the manipulator B respectively according to the space curve track, and after the welding of a single blade is completed, the horizontal shaft of the positioner rotates for a certain angle to enable the blade to vertically rotate for a certain angle, so that the welding of the next blade is performed until all the blades are welded.
preferably, in the step S1, the step before the pressing device fixes the blade is:
S01: before welding a workpiece, replacing or adjusting a universal fixture according to the shape of a welding blade in advance, then placing a hub on a hub fixing disc, enabling a hub central hole to penetrate through an installation shaft, fixing the hub by a fixing nut, and locking and fixing a handle screw;
s02: the manual control pay-off transports the assembly, moves universal fixture to wheel hub 20mm department, and data acquisition unit record position data, universal fixture rise, and the blade is placed to the manual work, and the press device starts, and the cylinder downstream drives the depression bar downstream, pushes down the supplementary depression bar of guide arm and keeps the level down simultaneously.
compared with the prior art, the invention has the beneficial effects that: the double-gun welding equipment for the fan impeller abandons the traditional single-gun single seat and is arranged as the double-gun single seat, the use space is saved, the strength is optimized in structure (the traditional welding manipulator is usually composed of outsourced cold-drawing linear modules, the invention adopts a structural mode of aluminum plate splicing (such as the arrangement mode of a Z-axis motion assembly in figure 11), the strength is better than that of the cold-drawing module, the speed is optimized (a first ball screw and a second ball screw use large lead, double guns operate simultaneously to improve the efficiency and the speed), the welding speed is faster and more stable than that of the traditional single-gun welding, a hub fixing device is adopted for fixing the workpiece, a series of regular pin holes are arranged on the hub fixing device, a series of regular pin holes are arranged on the part 18, the positions of the pin holes can be changed by different types of hubs, the universality is wide, the application range is wide, a tracking and positioning probe is adopted for welding positioning, the welding point of the workpiece can be automatically acquired without complex system programming, and the welding can be automatically carried out.
the invention uses the tracking positioning probe to assist in detection, detects the profile of a workpiece, teaches a single blade, combines the tracking positioning probe and the workpiece to generate a complete welding track, reduces teaching time, and ensures that the welding tracks of different blades are the same in programming.
compared with a single-arm manipulator, the double-gun welding equipment provided by the invention inevitably improves the welding efficiency due to the structure of double arms, and simultaneously avoids the problem of thermal deformation in the traditional single-gun welding due to the double-gun welding.
the main simplification work of the invention is in the aspect of track programming, and the track characteristics are acquired by using the tracking and positioning probe technology to replace the complicated programming operation, thereby saving the human resources and improving the efficiency. Meanwhile, the operation process and the steps are fixed, and the requirements on operators are reduced.
drawings
FIG. 1 is a schematic view of a fan impeller assembly structure provided by the present invention;
FIG. 2 is a schematic structural diagram of a welding gun manipulator A according to the present invention;
FIG. 3 is a schematic structural diagram of a welding gun manipulator A according to the present invention;
FIG. 4 is a schematic structural diagram of a welding gun manipulator B according to the present invention;
FIG. 5 is a schematic structural view of a feeding device provided by the present invention;
FIG. 6 is a schematic structural diagram of a position changing machine provided by the present invention;
FIG. 7 is a front view of the positioner provided by the present invention;
FIG. 8 is an enlarged view of the structure of FIG. 7;
FIG. 9 is a schematic structural view of a feed transport assembly provided by the present invention;
fig. 10 is a schematic structural view of a swaging device assembly provided in the present invention;
FIG. 11 is a schematic structural view of a Z-axis motion assembly provided by the present invention;
FIG. 12 is a schematic structural diagram of an X-axis motion module according to the present invention;
Fig. 13 is a topological diagram of a control device mechanism provided by the present invention.
the specific meanings of the symbols in the drawings are as follows:
1. a wire feeder of the welding machine; 2. a welding machine; 3. welding a manipulator B; 4. welding a manipulator A; 5. a feeding device; 6. a position changing machine; 7. tracking and positioning the probe; 8. a wire feeder; 9. a Z-axis transport assembly; 10. an X-axis motion module; 11. a slide rail base; 12. a welding gun B; 13. a feeding motion assembly; 14. a material pressing device assembly; 15. a universal fixture; 16. installing a shaft; 17. fixing a nut; 18. a hub fixing disc; 19. a cushion cover; 20. fixing a handle screw; 21: conveying the upper plate; 22: a first linear slide rail; 23: a linear motion system; 24: a chassis; 25: pressing down the guide rod; 26: mounting a plate; 27: a cylinder; 28: a lower pressure lever; 29: a motion platform; 30: second linear slide, 31: a first ball screw; 32: a mounting seat; 33: a first servo motor; 34: a speed reducer; 35: a gear; 36: a motor; 37: a module base; 38: a module motion mounting base; 39: a module cover plate; 40: a module front plate; 41: a module rear plate; 42: a second servo motor; 43: a second ball screw.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
the invention is realized by the following technical scheme: on one hand, the control system for simplifying and demonstrating the double-gun welding of the fan impeller comprises a welding machine wire feeding device 1, a welding machine 2, a welding manipulator B3, a welding manipulator A4, a feeding device 5, a position changing machine 6 and a main control box; a welding machine wire feeding device 1 is arranged on one side of the main control box, and the welding machine wire feeding device 1 is arranged at the top of a welding machine 2; the other side is provided with a feeding device 5 and a position changing machine 6, and the feeding device 5 is arranged adjacent to the position changing machine 6; a sliding rail is arranged at the top of the main control box, and a welding manipulator A4 and a welding manipulator B4 are sequentially connected onto the sliding rail in a sliding manner;
the welding manipulator A4 and the welding manipulator B3 respectively comprise a welding gun A and a welding gun B12; a tracking positioning probe 7 is arranged on the welding gun A;
the feeding device 5 comprises a feeding and conveying assembly 13, a universal clamp 15 and a pressing device assembly 14, the pressing device assembly 14 is arranged at the top of the feeding and conveying assembly 13, and the pressing device assembly 14 is connected with the universal clamp;
Wherein: the positioner 6 comprises a base and a hub fixing device; the hub fixing device is arranged on the base;
the hub fixing device comprises a mounting shaft 16, a fixing nut 17, a hub fixing disc 18, a fixing handle screw 20 and a cushion cover 19; the cover is equipped with the cushion cover 19 on the installation axle 16, the hub fixed disk 18 is fixed on installation axle 16 through fixation nut 17, fixed handle screw 20 passes cushion cover 19 and sets up on installation axle 16.
wherein: the feeding and conveying assembly 13 comprises a first linear slide rail 22, a bottom frame 24, a conveying upper plate 21 and a linear motion system 23, wherein the first linear slide rail 22 is installed on the bottom frame 24, the linear motion system 23 is arranged on the bottom frame 24, the conveying upper plate 21 is installed on the first linear slide rail 22, and a stepping motor is installed below the conveying upper plate 21.
The pressing device assembly 14 comprises a lower pressing rod 28, a lower pressing guide rod 25, a linear bearing, a mounting plate 26 and a cylinder 27; the mounting plate 26 is provided with an air cylinder 27 and a linear bearing; the lower pressure guide rod 28 and the air cylinder are both connected with a lower pressure rod 28, and the air cylinder 27 drives the lower pressure rod 28 to move up and down.
Referring to fig. 2-4, the welding manipulator A4 and the welding manipulator B3 each further include a wire feeder 8, a Z-axis motion assembly 9, a slide rail base 11, and an X-axis motion module 10; a Z-axis movement assembly 9 is arranged on the slide rail base 11 in the vertical direction, an X-axis movement module 10 is arranged on the Z-axis movement assembly 9 in the transverse direction in a sliding manner, and a wire feeder 8 is arranged on the X-axis movement module 10; and one ends of the X-axis movement modules 10 on the welding manipulator A and the welding manipulator B, which are far away from the slide rail base 11, are respectively provided with a welding gun A and a welding gun B12.
referring to fig. 11, the Z-axis motion assembly includes a mounting seat 32, a second linear slide rail 30, a first ball screw 31, a motion platform 29, a first servo motor 33, a speed reducer 34, and a gear 35; the second linear sliding rail 30 is installed on the installation seat 32, the moving platform 29 is installed on the upper portion of the second linear sliding rail 30, the motor 36 is arranged at the top of the installation seat 32, the first ball screw 31 is connected with the moving platform 29 and the motor 36, the first servo motor 33 and the speed reducer 34 are installed on the lower portion of the installation seat 32, the gear 35 is directly installed on the speed reducer 34, and the gear 35 is matched with a rack installed on the underframe to drive the Z-axis assembly to move left and right.
as shown in fig. 12, the X-axis motion module 10 includes a module base 37, a third linear slide rail, a module motion mounting base 38, a module cover plate 39, a module front plate 40, a module rear plate 41, a second servo motor 42, and a second ball screw 43; the third linear sliding rail is installed on the module base 37, the module movement installation seat 38 is installed on the third linear sliding rail, a module front plate 40 and a module rear plate 41 are arranged on the front portion and the rear portion of the module base 37 respectively, the module cover plate 39 stretches across the module base 37 and is installed on the module front plate 40 and the module rear plate 41, a second servo motor 42 is arranged on the module front plate 40, and the second ball screw 43 is connected with the module movement installation seat 38 and the second servo motor 42 to complete linear movement in the X-axis direction.
The main control box provided by the invention is provided with a control device, and the control device comprises a main control unit, a man-machine interaction unit, a motion execution unit, a data acquisition unit and a welding unit;
the main control unit is respectively connected with the human-computer interaction unit, the movement execution unit, the data acquisition unit and the welding unit,
The human-computer interaction unit is used for finishing data instruction communication with an operator;
the motion execution unit is composed of a welding manipulator A, a welding manipulator B, a position changing machine and a feeding device, the main control unit controls the welding manipulator A, the welding manipulator B, the position changing machine and the feeding device to move, a main workpiece is placed on the position changing machine and changes along with the overturning of the position changing machine, and the feeding device is used for adjusting the angle and the position of a blade so as to be matched with the main workpiece;
the welding unit consists of a welding machine, a wire feeder, a welding gun A and a welding gun B, the welding unit is controlled by the main control unit to weld, the wire feeder is driven by the welding machine, and the welding gun A and the welding gun B perform welding operation;
the data acquisition unit comprises a tracking positioning probe and is used for acquiring morphological characteristics of the matching part of the main workpiece and the blade.
On the other hand, the control method of the control system for controlling the simplified teaching of the double-gun welding of the fan impeller, provided by the invention, comprises the following steps:
s1: after the blade is fixed by the pressing device, a control execution unit in the control device controls a welding manipulator A to move a welding gun A to the initial position of blade welding, a coordinate a is obtained through a data acquisition unit and recorded in a production file, the welding gun A is controlled to move to the welding end position again, and a coordinate b is obtained through the data acquisition unit and recorded in the production file; obtaining a one-dimensional track by using a laser scanning program built in the control device according to the starting and ending positions of the blades;
S2: controlling the positioner to change the welding attitude of the blade, enabling the blade to turn over from horizontal to vertical, controlling the welding gun A to move to the initial and end positions of the space track welded by the blade after the positioner turns over, and recording a coordinate (c, d) respectively;
s3: the control execution unit controls the welding gun B to move to the welding position on the other side of the blade, and respectively records the initial and end coordinates (e and f);
(welding gun A and welding gun B are not in the same coordinate system or coordinate error)
S3: controlling the welding gun B to move to the welding position on the other side of the blade, and respectively recording initial and end coordinates (e and f), wherein the welding gun B and the recorded coordinates can be combined into a welding track due to the unchanged characteristics of the blade;
s4: because the characteristics of the blades are not changed, the one-dimensional track information acquired by the data acquisition unit and the recorded space coordinates (c, d), (e, f) are combined for calculation, the space curve track of the welding line is calculated, the number of the blades, the welding speed, the fixed spot welding mode and the swing amplitude parameter are set, and the sequential programming operation is finished;
S5: an automatic welding process;
After the teaching is finished, the control device controls the pressing device to fix the blades, controls the manipulator A to perform spot welding according to the acquired space curve track, lowers the universal fixture after the first blade is subjected to spot welding, horizontally rotates a certain angle by the position changer, raises the universal fixture, manually places the blades on the pressing device, automatically performs spot welding again after the blades are fixed, lowers the universal fixture after all the blades are subjected to spot welding, automatically returns the original point of the feeding and conveying assembly, and vertically rotates 90 degrees by the position changer so that the blades are vertically placed;
After the blades are vertically placed, the left side and the right side of each blade are welded simultaneously by the manipulator A and the manipulator B respectively according to the space curve track, and after the welding of a single blade is completed, the horizontal shaft of the positioner rotates for a certain angle to enable the blade to vertically rotate for a certain angle, so that the welding of the next blade is performed until all the blades are welded.
the step S1, before the pressing device fixes the blade, is:
S01: before welding a workpiece, replacing or adjusting a universal fixture according to the shape of a welding blade in advance, then placing a hub on a hub fixing disc, enabling a hub central hole to penetrate through an installation shaft, fixing the hub by a fixing nut, and locking and fixing a handle screw;
s02: the manual control pay-off transports the assembly, moves universal fixture to wheel hub 20mm department, and data acquisition unit record position data, universal fixture rise, and the blade is placed to the manual work, and the press device starts, and the cylinder downstream drives the depression bar downstream, pushes down the supplementary depression bar of guide arm and keeps the level down simultaneously.
the specific welding process and the working principle of the control system are disclosed;
Before welding, the universal fixture 15 is replaced or adjusted according to the shape of a welding blade in advance, and then the left pin and the right pin on the hub fixing disc 18 are adjusted according to the distance between the hub motor fixing holes so as to enable the pins to correspond to the distance between the hub motor fixing holes. After the adjustment is completed, the hub is placed on the hub fixing disc 18, the central hole of the hub penetrates through the mounting shaft 16, the hub is fixed by the fixing nut 17, and the next welding operation can be carried out by locking the fixing handle screw.
Before automatic welding of a workpiece, scanning and teaching are carried out through a tracking positioning probe 7, a space track is determined, a feeding and conveying assembly 13 is manually controlled, a universal clamp 15 is conveyed to the position 20mm away from the front of a hub, position data are recorded through a computer, the universal clamp 15 is lifted, blades are manually placed and aligned, a pressing device 14 is started, an air cylinder 27 moves downwards, a lower pressing rod 28 is driven to move downwards, meanwhile, a guide rod 25 is pressed downwards to assist the lower pressing rod 28 to be kept horizontal, and the pressing device is operated to obtain the space track and welding data after fixing the blades according to a control method S1-S4 of a control system for simplifying teaching;
The automatic welding can be carried out after the early preparation and debugging are carried out, the feeding and conveying assembly 13 automatically conveys the universal fixture 15 to the front 20mm of the hub, the universal fixture 15 is lifted, the blades are manually placed and are aligned with the material pressing device 14 to be started, the air cylinder 27 moves downwards to drive the lower pressing rod 28 to move downwards, and meanwhile, the lower pressing rod 28 is assisted by the lower pressing guide rod 25 to be kept horizontal; the pressing device fixes the blade. The manipulator A4 drives to carry out spot welding according to the acquired data, the universal fixture 15 descends after the first blade is spot-welded, the positioner 6 horizontally rotates for a certain angle, the universal fixture 15 ascends, the blade is manually placed and is started by the material pressing device 14, automatic spot welding is carried out again after the blade is fixed until the universal fixture 15 descends after all the blades are spot-welded, and the feeding and conveying assembly 13 automatically returns to the original point. The positioner 6 rotates 90 degrees in the vertical direction to vertically place the impeller.
after the impeller is vertically placed, the manipulator A4 and the manipulator B3 respectively weld the left side and the right side of the blade simultaneously according to teaching data. After the welding of a single blade is finished, the horizontal shaft of the positioner 6 rotates for a certain angle, so that the impeller vertically rotates for a certain angle, and the next blade is welded. Until all the blades are welded.
after welding, the positioner 6 rotates 90 degrees in the vertical direction, returns to the horizontal position, and the worker loosens the fixing nut 17 to take down the welded impeller. The same specification of welding workpiece only needs to be taught once, so that the next workpiece with the same specification can be directly automatically welded after the workpiece is taken down. Thereby being recycled.
the above-described series of detailed descriptions are merely specific to possible embodiments of the present invention, and they are not intended to limit the scope of the present invention, and various changes made without departing from the gist of the present invention within the knowledge of those skilled in the art are included in the scope of the present invention.
Claims (4)
1. A control system for simplifying and demonstrating double-gun welding of a fan impeller is characterized by comprising a welding machine wire feeding device, a welding machine, a welding manipulator B, a welding manipulator A, a feeding device, a positioner and a master control box; a welding machine wire feeding device is arranged on one side of the main control box and is arranged at the top of the welding machine; the other side is provided with a feeding device and a position changing machine, and the feeding device and the position changing machine are arranged adjacently; the top of the main control box is provided with a slide rail, and a welding manipulator A and a welding manipulator B are sequentially connected onto the slide rail in a sliding manner; the welding manipulator A and the welding manipulator B respectively comprise a welding gun A and a welding gun B; a tracking positioning probe is arranged on the welding gun A; the feeding device comprises a feeding and conveying assembly, a universal clamp and a pressing device assembly, wherein the pressing device assembly is arranged at the top of the feeding and conveying assembly and is connected with the universal clamp; the positioner comprises a base and a hub fixing device; the hub fixing device is arranged on the base; the hub fixing device comprises a mounting shaft, a fixing nut, a hub fixing disc, a fixing handle screw and a cushion sleeve; a cushion cover is sleeved on the mounting shaft, the hub fixing disc is fixed on the mounting shaft through a fixing nut, and the fixing handle screw penetrates through the cushion cover and is arranged on the mounting shaft;
the feeding and conveying assembly comprises a first linear sliding rail, a bottom frame, a conveying upper plate, a stepping motor and a linear motion system, wherein the linear motion system is arranged on the bottom frame, the first linear sliding rail is arranged on the bottom frame, the conveying upper plate is arranged on the first linear sliding rail, and the stepping motor is arranged below the conveying upper plate;
the pressing device assembly comprises a lower pressing rod, a lower pressing guide rod, a linear bearing, a mounting plate and a cylinder; the mounting plate is provided with an air cylinder and a linear bearing; the lower pressure guide rod and the air cylinder are both connected with a lower pressure rod, and the air cylinder drives the lower pressure rod to move up and down;
The welding manipulator A and the welding manipulator B respectively comprise a wire feeder, a Z-axis motion assembly, a slide rail base and an X-axis motion module; a Z-axis movement assembly is arranged on the slide rail base in the vertical direction, an X-axis movement module is arranged on the Z-axis movement assembly in the transverse direction in a sliding manner, and a wire feeder is arranged on the X-axis movement module; one ends, far away from the slide rail base, of the X-axis movement modules on the welding manipulator A and the welding manipulator B are respectively provided with a welding gun A and a welding gun B;
The Z-axis motion assembly comprises a mounting seat, a second linear slide rail, a first ball screw, a motion platform, a first servo motor, a speed reducer and a gear; the second linear slide rail is mounted on a mounting seat, the moving platform is mounted on the upper portion of the second linear slide rail, a motor is arranged at the top of the mounting seat, the first ball screw is connected with the moving platform and the motor, a first servo motor and a speed reducer are mounted on the lower portion of the mounting seat, a gear is directly mounted on the speed reducer, and the gear is matched with a rack mounted on an underframe to drive the Z-axis assembly to move left and right;
the X-axis movement module comprises a module base, a third linear slide rail, a module movement mounting base, a module cover plate, a module front plate, a module rear plate, a second servo motor and a second ball screw; the third linear sliding rail is installed on the module base, the module motion installation seat is installed on the third linear sliding rail, a module front plate and a module rear plate are arranged on the front and the rear of the module base respectively, the module cover plate stretches across the module base and is installed on the module front plate and the module rear plate, a second servo motor is arranged on the module front plate, and the second ball screw is connected with the module motion installation seat and the second servo motor to complete linear motion in the X-axis direction.
2. a control system for simplified teaching of fan wheel twin gun welding as recited in claim 1; the device is characterized in that a control device is arranged on the main control box, and the control device comprises a main control unit, a man-machine interaction unit, a motion execution unit, a data acquisition unit and a welding unit; the main control unit is respectively connected with a human-computer interaction unit, a motion execution unit, a data acquisition unit and a welding unit, and the human-computer interaction unit is used for completing data instruction communication with an operator; the motion execution unit is composed of a welding manipulator A, a welding manipulator B, a position changing machine and a feeding device, the main control unit controls the welding manipulator A, the welding manipulator B, the position changing machine and the feeding device to move, a main workpiece is placed on the position changing machine and changes along with the overturning of the position changing machine, and the feeding device is used for adjusting the angle and the position of a blade so as to be matched with the main workpiece; the welding unit consists of a welding machine, a wire feeder, a welding gun A and a welding gun B, the welding unit is controlled by the main control unit to weld, the wire feeder is driven by the welding machine, and the welding gun A and the welding gun B perform welding operation; the data acquisition unit comprises a tracking positioning probe and is used for acquiring morphological characteristics of the matching part of the main workpiece and the blade.
3. the control method of the control system for simplified teaching of fan wheel twin gun welding according to claim 2, comprising the steps of:
S1: after the blade is fixed by the pressing device, a main control unit in the control device controls a welding manipulator A to move a welding gun A to the initial position of blade welding, a coordinate a is obtained through a data acquisition unit and recorded in a production file, the welding gun A is controlled to move to the welding end position again, and a coordinate b is obtained through the data acquisition unit and recorded in the production file; obtaining a one-dimensional track by using a laser scanning program built in the control device according to the starting and ending positions of the blades;
s2: controlling the positioner to change the welding attitude of the blade, enabling the blade to turn over from horizontal to vertical, controlling the welding gun A to move to the initial and end positions of the space track welded by the blade after the positioner turns over, and recording a coordinate (c, d) respectively;
S3: the main control unit controls the welding gun B to move to the welding position on the other side of the blade, and respectively records the initial and end coordinates (e and f);
s4: because the characteristics of the blades are unchanged, the one-dimensional track information acquired by the data acquisition unit and the recorded space coordinates (c, d), (e and f) are combined to calculate the space curve track of the welding line, and then the number of the blades, the welding speed, the fixed spot welding mode and the swing amplitude parameter are set to complete the sequential programming operation;
S5: an automatic welding process; after the teaching is finished, the control device controls the pressing device to fix the blades, controls the manipulator A to perform spot welding according to the acquired space curve track, lowers the universal fixture after the first blade is subjected to spot welding, horizontally rotates a certain angle by the position changer, raises the universal fixture, manually places the blades on the pressing device, automatically performs spot welding again after the blades are fixed, lowers the universal fixture after all the blades are subjected to spot welding, automatically returns the original point of the feeding and conveying assembly, and vertically rotates 90 degrees by the position changer so that the blades are vertically placed; after the blades are vertically placed, the left side and the right side of each blade are welded simultaneously by the manipulator A and the manipulator B respectively according to the space curve track, and after the welding of a single blade is completed, the horizontal shaft of the positioner rotates for a certain angle to enable the blade to vertically rotate for a certain angle, so that the welding of the next blade is performed until all the blades are welded.
4. The control method of the control system for the simplified teaching of the twin gun welding of the fan impeller according to claim 3, wherein the step before the blade is fixed by the material pressing device in the step S1 is:
s01: before welding a workpiece, replacing or adjusting a universal fixture according to the shape of a welding blade, then placing a hub on a hub fixing disc, enabling a hub central hole to penetrate through an installation shaft, fixing the hub by a fixing nut, and locking and fixing a handle screw;
s02: the manual control pay-off transports the assembly, moves universal fixture to wheel hub 20mm department, and data acquisition unit record position data, universal fixture rise, and the blade is placed to the manual work, and the press device starts, and the cylinder downstream drives the depression bar downstream, pushes down the supplementary depression bar of guide arm and keeps the level down simultaneously.
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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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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 |