CN110102928B - A control system and method for simplified teaching of fan impeller double-gun welding - Google Patents

Abstract

The present invention designs impeller welding technology field, a control system for fan impeller double gun welding simplified teaching, including welding machine wire feeding device, welding machine, welding manipulator B, welding manipulator A, feeding device, positioner, main control box ; One side of the main control box is provided with a welding machine wire feeding device, and the welding machine wire feeding device is arranged on the top of the welding machine; The top of the main control box is provided with a slide rail, and the welding manipulator A and the welding manipulator B are slidably connected in turn on the slide rail; the welding manipulator A and the welding manipulator B include welding torch A and welding torch B respectively; The welding torch A is provided with a tracking and positioning probe. The invention optimizes the strength and speed of the equipment structure, and the welding speed is faster and more stable than the traditional single torch welding.

Description

A control system and method for simplified teaching of fan impeller double-gun welding

technical field

The invention belongs to the technical field of fan impeller double-gun welding, and in particular relates to a control system and a control method for simplified teaching of fan impeller double-gun welding.

Background technique

In the existing field, the welding technology for workpiece fan impellers is limited to manual welding or semi-manual welding, not only the welding speed is slow, but also the welding positioning is not accurate, the appearance of the welded impeller is not beautiful, and the technical requirements for welders are high. In order to solve this situation, our company conducts research and development of fully automatic welding equipment, so that manual welding or repair welding is not required in the welding process of the workpiece fan impeller, and non-technical personnel can operate to complete the perfect welding of the workpiece.

Chinese utility model patent (CN207806848U: a kind of fan impeller automatic welding machine) includes a frame, the upper end of the frame is provided with a workbench; The left and right ends of the side are provided with boss seats matching the linear slide rails; the boss seat is provided with a workpiece positioning and clamping mechanism; the left part of the workbench is provided with a screw screw connected to the left end boss seat; The right part of the worktable is fixed with the first cylinder, the first cylinder is connected with the boss seat at the right end through its own piston rod; the left side of the workbench is provided with a pressure seat matching the screw rod, and the pressure seat is connected with the screw rod through the bearing. connection; one end of the screw rod runs through the pressure seat and is connected with an adjustment hand wheel; the left and right sides above the workbench are equipped with mutually symmetrical welding devices.

Chinese utility model patent (CN205184094U: an automatic welding equipment for an axial flow fan impeller); it solves the problems of low production efficiency and poor welding quality of the existing axial flow fan impeller. In the automatic welding equipment for the impeller of the axial flow fan, the impeller of the axial flow fan is composed of a hub and several blades welded on the peripheral wall of the hub. The equipment includes a welding robot, a headstock and a bracket arranged on the headstock. The transmission shafts of the headstock are fixedly connected, and two parallel columns are installed on the top of the bracket, and a fixed plate is installed between the two columns. The center of the fixed plate has a central shaft for the hub to be inserted into. The clamping nut is clamped, and there are several clamps distributed circumferentially around the central axis on the fixed plate.

Although the above two utility model patent documents can realize automatic welding, the programming of the automatic welding process is not complicated, and the strength and speed of the above-mentioned welding equipment need to be further improved, and the welding equipment in the prior art does not provide a fan The control method of the impeller double-gun welding simplifies the teaching.

Contents of the invention

In view of the above problems, the present invention is achieved through the following technical solutions: On the one hand, a control system for simplified teaching of fan impeller double-gun welding, characterized in that it includes a welding machine wire feeding device, a welding machine, a welding manipulator B, a welding Manipulator A, feeding device, positioner, and main control box; one side of the main control box is provided with a welding machine wire feeding device, and the welding machine wire feeding device is arranged on the top of the welding machine; the other side is provided with a feeding device, A positioner, the feeding device is arranged adjacent to the positioner; a slide rail is provided on the top of the main control box, and a welding manipulator A and a welding manipulator B are slidably connected to the slide rail in turn;

The welding manipulator A and the welding manipulator B respectively include a welding torch A and a welding torch B; the welding torch A is provided with a tracking and positioning probe;

The feeding device includes a feeding and conveying assembly, a universal clamp, and a pressing device assembly. The top of the feeding and conveying assembly is provided with a pressing device assembly, and the pressing device assembly is connected to the universal clamp;

The positioner includes a base and a hub fixing device; the hub fixing device is arranged on the base;

The wheel hub fixing device includes a mounting shaft, a fixing nut, a wheel hub fixing plate, a fixing handle screw, and a cushion cover; the mounting shaft is covered with a cushion cover, and the wheel hub fixing plate is fixed on the mounting shaft through a fixing nut. The fixed handle screw is set on the mounting shaft through the bushing.

Preferably, the feeding and conveying assembly includes a first linear slide rail, an underframe, a conveying upper plate, a stepper motor, and a linear motion system, the linear motion system is arranged on the bottom frame, and the first linear slide rail is installed On the bottom frame, the conveying upper plate is installed on the first linear slide rail, and the stepping motor is installed under the conveying upper plate.

Preferably, the pressing device assembly includes a pressing rod, a pressing guide rod, a linear bearing, a mounting plate and a cylinder; the mounting plate is equipped with a cylinder and a linear bearing; the pressing guide rod and the cylinder are both connected to press down rod, and the cylinder drives the lower rod to move up and down.

Preferably, both the welding manipulator A and the welding manipulator B also include a wire feeder, a Z-axis motion assembly, a slide rail base, and an X-axis motion module; the slide rail base is provided with a Z-axis motion module in the vertical direction Assembly, the Z-axis motion assembly is slid in the lateral direction with an X-axis motion module, and a wire feeder is arranged on the X-axis motion module; the X-axis motion on the welding manipulator A and welding manipulator B The end of the module away from the base of the slide rail is respectively provided with a welding torch A and a welding torch B.

Preferably, the Z-axis motion assembly includes a mounting seat, a second linear slide rail, a first ball screw, a motion platform, a first servo motor, a reducer, and a gear; the second linear slide rail is installed on the mounting seat , the motion platform is installed on the upper part of the second linear slide rail, the top of the mounting seat is provided with a motor, the first ball screw is connected to the motion platform and the motor, and the lower part of the mounting seat is installed with a first servo motor and a reducer , the gear is directly installed on the reducer, and the gear cooperates with the rack installed on the chassis to drive the Z-axis assembly to move left and right.

Preferably, the X-axis movement module includes a module base, a third linear slide rail, a module movement mounting seat, a module cover plate, a module front plate, a module rear plate, a second servo motor, and a second ball Screw rod; the third linear slide rail is installed on the module base, and the module motion mounting seat is installed on the third linear slide rail, and the front and rear panels of the module base are respectively provided with a module front plate and a module rear plate. The module cover plate is installed on the module front plate and the module rear plate across the module base, the second servo motor is arranged on the module front plate, and the second ball screw is connected to the module motion mounting seat and the module rear plate. The second servo motor completes the linear motion in the X-axis direction.

Preferably, a control device is provided on the main control box, and the control device includes a main control unit, a human-computer 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 motion execution unit, the data acquisition unit, and the welding unit,

The human-computer interaction unit is used to complete the exchange of data instructions with the operator;

The motion execution unit is composed of welding manipulator A and welding manipulator B, positioner and feeding device, and the main control unit controls the movement of welding manipulator A and welding manipulator B, positioner and feeding device. The main workpiece is placed, and the main workpiece changes with the positioner, and the feeding device is used to adjust the angle and position of the blade so as to cooperate with the main workpiece;

The welding unit is composed of a welding machine, a wire feeder, a welding gun A and a welding gun B, the welding unit is controlled by a main control unit, the wire feeding machine is driven by the welding machine, and the welding gun A and the welding gun B perform welding operations;

The data collection unit includes a tracking and positioning probe, which is used to collect the morphological characteristics of the joint between the main workpiece and the blade.

On the other hand, the control method of the control system for controlling the simplified teaching of fan impeller double-gun welding provided by the present invention includes the following steps:

S1: After the blade is fixed by the pressing device, the control execution unit in the control device controls the welding manipulator A to move the welding torch A to the starting position of blade welding, where a coordinate a is obtained through the data acquisition unit and recorded in the production file, and the movement is controlled again The welding torch A arrives at the welding end position, where a coordinate b is obtained through the data acquisition unit and recorded in the production file; according to the starting and ending positions of the blade, the one-dimensional trajectory is obtained using the laser scanning program built into the control device;

S2: Control the positioner to change the welding posture of the blade, so that the blade is turned from horizontal to vertical, control the welding torch A to move to the starting and ending position of the space trajectory of the blade welding after the positioner is turned over, and record a coordinate (c, d) respectively;

S3: The control execution unit controls the welding torch B to move to the welding position on the other side of the blade, and records the starting and ending coordinates (e, f) respectively;

(Welding gun A and welding gun B are not in the same coordinate system or coordinate error)

S3: Control the welding torch B to move to the welding position on the other side of the blade, and record the start and end coordinates (e, f) respectively. Since the characteristics of the blade remain unchanged, it can be combined with the recorded coordinates to form a welding trajectory;

S4: Since the characteristics of the blades remain unchanged, the one-dimensional trajectory information obtained by the data acquisition unit is combined with the recorded spatial coordinates (c, d), (e, f) to calculate the spatial curve trajectory of the weld, and then set the number of blades, Welding speed, fixed spot welding mode, swing parameters, complete sequential programming operations;

S5: automatic welding process;

After the teaching is completed, the control device controls the pressing device to fix the blade, and controls the manipulator A to perform spot welding according to the obtained space curve trajectory. After the spot welding of the first blade, the universal fixture lowers, the positioner rotates horizontally at a certain angle, and the universal fixture rises. start, manually place the blades on the pressing device, fix the blades and then spot weld them automatically again until the universal fixture is lowered after all the blades are spot welded, the feeding and conveying assembly automatically returns to the origin, and the positioner rotates 90 degrees vertically to make the blades placed vertically;

After the blade is placed vertically, manipulator A and manipulator B weld the left and right sides of the blade at the same time according to the space curve trajectory respectively. Welding of one blade until all blades are welded.

Preferably, the step before the blade is fixed by the pressing device in the step S1 is:

S01: Before welding the workpiece, replace or adjust the universal fixture according to the shape of the welding blade, then place the hub on the hub fixing plate, the center hole of the hub passes through the installation shaft, the fixing nut fixes the hub, and lock the fixing handle screw;

S02: Manually control the feeding and conveying assembly, move the universal fixture to the 20mm position of the hub, the data acquisition unit records the position data, the universal fixture rises, manually place the blade, the pressing device starts, the cylinder moves downward, and drives the lower pressure rod downward movement while pressing down on the guide bar to assist the down bar to keep it level.

Compared with the prior art, the present invention has the beneficial effects: the fan impeller double-gun welding equipment abandons the traditional single-gun single-seat, and is set as a double-gun single-seat, which saves the use space and optimizes the strength in structure (traditional The welding manipulator is usually composed of purchased cold-drawn linear modules. The present invention adopts the structural method of splicing aluminum plates (as shown in the Z-axis motion assembly in Figure 11), which has better strength and speed optimization than cold-drawn modules. (The first ball screw and the second ball screw use a large lead, and the two guns operate at the same time to improve efficiency and speed). Compared with traditional single gun welding, the welding speed is faster and more stable; the workpiece is fixed using a hub fixing device , the hub fixing device is provided with a series of regular pin holes, and there is a series of regular pin holes on the part 18. The position of the pin holes can be changed for different types of hubs, which has wide versatility and wide application range; the welding positioning adopts the tracking positioning probe, no need Complicated system programming can automatically collect workpiece welding points and automatically perform welding.

The invention uses tracking and positioning probes to assist detection, detect the contour of the workpiece, teach a single blade, and combine the two to generate a complete welding trajectory, reduce the time of teaching, and ensure that the welding trajectory of different blades is the same from the programming point of view.

Compared with the single-arm manipulator, the double-gun welding equipment provided by the present invention inevitably improves the welding efficiency due to the double-arm structure, and at the same time avoids the problem of thermal deformation in traditional single-gun welding due to the double-gun welding.

The main simplification work of the present invention is the aspect of trajectory programming, using tracking and positioning probe technology to obtain trajectory features to replace complicated programming operations, thereby saving human resources and improving efficiency. At the same time, the operation process and steps are fixed, which reduces the requirements for operators.

Description of drawings

Fig. 1 is the fan impeller assembly structure schematic diagram provided by the present invention;

Fig. 2 is the structural representation of welding torch manipulator A provided by the present invention;

Fig. 3 is the structural representation of welding torch manipulator A provided by the present invention;

Fig. 4 is the structural representation of welding torch manipulator B provided by the present invention;

Fig. 5 is the structural representation of the feeding device provided by the present invention;

Fig. 6 is a schematic structural view of the positioner provided by the present invention;

Fig. 7 is the front view of the positioner provided by the present invention;

Figure 8 is an enlarged view of the structure of Figure 7;

Fig. 9 is a schematic structural view of the feeding and conveying assembly provided by the present invention;

Fig. 10 is a schematic structural view of the pressing device assembly provided by the present invention;

Fig. 11 is a schematic structural diagram of the Z-axis motion assembly provided by the present invention;

Fig. 12 is a schematic structural diagram of the X-axis motion module provided by the present invention;

Fig. 13 is a topological diagram of the mechanism of the control device provided by the present invention.

The specific meanings of the marks in the accompanying drawings are as follows:

1. Wire feeding device of welding machine; 2. Welding machine; 3. Welding manipulator B; 4. Welding manipulator A; 5. Feeding device; 6. Positioner; 7. Tracking and positioning probe; 8. Wire feeder; 9. Z-axis conveying assembly; 10. X-axis motion module; 11. Slide rail base; 12. Welding torch B; 13. Feeding motion assembly; 14. Pressing device assembly; 15. Universal fixture; 16. Installation shaft; 17. Fixing nut; 18. Wheel hub fixing plate; 19. Cushion cover; 20. Fixing handle screw; 21: Transport upper plate; 22: First linear slide rail; 23: Linear motion system; 24: Underframe; 25: Press down guide rod; 26: Mounting plate; 27: Cylinder; 28: Press down rod; 29: Motion platform; 30: Second linear slide rail; 31: First ball screw; 32: Mounting seat; 33: First Servo motor; 34: reducer; 35: gear; 36: motor; 37: module base; 38: module motion mount; 39: module cover; 40: module front plate; 41: module rear plate ; 42: the second servo motor; 43: the second ball screw.

Detailed ways

The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings.

The present invention is achieved through the following technical solutions: On the one hand, a control system for simplified teaching of fan impeller double gun welding, including welding machine wire feeding device 1, welding machine 2, welding manipulator B 3, welding manipulator A 4, material feeding Device 5, positioner 6, main control box; one side of the main control box is provided with a welding machine wire feeding device 1, and the welding machine wire feeding device 1 is arranged on the top of the welding machine 2; the other side is provided with a feeding device 5. Positioner 6, the feeding device 5 is arranged adjacent to the positioner 6; a slide rail is provided on the top of the main control box, and a welding manipulator A 4 and a welding manipulator B 4 are slidingly connected to the slide rail in sequence ;

The welding manipulator A 4 and the welding manipulator B 3 respectively include a welding torch A and a welding torch B 12; the welding torch A is provided with a tracking and positioning probe 7;

The feeding device 5 includes a feeding and conveying assembly 13, a universal clamp 15, and a pressing device assembly 14. The top of the feeding and conveying assembly 13 is provided with a pressing device assembly 14, and the pressing device assembly 14 is connected with the universal clamp. ;

Wherein: the positioner 6 includes a base and a hub fixing device; the hub fixing device is arranged on the base;

The hub fixing device includes a mounting shaft 16, a fixing nut 17, a hub fixing disc 18, a fixing handle screw 20, and a pad cover 19; 17 is fixed on the installation shaft 16, and the fixed handle screw 20 is arranged on the installation shaft 16 through the pad cover 19.

Wherein: the feeding conveying assembly 13 includes a first linear slide rail 22, an underframe 24, a conveying upper plate 21, and a linear motion system 23. The first linear slide rail 22 is installed on the underframe 24, and the linear motion system 23 It is arranged on the bottom frame 24 , the upper conveying board 21 is installed on the first linear slide rail 22 , and the stepping motor is installed under the upper conveying board 21 .

Binder device assembly 14 comprises down pressing rod 28, pressing down guide rod 25, linear bearing, mounting plate 26 and cylinder 27; Cylinder 27 and linear bearing are installed on the described mounting plate 26; Described pressing down guiding rod 28 and The cylinders are all connected to the lower pressure rod 28, and the cylinder 27 drives the lower pressure rod 28 to move up and down.

2-4, welding manipulator A 4 and welding manipulator B 3 also 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 motion assembly 9 is arranged in the vertical direction, and an X-axis motion module 10 is slidably arranged in the lateral direction of the Z-axis motion assembly 9, and a wire feeder 8 is arranged on the X-axis motion module 10; The ends of the X-axis motion modules 10 on the welding manipulator A and the welding manipulator B away from the slide rail base 11 are respectively provided with a welding torch A and a welding torch B 12 .

As shown in Figure 11, the Z-axis motion assembly includes a mounting base 32, a second linear slide rail 30, a first ball screw 31, a motion platform 29, a first servo motor 33, a reducer 34, and a gear 35; The second linear slide rail 30 is installed on the mounting seat 32, the motion platform 29 is installed on the upper part of the second linear slide rail 30, the motor 36 is arranged on the top of the mounting seat 32, and the first ball screw 31 is connected to the motion platform 29 and motor 36, the first servo motor 33 and reducer 34 are installed on the lower part of the mounting seat 32, the reducer 34 is directly installed with a gear 35, and the gear 35 cooperates with the rack installed on the chassis to drive the Z-axis assembly left and right move.

Wherein, as shown in FIG. 12, the X-axis movement module 10 includes a module base 37, a third linear slide rail, a module movement mounting seat 38, a module cover plate 39, a module front plate 40, and a module rear Plate 41, the second servo motor 42, the second ball screw 43; the third linear slide rail is installed on the module base 37, and the module motion mounting seat 38 is installed on the third linear slide rail, and the module base 37 A module front plate 40 and a module rear plate 41 are respectively arranged at the front and back, and the module cover plate 39 is mounted on the module front plate 40 and the module rear plate 41 across the module base 37, and the module front plate 40 is provided with a second servo motor 42, and the second ball screw 43 is connected to the module movement mount 38 and the second servo motor 42 to complete linear motion in the X-axis direction.

Wherein, the main control box provided by the present invention is provided with a control device, and the control device includes a main control unit, a human-computer 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 motion execution unit, the data acquisition unit, and the welding unit,

The human-computer interaction unit is used to complete the exchange of data instructions with the operator;

The motion execution unit is composed of welding manipulator A and welding manipulator B, positioner and feeding device, and the main control unit controls the movement of welding manipulator A and welding manipulator B, positioner and feeding device. The main workpiece is placed, and the main workpiece changes with the positioner, and the feeding device is used to adjust the angle and position of the blade so as to cooperate with the main workpiece;

The welding unit is composed of a welding machine, a wire feeder, a welding gun A and a welding gun B, the welding unit is controlled by a main control unit, the wire feeding machine is driven by the welding machine, and the welding gun A and the welding gun B perform welding operations;

The data collection unit includes a tracking and positioning probe, which is used to collect the morphological characteristics of the joint between the main workpiece and the blade.

On the other hand, the control method of the control system for controlling the simplified teaching of fan impeller double-gun welding provided by the present invention includes the following steps:

S1: After the blade is fixed by the pressing device, the control execution unit in the control device controls the welding manipulator A to move the welding torch A to the starting position of blade welding, where a coordinate a is obtained through the data acquisition unit and recorded in the production file, and the movement is controlled again The welding torch A arrives at the welding end position, where a coordinate b is obtained through the data acquisition unit and recorded in the production file; according to the starting and ending positions of the blade, the one-dimensional trajectory is obtained using the laser scanning program built into the control device;

S2: Control the positioner to change the welding posture of the blade, so that the blade is turned from horizontal to vertical, control the welding torch A to move to the starting and ending position of the space trajectory of the blade welding after the positioner is turned over, and record a coordinate (c, d) respectively;

S3: The control execution unit controls the welding torch B to move to the welding position on the other side of the blade, and records the starting and ending coordinates (e, f) respectively;

(Welding gun A and welding gun B are not in the same coordinate system or coordinate error)

S3: Control the welding torch B to move to the welding position on the other side of the blade, and record the start and end coordinates (e, f) respectively. Since the characteristics of the blade remain unchanged, it can be combined with the recorded coordinates to form a welding trajectory;

S4: Since the characteristics of the blades remain unchanged, the one-dimensional trajectory information obtained by the data acquisition unit is combined with the recorded spatial coordinates (c, d), (e, f) to calculate the spatial curve trajectory of the weld, and then set the number of blades, Welding speed, fixed spot welding mode, swing parameters, complete sequential programming operations;

S5: automatic welding process;

After the teaching is completed, the control device controls the pressing device to fix the blade, and controls the manipulator A to perform spot welding according to the obtained space curve trajectory. After the spot welding of the first blade, the universal fixture lowers, the positioner rotates horizontally at a certain angle, and the universal fixture rises. start, manually place the blades on the pressing device, fix the blades and then spot weld them automatically again until the universal fixture is lowered after all the blades are spot welded, the feeding and conveying assembly automatically returns to the origin, and the positioner rotates 90 degrees vertically to make the blades placed vertically;

After the blade is placed vertically, manipulator A and manipulator B weld the left and right sides of the blade at the same time according to the space curve trajectory respectively. Welding of one blade until all blades are welded.

Wherein, the step before the blade is fixed by the pressing device in the step S1 is:

S01: Before welding the workpiece, replace or adjust the universal fixture according to the shape of the welding blade, then place the hub on the hub fixing plate, the center hole of the hub passes through the installation shaft, the fixing nut fixes the hub, and lock the fixing handle screw;

S02: Manually control the feeding and conveying assembly, move the universal fixture to the 20mm position of the hub, the data acquisition unit records the position data, the universal fixture rises, manually place the blade, the pressing device starts, the cylinder moves downward, and drives the lower pressure rod downward movement while pressing down on the guide bar to assist the down bar to keep it level.

The specific welding process and working principle of the control system of the present invention;

Before workpiece welding, replace or adjust the universal fixture 15 according to the shape of the welding blade, and then adjust the left and right pins on the hub fixing disk 18 according to the spacing of the hub motor fixing holes to make it correspond to the spacing of the hub motor fixing holes. After adjustment, the wheel hub is placed on the wheel hub fixing plate 18, the center hole of the wheel hub passes through the installation shaft 16, the wheel hub is fixed with the fixing nut 17, and the next step of welding operation can be carried out by locking the fixing handle screw.

Before the workpiece is automatically welded, it is necessary to scan and teach by tracking and positioning the probe 7 to determine the space-aligned trajectory. First, manually control the feeding and conveying assembly 13, and send the universal fixture 15 to about 20 mm in front of the wheel hub to record the position data on the computer. The universal fixture 15 rises , the blades are manually placed and aligned, the pressing device 14 is activated, the cylinder 27 moves downward, and the lower pressing rod 28 is driven to move downward, and the lower pressing rod 25 assists the lower pressing rod 28 to maintain the level. After the pressing device fixes the blade Refer to the control method S1-S4 of the control system for simplified teaching to obtain the spatial trajectory and welding data;

Automatic welding can be carried out after preliminary preparations and adjustments are completed. The feeding and conveying assembly 13 automatically sends the universal fixture 15 to about 20mm in front of the hub, the universal fixture 15 rises, the blades are manually placed and aligned with the pressing device 14, and the cylinder 27 moves downward. , to drive the lower pressing rod 28 to move downward, while the lower pressing guide rod 25 assists the lower pressing rod 28 to maintain the level; the pressing device fixes the blade. Manipulator A 4 is driven to carry out spot welding according to the acquired data. After the first blade is spot welded, the universal clamp 15 is lowered, the positioner 6 is rotated horizontally at a certain angle, the universal clamp 15 is raised, and the blade is manually placed and aligned with the pressing device 14 to start , automatic spot welding again after fixing the blade, universal fixture 15 descends after all spot welding of blades is finished, and feeding conveying assembly 13 returns to the origin automatically. The positioner 6 rotates 90 degrees in the vertical direction, so that the impeller is placed vertically.

After the impeller is placed vertically, manipulator A 4 and manipulator B 3 respectively weld the left and right sides of the blade simultaneously according to the teaching data. After the welding of a single blade is completed, the horizontal axis of the positioner 6 rotates at a certain angle to make the impeller vertically rotate at a certain angle to weld the next blade. Until all blades are welded.

After the welding was completed, the positioner 6 rotated 90 degrees in the vertical direction and got back to the horizontal position, and the workman loosened the fixing nut 17 and just could take off the welded impeller. The welding workpiece of the same specification only needs to be taught once, so after removing the workpiece, the automatic welding of the next workpiece of the same specification can be directly performed. Use this cycle.

The above-mentioned series of detailed descriptions are only specific descriptions of the feasible implementation modes of the present invention, and they are not intended to limit the protection scope of the present invention, and are within the knowledge of those of ordinary skill in the art , Various changes made under the premise of not departing from the gist of the present invention all belong to the protection scope of the present invention.

Claims (4)

1. A control system for fan impeller double-gun welding simplified teaching, characterized in that it 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; One side of the main control box is provided with a welding machine wire feeding device, and the welding machine wire feeding device is arranged on the top of the welding machine; the other side is provided with a feeding device and a positioner, and the feeding device is adjacent to the positioner The top of the main control box is provided with a slide rail, and a welding manipulator A and a welding manipulator B are slidably connected in turn on the slide rail; the welding manipulator A and the welding manipulator B include welding gun A and welding gun B respectively; A tracking and positioning probe is arranged on the top; the feeding device includes a feeding and conveying assembly, a universal clamp, and a pressing device assembly. The top of the feeding and conveying assembly is provided with a pressing device assembly. Fixture connection; the positioner includes a base and a hub fixing device; the hub fixing device is arranged on the base; the hub fixing device includes a mounting shaft, a fixing nut, a hub fixing disc, a fixing handle screw, and a pad cover; The mounting shaft is covered with a pad sleeve, the hub fixing disc is fixed on the mounting shaft through a fixing nut, and the fixing handle screw is set on the mounting shaft through the pad sleeve; The feeding and conveying assembly includes a first linear slide rail, an underframe, a conveying upper plate, a stepping motor, and a linear motion system. The linear motion system is arranged on the bottom frame, and the first linear slide rail is installed on On the chassis, the upper conveying board is installed on the first linear slide rail, and the stepping motor is installed under the upper conveying board; The pressing device assembly includes a lower pressing rod, a lower pressing guide rod, a linear bearing, a mounting plate and a cylinder; the mounting plate is equipped with a cylinder and a linear bearing; the lower pressing guide rod and the cylinder are connected to the lower pressing rod, so The cylinder drives the lower pressure rod to move up and down; Both the welding manipulator A and the welding manipulator B also include a wire feeder, a Z-axis motion assembly, a slide rail base, and an X-axis motion module; a Z-axis motion assembly is arranged vertically on the slide rail base, The Z-axis motion assembly is slidably provided with an X-axis motion module in the lateral direction, and a wire feeder is arranged on the X-axis motion module; the X-axis motion modules on the welding manipulator A and welding manipulator B are far away from each other. One end of the base of the slide rail is respectively provided with a welding torch A and a welding torch B; The Z-axis motion assembly includes a mounting seat, a second linear slide rail, a first ball screw, a motion platform, a first servo motor, a reducer, and a gear; the second linear slide rail is installed on the mounting seat, and the The motion platform is installed on the upper part of the second linear slide rail, the top of the mounting base is provided with a motor, the first ball screw is connected to the motion platform and the motor, and the lower part of the mounting base is equipped with a first servo motor and a reducer. Gears are directly installed on the reducer, and the gears cooperate with the rack installed on the chassis to drive the Z-axis assembly to move left and right; The X-axis movement module includes a module base, a third linear slide rail, a module movement mounting seat, a module cover plate, a module front plate, a module rear plate, a second servo motor, and a second ball screw; The third linear slide rail is installed on the module base, and the module motion mounting seat is installed on the third linear slide rail. The front and rear of the module base are respectively provided with a module front plate and a module rear plate. The module cover The board is installed across the module base on the front board of the module and the rear board of the module. The second servo motor is arranged on the front board of the module, and the second ball screw is connected to the motion mounting seat of the module and the second servo The motor completes the linear movement in the X-axis direction. 2. The control system for the simplified teaching of fan impeller double-gun welding as claimed in claim 1; it is characterized in that a control device is arranged on the main control box, and the control device includes a main control unit and a human-computer 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 motion execution unit, the data acquisition unit, and the welding unit, and the human-computer interaction unit is used to complete the data exchange with the operator. Instruction exchange; the motion execution unit is composed of welding manipulator A and welding manipulator B, positioner and feeding device, and the main control unit controls the movement of welding manipulator A and welding manipulator B, positioner and feeding device. The main workpiece is placed on the positioner, and the main workpiece follows the positioner to turn and change. The feeding device is used to adjust the angle and position of the blade so as to cooperate with the main workpiece; the welding unit is composed of a welding machine, a wire feeder, a welding torch A and a welding torch B , the welding unit is controlled by the main control unit, the wire feeder is driven by the welding machine, the welding torch A and the welding torch B perform welding operations; the data acquisition unit includes a tracking and positioning probe for collecting the morphological characteristics of the joint between the main workpiece and the blade. 3. the control method of the control system of the fan impeller double gun welding simplified teaching as claimed in claim 2, is characterized in that, comprises the steps: S1: After the blade is fixed by the pressing device, the main control unit in the control device controls the welding manipulator A to move the welding torch A to the starting position of blade welding, where a coordinate a is obtained through the data acquisition unit and recorded in the production file, and the movement is controlled again The welding torch A arrives at the welding end position, where a coordinate b is obtained through the data acquisition unit and recorded in the production file; according to the starting and ending positions of the blade, the one-dimensional trajectory is obtained using the laser scanning program built into the control device; S2: Control the positioner to change the welding posture of the blade, so that the blade is turned from horizontal to vertical, control the welding torch A to move to the starting and ending position of the spatial trajectory of the blade welding after the positioner is turned over, and record a coordinate (c, d) respectively; S3: The main control unit controls the welding torch B to move to the welding position on the other side of the blade, and records the starting and ending coordinates (e, f) respectively; S4: Since the characteristics of the blades remain unchanged, the one-dimensional trajectory information obtained by the data acquisition unit and the recorded spatial coordinates (c, d), (e, f) are combined to calculate the spatial curve trajectory of the weld, and then the number of blades, Welding speed, fixed spot welding mode, swing parameters, complete sequential programming operations; S5: Automatic welding process; after the teaching is completed, the control device controls the pressing device to fix the blade, and controls the manipulator A to perform spot welding according to the acquired space curve trajectory. After the first blade is spot welded, the universal fixture is lowered, and the positioner rotates horizontally At a certain angle, the universal fixture is raised, and the blade is manually placed on the pressing device. After the blade is fixed, it is automatically spot welded again. After all the spot welding of the blade is completed, the universal fixture is lowered, and the feeding and conveying assembly automatically returns to the origin. Rotate 90 degrees so that the blade is placed vertically; after the blade is placed vertically, manipulator A and manipulator B weld the left and right sides of the blade at the same time according to the space curve trajectory. The blade is rotated vertically at a certain angle, and the welding of the next blade is carried out until all the blades are welded. 4. The control method of the control system of fan impeller double gun welding simplified teaching as claimed in claim 3, characterized in that, the step before the blade is fixed by the pressing device in step S1 is: S01: Before welding the workpiece, replace or adjust the universal fixture according to the shape of the welding blade, then place the hub on the hub fixing plate, the center hole of the hub passes through the installation shaft, the fixing nut fixes the hub, and lock the fixing handle screw; S02: Manually control the feeding and conveying assembly, move the universal fixture to the 20mm position of the hub, the data acquisition unit records the position data, the universal fixture rises, manually place the blade, the pressing device starts, the cylinder moves downward, and drives the lower pressure rod downward movement while pressing down on the guide bar to assist the down bar to keep it level.