CN110560841B - Welding method suitable for field grid welding systems with different inclination degrees - Google Patents
Welding method suitable for field grid welding systems with different inclination degrees Download PDFInfo
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- CN110560841B CN110560841B CN201910934838.0A CN201910934838A CN110560841B CN 110560841 B CN110560841 B CN 110560841B CN 201910934838 A CN201910934838 A CN 201910934838A CN 110560841 B CN110560841 B CN 110560841B
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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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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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
- B23K9/00—Arc welding or cutting
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Abstract
The welding system comprises a welding line recognition system, a welding machine system, a robot execution system, a man-machine interaction system, a welding machine system and a welding machine system, wherein the welding line recognition system and the welding machine system are connected with the robot execution system; according to the welding method, the vertical welding line of one grid is directly scanned, the actual deviation is detected in real time, and the difficulty that the bent part is not accurate enough is solved; in addition, the time of scanning the second grid greatly is saved, and the efficiency is greatly improved; in addition, the calculated slope of each side of the first grid in the horizontal direction and the high-low direction solves the difficulty of zero tooling when the vehicle body is placed; the method is more in line with the production conditions of actual enterprises, and has wider universal performance, more information and wider application.
Description
Technical Field
The invention belongs to the technical field of weld tracking and intelligent welding, relates to a field grid welding technology of a bottom plate of a dump truck and an automatic intelligent welding method for integrating laser weld recognition, a robot, a walking guide rail and a welding machine into an intention, and particularly relates to a field grid welding system suitable for different inclination degrees and a welding method thereof.
Background
As is well known, in the field of equipment manufacturing such as dumpers, engineering trucks and the like, due to various types of vehicle models, no guarantee of precision of bent parts, poor assembly precision and the like, the sizes of all grids formed by the same vehicle model are different, particularly, the precision errors of the bent parts lead to unfixed inclination degrees of four vertical welding seams of each grid, and the realization of automatic welding by a robot teaching programming method is not preferable because different products of the same type need teaching programming, and the number of welding seams is large, so that the time required by teaching programming is increased.
For the above method of coping with the welding situation, in the existing technology in the market: firstly, through guaranteeing the precision of bending the part, secondly increase welding frock, thirdly realize robot automation through parameterization programming and weld. However, this has the obvious disadvantage that, although the robot-automated welding is temporarily achieved:
firstly, the production cost of enterprises is increased, and a bending machine which can bend a steel plate with the thickness of 20mm is more than 100 ten thousand, so that the production cost of the enterprises is increased;
secondly, the production flexibility is reduced by using the welding tool, and the welding tool cannot be suitable for all product series, so that the tool cost is definitely increased, and the accuracy and the high efficiency of the welding tool cannot be completely ensured;
thirdly, the defects of parameterized programming are that different parameters are edited for products with different specifications and sizes, the time required by parameterized programming is short, but the parameterized programming is slightly troublesome, meanwhile, the parameterized programming needs to be modified by continuous manual operation, the manpower and material resources are still wasted, and the operation process is excessively complicated.
Therefore, there is a great need to design a welding system and a welding method suitable for the field grids with different inclination degrees, so that not only can the tooling in production be omitted, but also the complicated programming of a robot can be avoided, the imprecise part bending can be adapted, and the requirements of the intelligent welding system of the robot for automatically identifying the size of each field grid and the position of a welding seam are increasing.
Disclosure of Invention
In view of the above, in order to solve the above-mentioned shortcomings of the prior art, the present invention aims to provide a welding system and a welding method suitable for a grid of a field shape with different inclination degrees, which directly scans the vertical weld seam of a grid, detects the actual deviation in real time, and solves the difficulty that the bent part is not accurate enough; in addition, the time of scanning the second grid greatly is saved, and the efficiency is greatly improved; in addition, the calculated slope of each side of the first grid in the horizontal direction and the high-low direction solves the difficulty of zero tooling when the vehicle body is placed; the method is more in line with the production conditions of actual enterprises, and has wider universal performance, more information and wider application.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the welding machine comprises a welding vehicle main body, a welding line recognition system, a robot execution system, a ground rail traveling system, a welding machine system and a man-machine interaction system, wherein the welding vehicle main body is provided with a plurality of field grids in an arrangement mode, each grid of each field grid is provided with four vertical welding lines, the welding line recognition system and the welding machine system are connected and arranged on the robot execution system, the robot execution system is arranged on the ground rail traveling system through an L-shaped cantilever, the man-machine interaction system and the welding machine system are arranged on a platform of the ground rail traveling system, and the welding line recognition system, the robot execution system, the ground rail traveling system and the welding machine system are all connected with the man-machine interaction system;
the welding seam identification system consists of a laser sensor and a laser processor, the robot execution system comprises a robot body and a robot control cabinet which are connected, the ground rail traveling system consists of a servo driving mechanism, a gear rack meshing mechanism, a ground rail moving platform and a ground rail sliding mechanism, the welding machine system comprises a carbon dioxide protection welding machine, a welding gun, a wire feeder, a wire feeding barrel, a wire feeder and a carbon dioxide protection welding machine which are sequentially connected, and the man-machine interaction system comprises an equipment electric cabinet provided with operation keys;
the front end of L type cantilever is equipped with the robot body, the bottom of robot body sets up wire feeder, wire feeder's front end passes through connecting axle and flange and sets up welder, welder front end sets up laser sensor, one side of L type cantilever is equipped with carbon dioxide protection welding machine and equipment electric cabinet, carbon dioxide protection welding machine's rear end sets up the wire feeding bucket of being connected with wire feeder, the front end connection of equipment electric cabinet is equipped with servo drive mechanism, the ground rail sliding mechanism that is located the below passes through rack and pinion meshing mechanism and the ground rail moving platform sliding connection of top, servo drive mechanism is connected on ground rail moving platform's top.
Further, the robot body is a six-axis robot, and the servo driving mechanism is a servo motor.
Further, the servo driving mechanism is connected with the ground rail moving platform and provides driving force for the ground rail moving platform to move on the ground rail sliding mechanism.
Furthermore, the ground rail sliding mechanism, the gear rack meshing mechanism and the ground rail moving platform are matched.
Further, the welding gun is connected with a carbon dioxide protection welding machine, and a welding machine power supply electrically connected with an electric cabinet of the equipment below is arranged on the carbon dioxide protection welding machine.
Furthermore, the man-machine interaction system also comprises a man-machine interaction interface, wherein the man-machine interaction interface is a touch industrial computer, and the equipment electric cabinet is connected with the man-machine interaction interface through a network communication line and a data interface.
Further, the robot control cabinet is connected with the equipment electric cabinet, the robot control cabinet and the welding machine power supply are all connected with the laser processor, and the laser sensor is connected with the laser processor.
The welding method suitable for the field grid welding system with different inclination degrees comprises the following steps:
s1: before welding, the robot body drives the laser sensor to move into the first grid of one of the field grids, and the robot body drives the laser sensor to scan four sides of the first grid, so that the size of the first grid is calculated and determined;
s2: meanwhile, the laser sensor transmits the collected scanning information to the laser processor, and the laser processor calculates and determines the positions of four vertical welding seams of the first grid through the size positions of four edges;
s3: the robot body drives the laser sensor to move above one of the vertical welding seams, performs real-time scanning on the vertical welding seams, transmits acquired data information to the laser processor through scanning, and calculates the space coordinates of the upper starting point and the lower ending point of the vertical welding seams;
s4: scanning the other three vertical welding lines through the steps S2-S3, so that space coordinates of upper starting points and lower ending points of the four vertical welding lines are obtained, and then a laser processor sets corresponding execution commands through the data information and transmits the corresponding execution commands to a robot body, so that laser tracking welding of a first grid of the grid is completed;
s5: the robot body drives the laser sensor to move into the second grid of the field grid, and executes welding operation of four vertical welding seams according to the instruction; then, automatically welding a third grid and a fourth grid of the field grid in sequence; and (3) circulating the operations, and sequentially completing automatic welding of a plurality of field grids of the welding vehicle main body.
The executing instruction operation in the step S5 specifically includes the following steps:
a1: according to the obtained size and position of the first grid of the field grid, the laser processor calculates the slope of each side of the first grid in the horizontal direction and the vertical direction;
a2: according to the obtained weld data of the first grid of the grid, the laser processor calculates the approximate positions of four vertical welds of the second grid of the grid;
a3: c, confirming the specific positions of the four vertical welding seams of the second grid again according to the slope obtained in the step A1;
a4: repeating the steps to obtain the specific positions of the third lattice and the fourth lattice.
The beneficial effects of the invention are as follows:
1. the field grid welding system suitable for different inclinations comprises a welding seam recognition system, a robot execution system, a ground rail traveling system, a welding machine system and a man-machine interaction system, wherein the systems are mutually matched, have compact logic, are convenient and efficient, can save a tooling on production, can avoid tedious programming of a robot, can adapt to inaccuracy of bent parts, and can automatically recognize the grid size and the specific position of a welding seam of each field grid;
2. the welding method suitable for the field grid welding system with different inclination degrees is characterized in that the vertical welding seam of one grid is directly scanned, the actual deviation is detected in real time, and the difficulty that the bent part is not accurate enough is solved; in addition, the time of scanning the second grid greatly is saved, and the efficiency is greatly improved; in addition, the calculated slope of each side of the first grid in the horizontal direction and the high-low direction solves the difficulty of zero tooling when the vehicle body is placed; the method is more in line with the production conditions of actual enterprises, and has wider universal performance, more information quantity and wider application; wherein:
firstly, scanning four sides of a first grid to obtain positions of four vertical welding seams, and then scanning the four vertical welding seams to obtain an upper starting point and a lower ending point of each vertical welding seam, so as to obtain welding seam data of the grid;
secondly, the second grid can calculate the approximate positions of four vertical welding seams of the second grid according to the known size of the first grid and the welding seam data laser processor, so that the second grid can save the time of scanning four edges and improve the efficiency; the third grid can calculate the approximate position of the vertical welding seam of the third grid according to the actual size of the second grid;
in addition, because the vertical welding seam is directly scanned, the actual deviation of the vertical welding seam can be detected, and thus the difficulty that the bending degree of the bending part is not accurate enough is solved. Moreover, the slope of each side of the first lattice in the horizontal direction and the high-low direction can be calculated by knowing the size of the first lattice, so that the specific positions of the second lattice and the third lattice can be determined, and the difficulty of zero tooling when the vehicle body is placed is solved. Therefore, the scanning method accords with the production condition of a real enterprise, improves the working efficiency, saves the cost of the enterprise, and has good application prospect.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an overall tooling structure in the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a side view of FIG. 2;
the marks in the figure: 1. the welding vehicle comprises a welding vehicle body, 2, a vertical welding seam, 3, an L-shaped cantilever, 4, a laser sensor, 5, a laser processor, 6, a robot body, 7, a robot control cabinet, 8, a servo driving mechanism, 9, a gear rack meshing mechanism, 10, a ground rail moving platform, 11, a ground rail sliding mechanism, 12, a carbon dioxide protection welding machine, 13, a welding machine power supply, 14, a wire feeder, 15, a wire feeding barrel, 16, an equipment electric cabinet, 17 and a welding gun.
Detailed Description
Specific examples are given below to further clarify, complete and detailed description of the technical scheme of the invention. The present embodiment is a preferred embodiment based on the technical solution of the present invention, but the scope of the present invention is not limited to the following embodiments.
The utility model provides a field word check welding system suitable for different inclination, has the welding truck main part 1 of a plurality of field word check including arranging distribution, and every check of field word check has four vertical welding seams 2, its characterized in that respectively: the welding seam identification system, the robot execution system, the ground rail traveling system and the welding machine system are connected and arranged on the robot execution system, the robot execution system is arranged on the ground rail traveling system through an L-shaped cantilever 3, the man-machine interaction system and the welding machine system are arranged on a platform of the ground rail traveling system, and the welding seam identification system, the robot execution system, the ground rail traveling system and the welding machine system are connected with the man-machine interaction system;
the welding seam recognition system consists of a laser sensor 4 and a laser processor 5, the robot execution system comprises a robot body 6 and a robot control cabinet 7 which are connected, the ground rail traveling system consists of a servo driving mechanism 8, a gear rack meshing mechanism 9, a ground rail moving platform 10 and a ground rail sliding mechanism 11, the welding machine system comprises a carbon dioxide protection welding machine 12, a welding gun 17, a wire feeder 14 and a wire feeding barrel 15, the wire feeder 14 and the carbon dioxide protection welding machine 12 are sequentially connected, and the man-machine interaction system comprises an equipment electric cabinet 16 provided with operation keys;
the front end of the L-shaped cantilever 3 is provided with a robot body 6, the bottom end of the robot body 6 is provided with a wire feeder 14, the front end of the wire feeder 14 is provided with a welding gun 17 through a connecting shaft and a flange, the front end of the welding gun 17 is provided with a laser sensor 4, and the welding gun 17 and the laser sensor 4 are arranged at the front end of the robot body 6 and serve as eyes of a robot; the laser sensor 4 is arranged at the front end of the welding gun 17, and is used for recognizing the position of the welding gun 17 in advance while scanning weld data, so that buffer time is provided for executing the welding gun 17, and the welding gun is accurate, effective and efficient; one side of the L-shaped cantilever 3 is provided with a carbon dioxide protection welding machine 12 and an equipment electric cabinet 16, the rear end of the carbon dioxide protection welding machine 12 is provided with a wire feeding barrel 15 connected with a wire feeding machine 14, the front end of the equipment electric cabinet 16 is connected with a servo driving mechanism 8, a ground rail sliding mechanism 11 positioned below is in sliding connection with a ground rail moving platform 10 above through a gear rack meshing mechanism 9, and the top end of the ground rail moving platform 10 is connected with the servo driving mechanism 8. The field grid welding system suitable for different inclination degrees comprises a welding seam recognition system, a robot execution system, a ground rail running system, a welding machine system and a man-machine interaction system, wherein the systems are mutually matched, the logic is compact, the convenience and the high efficiency are realized, the tooling on production can be omitted, the tedious programming of a robot can be avoided, the inaccuracy of bent parts can be adapted, and the grid size and the specific position of a welding seam of each field grid can be automatically recognized.
Furthermore, the robot body 6 is a six-axis robot, so that the movement is more flexible and rapid, and the robot is suitable for the execution transformation with complex environment and multiple-aspect multi-angle requirements; the servo drive mechanism 8 is a servo motor, and simply and effectively provides a driving force.
Further, the servo driving mechanism 8 is connected with the ground rail moving platform 10 and provides driving force for the ground rail moving platform 10 to move on the ground rail sliding mechanism 11. The servo driving mechanism 8 drives the ground rail moving platform 10 to realize sliding motion on the ground rail sliding mechanism 11 through the matching of the gear-rack meshing mechanism 9, and then drives the robot body 6, the welding gun 17 and the laser sensor 4 to move so as to scan the welding seam position in real time without dead angles and complete automatic welding.
Further, the ground rail sliding mechanism 11, the gear rack meshing mechanism 9 and the ground rail moving platform 10 are matched. The ground rail sliding mechanism 11 is in sliding fit with the ground rail moving platform 10 through the gear-rack meshing mechanism 9.
Further, the welding gun 17 is connected with the carbon dioxide protection welding machine 12, and the welding machine power supply 13 electrically connected with the electric cabinet 16 of the lower equipment is arranged on the carbon dioxide protection welding machine 12. The welding gun 17 is ready to start and stop at any time, and the method is environment-friendly, energy-saving, intelligent and efficient.
Further, the man-machine interaction system further comprises a man-machine interaction interface, wherein the man-machine interaction interface is a touch industrial computer, the equipment electric cabinet 16 is connected with the man-machine interaction interface through a network communication line and a data interface, remote control and operation are further achieved, a large amount of manpower and material resources are saved, and the system is more automatic and intelligent.
Further, the robot control cabinet 7 is connected with the equipment electric cabinet 16, the robot control cabinet 7 and the welding machine power supply 13 are all connected with the laser processor 5, and the laser sensor 4 is connected with the laser processor 5. The laser processor 5 processes and analyzes the collected scanning weld data, gives out execution instructions according to conditions, and then transmits the execution instructions to each sub-control component and each execution component, so that the cooperation logic is compact and efficient.
The welding method suitable for the field grid welding system with different inclination degrees comprises the following steps:
s1: before welding, the robot body 6 drives the laser sensor 4 to move into the first grid of one of the field grids, the robot body 6 drives the laser sensor 4 to scan four sides of the first grid, and the size of the first grid is calculated and determined;
s2: meanwhile, the laser sensor 4 transmits the collected scanning information to the laser processor 5, and the laser processor 5 calculates and determines the positions of four vertical welding seams 2 of the first grid through the size positions of four edges;
s3: the robot body 6 drives the laser sensor 4 to move above one of the vertical welding seams 2, performs real-time scanning on the vertical welding seams 2, transmits acquired data information to the laser processor 5 through scanning, and calculates the space coordinates of the upper starting point and the lower ending point of the vertical welding seam 2;
s4: scanning the other three vertical welding lines 2 through the steps S2-S3, so that space coordinates of upper starting points and lower ending points of the four vertical welding lines 2 are obtained, and then the laser processor 5 sets corresponding execution commands through the data information and transmits the corresponding execution commands to the robot body 6, so that laser tracking welding of a first grid of the field grid is completed;
s5: the robot body 6 drives the laser sensor 4 to move into the second grid of the field grid, and executes the welding operation of the four vertical welding seams 2 according to the instruction; then, automatically welding a third grid and a fourth grid of the field grid in sequence; the above operations are circulated, and the automatic welding of the plurality of field grids of the welding carriage body 1 is completed in sequence.
The welding method suitable for the field grid welding system with different inclination degrees, disclosed by the invention, comprises the following steps of:
a1: according to the obtained size position of the first grid of the field grid, the laser processor 5 calculates the slope of each side of the first grid in the horizontal direction and the vertical direction; i.e. determining an inclination angle of the first lattice in the spatial horizontal plane and a rotation angle in the horizontal plane, i.e. its slope in space;
a2: according to the obtained weld data of the first grid of the grid, the laser processor 5 calculates the approximate positions of four vertical welds 2 of the second grid of the grid;
a3: c, confirming the specific positions of the four vertical welding seams 2 of the second grid again according to the slope obtained in the step A1;
a4: repeating the steps to obtain the specific positions of the third lattice and the fourth lattice.
In this embodiment, the actual specific operation flow is as follows:
when welding is needed, the welding vehicle body 1 is manually pushed to the lower part of the welding gun 17, because the robot stops at the initial end of the ground rail in a fixed posture after each welding, and only the first grid of the field is manually moved to the position right below the welding gun 17;
then, through a man-machine interaction interface or a start button of the trigger equipment electric cabinet 16, the robot body 6 drives the laser sensor 4 to move downwards, in the process of moving downwards, the laser sensor 4 determines a proper test height, and after the determination, the robot body 6 drives the laser sensor 4 to move in four directions in the front-back, left-right and right directions at the proper height so as to detect the size and the position of four vertical welding seams 2 on four sides of a first grid;
then, the actual size of the first grid can be calculated, then the approximate positions of the four vertical welding lines 2 of the first grid are calculated, and then the robot body 6 drives the laser sensor 4 to move to the position above one of the vertical welding lines 2 of the grid to start scanning, so that the space coordinates of the upper starting point and the lower ending point of the first vertical welding line 4 are obtained; likewise, the robot body 6 drives the laser sensor 4 to move above the other three vertical welding seams 2 for scanning, and the space coordinates of the upper starting points and the lower ending points of the other three vertical welding seams 2 can be obtained; with the spatial coordinates of the 8 points of the first grid, the robot body 6 can drive the welding gun 17 to automatically weld.
Whereas the spatial coordinates of the 8 points of the first grid of the beginning field grid determine an inclination angle of the first grid in the spatial horizontal plane and a rotation angle in the horizontal plane, i.e. its slope in the spatial direction; then, according to the data of a plurality of rows and columns input by the man-machine interaction interface, the positions of four vertical welding seams 2 of the second grid can be estimated according to the actual size calculated by the first grid, and the same space coordinates of 8 points of the second grid can be measured;
similarly, the 3 rd lattice estimates the approximate position of the vertical weld 2 of the 3 rd lattice based on the measured actual size of the 2 nd lattice. The process is circulated until the whole part is welded;
from the scanning method and the working flow, the problem that the precision requirement on the bent part is lowered due to the fact that the deviation on the vertical welding line 2 caused by the fact that the angle of the bent part is not accurate enough can be solved by directly scanning the vertical welding line 2;
in addition, the zero tool arrangement of the welding vehicle main body in arrangement is realized on the control algorithm, so that the welding vehicle main body can be uneven or uneven, and the zero tool arrangement of the welding workstation is truly realized.
Further, in the present embodiment, the welding carriage body 1 may be a plurality of types of welding bodies. When the welding carriage body 1 is a special carriage bottom plate, there is a welding form in which both lap weld and fillet weld are combined. The welding system can automatically identify the welding seam shapes of four welding seams below a grid, namely automatically judge whether the welding seam is a lap welding seam or a fillet welding seam; wherein, the L-shaped part adopts a lap welding way, and the square steel part adopts a fillet welding way;
when the welding carriage body 1 is a special-purpose carriage girder assembly sample, there is a welding form of the fillet weld. The welding system can automatically identify the form of the welding line, namely automatically judge the position and the mode of the angle welding line, and by adopting the scanning method of the invention, the robot body is driven to a proper position through the movement of the ground rail, then the laser sensor scans the welding line, the form characteristics and the space coordinates of the welding line are obtained according to the acquired information, and then the robot body drives the welding gun to execute automatic welding.
In conclusion, the welding method suitable for the field grid welding system with different inclination degrees is used for directly scanning the vertical welding seam of one grid, detecting the actual deviation in real time and solving the difficulty that the bent part is not accurate enough; in addition, the time of scanning the second grid greatly is saved, and the efficiency is greatly improved; in addition, the calculated slope of each side of the first grid in the horizontal direction and the high-low direction solves the difficulty of zero tooling when the vehicle body is placed; the method is more in line with the production conditions of actual enterprises, and has wider universal performance, more information quantity and wider application; wherein:
firstly, scanning four sides of a first grid to obtain positions of four vertical welding seams, and then scanning the four vertical welding seams to obtain an upper starting point and a lower ending point of each vertical welding seam, so as to obtain welding seam data of the grid;
secondly, the second grid can calculate the approximate positions of four vertical welding seams of the second grid according to the known size of the first grid and the welding seam data laser processor, so that the second grid can save the time of scanning four edges and improve the efficiency; the third grid can calculate the approximate position of the vertical welding seam of the third grid according to the actual size of the second grid;
in addition, because the vertical welding seam is directly scanned, the actual deviation of the vertical welding seam can be detected, and thus the difficulty that the bending degree of the bending part is not accurate enough is solved. Moreover, the slope of each side of the first lattice in the horizontal direction and the high-low direction can be calculated by knowing the size of the first lattice, so that the specific positions of the second lattice and the third lattice can be determined, and the difficulty of zero tooling when the vehicle body is placed is solved. Therefore, the scanning method accords with the production condition of a real enterprise, improves the working efficiency, saves the cost of the enterprise, and has good application prospect.
The foregoing has outlined and described the features, principles, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are merely illustrative of the principles of the present invention, and that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The welding method suitable for the field grid welding system with different inclination degrees is applied to the field grid welding system with different inclination degrees and is characterized in that:
the system comprises a welding vehicle main body (1) with a plurality of field grids distributed in an arrangement mode, each grid of each field grid is provided with four vertical welding lines (2), and the welding vehicle main body further comprises a welding line recognition system, a robot execution system, a ground rail walking system, a welding machine system and a man-machine interaction system, wherein the welding line recognition system and the welding machine system are connected and arranged on the robot execution system, the robot execution system is arranged on the ground rail walking system through an L-shaped cantilever (3), the man-machine interaction system and the welding machine system are arranged on a platform of the ground rail walking system, and the welding line recognition system, the robot execution system, the ground rail walking system and the welding machine system are all connected with the man-machine interaction system; the welding seam identification system consists of a laser sensor (4) and a laser processor (5), the robot execution system comprises a robot body (6) and a robot control cabinet (7) which are connected, the ground rail running system consists of a servo driving mechanism (8), a gear rack meshing mechanism (9), a ground rail moving platform (10) and a ground rail sliding mechanism (11), the welding machine system comprises a carbon dioxide protection welding machine (12), a welding gun (13), a wire feeder (14) and a wire feeding barrel (15), the wire feeder (14) and the carbon dioxide protection welding machine (12) are sequentially connected, and the man-machine interaction system comprises an equipment electric cabinet (16) provided with operation keys; the front end of the L-shaped cantilever (3) is provided with a robot body (6), the bottom end of the robot body (6) is provided with a wire feeder (14), the front end of the wire feeder (14) is provided with a welding gun (17) through a connecting shaft and a flange, the front end of the welding gun (17) is provided with a laser sensor (4), one side of the L-shaped cantilever (3) is provided with a carbon dioxide protection welding machine (12) and an equipment electric cabinet (16), the rear end of the carbon dioxide protection welding machine (12) is provided with a wire feeding barrel (15) connected with the wire feeder (14), the front end of the equipment electric cabinet (16) is connected with a servo driving mechanism (8), a ground rail sliding mechanism (11) arranged below is in sliding connection with a ground rail moving platform (10) above through a gear rack meshing mechanism (9), and the top end of the ground rail moving platform (10) is connected with the servo driving mechanism (8);
the method comprises the following steps:
s1: before welding, the robot body (6) drives the laser sensor (4) to move into the first grid of one of the field grids, the robot body (6) drives the laser sensor (4) to scan four sides of the first grid, and the size of the first grid is calculated and determined;
s2: meanwhile, the laser sensor (4) transmits the collected scanning information to the laser processor (5), and the laser processor (5) calculates and determines the positions of four vertical welding seams (2) of the first grid through the size positions of four edges;
s3: the robot body (6) drives the laser sensor (4) to move above one of the vertical welding seams (2), performs real-time scanning of the vertical welding seams (2), transmits collected data information to the laser processor (5) through scanning, and calculates the space coordinates of the upper starting point and the lower ending point of the vertical welding seam (2);
s4: scanning the other three vertical welding lines (2) through the steps S2-S3, so that space coordinates of upper starting points and lower ending points of the four vertical welding lines (2) are obtained, and then a laser processor (5) sets corresponding execution commands through the data information and transmits the corresponding execution commands to a robot body (6), so that laser tracking welding of a first grid of the field grid is completed;
s5: the robot body (6) drives the laser sensor (4) to move into the second grid of the field grid, and the welding operation of four vertical welding seams (2) is executed according to the instruction; then, automatically welding a third grid and a fourth grid of the field grid in sequence; the operations are circulated, and then the automatic welding of a plurality of field grids of the welding vehicle main body (1) is completed in sequence; the executing instruction operation in the step S5 specifically includes the following steps:
a1: according to the obtained size position of the first grid of the field grid, the laser processor (5) calculates the slope of each side of the first grid in the horizontal direction and the vertical direction;
a2: according to the obtained weld data of the first grid of the grid, the laser processor (5) calculates the approximate positions of four vertical welds (2) of the second grid of the grid;
a3: c, confirming the specific positions of the four vertical welding seams (2) of the second grid again according to the slope obtained in the step A1;
a4: repeating the steps to obtain the specific positions of the third lattice and the fourth lattice.
2. The welding method suitable for a grid welding system with different inclination degrees according to claim 1, wherein: the robot body (6) is a six-axis robot, and the servo driving mechanism (8) is a servo motor.
3. The welding method suitable for a grid welding system with different inclination degrees according to claim 1, wherein: the servo driving mechanism (8) is connected with the ground rail moving platform (10) and provides driving force for the ground rail moving platform (10) to move on the ground rail sliding mechanism (11).
4. The welding method suitable for a grid welding system with different inclination degrees according to claim 1, wherein: the ground rail sliding mechanism (11), the gear rack meshing mechanism (9) and the ground rail moving platform (10) are matched.
5. The welding method suitable for a grid welding system with different inclination degrees according to claim 1, wherein: the welding gun (17) is connected with the carbon dioxide protection welding machine (12), and a welding machine power supply (18) electrically connected with the electric cabinet (16) of the equipment below is arranged on the carbon dioxide protection welding machine (12).
6. The welding method suitable for a grid welding system with different inclination degrees according to claim 1, wherein: the human-computer interaction system further comprises a human-computer interaction interface, wherein the human-computer interaction interface is a touch industrial computer, and the equipment electric cabinet (16) is connected with the human-computer interaction interface through a network communication line and a data interface.
7. The welding method suitable for a grid welding system with different inclination degrees according to claim 1, wherein: the robot control cabinet (7) is connected with the equipment electric cabinet (16), the robot control cabinet (7) and the welding machine power supply (18) are connected with the laser processor (5), and the laser sensor (4) is connected with the laser processor (5).
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| JPH1024370A (en) * | 1996-07-09 | 1998-01-27 | Nkk Corp | Automatic butt welding equipment |
| CN204524571U (en) * | 2015-02-11 | 2015-08-05 | 成都思尔特机器人科技有限公司 | A kind of intelligent robot welding system for welding of automotive parts |
| CN107234341A (en) * | 2017-06-24 | 2017-10-10 | 江苏瑞伯特视觉科技股份有限公司 | A kind of heavy compartment matts laser vision Intelligent welding system |
| CN210648949U (en) * | 2019-09-29 | 2020-06-02 | 河南省昊搏自动化设备有限公司 | Welding system suitable for grid with different inclination degrees |
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| JPH1024370A (en) * | 1996-07-09 | 1998-01-27 | Nkk Corp | Automatic butt welding equipment |
| CN204524571U (en) * | 2015-02-11 | 2015-08-05 | 成都思尔特机器人科技有限公司 | A kind of intelligent robot welding system for welding of automotive parts |
| CN107234341A (en) * | 2017-06-24 | 2017-10-10 | 江苏瑞伯特视觉科技股份有限公司 | A kind of heavy compartment matts laser vision Intelligent welding system |
| CN210648949U (en) * | 2019-09-29 | 2020-06-02 | 河南省昊搏自动化设备有限公司 | Welding system suitable for grid with different inclination degrees |
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