CN111390418B - Automatic welding process for container corrugated welding - Google Patents
Automatic welding process for container corrugated welding Download PDFInfo
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- CN111390418B CN111390418B CN202010240422.1A CN202010240422A CN111390418B CN 111390418 B CN111390418 B CN 111390418B CN 202010240422 A CN202010240422 A CN 202010240422A CN 111390418 B CN111390418 B CN 111390418B
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0258—Electric supply or control circuits therefor
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Laser Beam Processing (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention mainly relates to an automatic welding process for container corrugated welding, which comprises the following steps: (1) fixing the wall plate, starting a central control system, and controlling the robot body to drive the laser sensor to move by the central control system through a controller; (2) after the laser sensor is moved to the position near the welding seam, the laser sensor is started to scan; (3) after receiving the welding seam track of the first corrugation, the central control system calculates the welding seam track position of the welding gun through a welding seam identification algorithm; (4) the central control system controls the welding gun on the robot body to move for welding through the welding track information of the welding gun; (5) during welding, the laser sensor can scan the next ripple in real time, and the position of the next welding track is calculated, so that welding and scanning calculation are realized at the same time; can carry out the wave welding to the container automatically, welding precision is high, and welding quality is good, and work efficiency promotes by a wide margin, has improved the economic benefits of enterprise.
Description
Technical Field
The invention relates to a welding process, in particular to an automatic welding process for container corrugated welding.
Background
At present, the welding of the corrugated welding of the wall plates of the container is mostly finished manually, the container is large in size, the manual welding difficulty is large, the labor intensity is high, the welding quality is poor, and the working efficiency is very low.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic welding process for container corrugated welding, which can automatically perform corrugated welding on a container, has high welding precision and good welding quality, greatly improves the working efficiency, and improves the economic benefit of enterprises.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic welding process for container corrugated welding comprises the following specific steps:
(1) the central control system controls the robot body through the controller so as to drive the laser sensor to move;
(2) after the laser sensor is moved to the position near the welding seam, the laser sensor is started to scan, and scanning information is transmitted to the central control system in real time;
(3) after receiving the welding seam track of the first corrugation, the central control system calculates the welding seam track position of the welding gun through a welding seam identification algorithm;
(4) the central control system controls the welding gun on the robot body to move through the welding track information of the welding gun, and simultaneously starts a welding power supply, and the wire feeder works to supply welding wires to the welding gun for welding;
(5) and when welding, the laser sensor can scan the next corrugation in real time, and the position of the next welding track is calculated, so that the welding and scanning calculation are realized at the same time until the welding work of the whole corrugation is finished.
The weld joint identification algorithm specifically comprises the following steps:
(1) firstly, scanning a complete ripple by a laser sensor, and collecting 1 scanning point every 0.5mm to obtain an initial scanning track point;
(2) classifying the track points according to the positions of the track points:
1) a bottom point is arranged;
2) an upper left corner point;
3) a left waist point;
4) a lower left corner point;
5) a bottom point is arranged;
6) a lower right corner;
7) a right waist point;
8) a right upper fillet point;
(3) preprocessing the track points, and fitting an upper bottom straight line, a lower bottom straight line, a left waist line, a right waist line and a transition arc;
(4) setting 5 welding posture types of welding, and obtaining initial position compensation values under various postures by a calibration method:
1) upper and lower bottom postures;
2) a left fillet attitude;
3) a left waist posture;
4) right fillet attitude;
5) a right waist posture;
(5) adjusting the coordinates of the track points according to the types of the track points and the corresponding fitting shapes to obtain the final positions of the track points;
(6) selecting a welding attitude according to the type of the track point;
(7) after the positions and welding postures of all initial scanning track points of the corrugation are calculated, the welding track of the first corrugation is obtained;
(8) starting welding according to the welding track, and scanning and acquiring the track point of the next ripple in real time by the laser sensor in the welding process;
(9) repeating the steps 3-7 after acquiring the trace point data of the next complete corrugation to obtain the welding trace of the next corrugation;
(10) adding the obtained track into the whole welding track, waiting for the robot to read, and repeating the steps to finally complete the whole welding work.
The system comprises a man-machine interaction unit, a central control system and a control unit, wherein the man-machine interaction unit is connected with the central control system and is used for displaying, controlling operation and setting parameters; the central control system is connected with and controls the robot body to move through the controller, a welding gun and a scanning identification unit are mounted on the robot body, and the robot body drives the welding gun and the scanning identification unit to move; the central control system is connected with a welding power supply, the welding power supply is connected with a wire feeder, and the wire feeder is connected with a welding gun; the scanning recognition unit is in transmission connection with the central control system, the scanning recognition unit comprises a laser sensor, the laser sensor is used for collecting original information of a welding seam, the central control system calculates a welding route through a recognition algorithm, the robot body is controlled to move according to the route information, a welding gun is driven, a welding power supply is started, and a wire feeder supplies welding wires to the welding gun to perform welding work.
The matching is provided with a gun cleaner.
The supporting wireless remote controller that is equipped with, wireless remote controller and central control system wireless connection, wireless remote controller can carry out X, Y, Z three direction's removal control to the robot body.
The robot body is ABB IRB1410, and the controller is IRC 5.
The invention has the following beneficial effects:
1. (1) spot welding of the wall plate is completed at the previous station, after the wall plate is in place, the wall plate is fixed through a clamp, a central control system is started, and the central control system controls the robot body through a controller so as to drive the laser sensor to move; (2) after the robot body moves to the position near the welding line, starting a laser sensor to scan, and transmitting scanning information to a central control system in real time; (3) after receiving the welding seam track of the first corrugation, the central control system calculates the welding seam track position of the welding gun through a welding seam identification algorithm; (4) the central control system controls the welding gun on the robot body to move through the welding track information of the welding gun, and simultaneously starts a welding power supply, and the wire feeder works to supply welding wires to the welding gun for welding; (5) during welding, the laser sensor scans the next corrugation and calculates the position of the next welding track, so that welding and scanning calculation are realized at the same time, and the working efficiency is improved until the welding work of the whole corrugation is finished; the method can automatically weld the container by the corrugated welding, has high welding precision and good welding quality, greatly improves the working efficiency and improves the economic benefit of enterprises.
2. Still be equipped with wireless remote controller, wireless remote controller and central control system wireless connection, wireless remote controller can carry out X, Y, Z three directions (indicate front and back, left and right sides, upper and lower direction) mobile control to the robot body, can avoid the maloperation that the workman probably takes place on the demonstrator, also makes the operation simpler directly perceived, has realized fast to the rifle, realizes more directly perceived operation to the rifle through wireless remote controller.
Drawings
FIG. 1 is a system control framework of the present invention;
FIG. 2 is a schematic view of a moire scan of the present invention;
FIG. 3 is a schematic view of a weld trace of the wave soldering of the present invention;
FIG. 4 is a schematic view of the apparatus of the present invention.
Reference numbers in the figures: 1. a human-computer interaction unit; 2. a central control system; 3. a controller; 4. a robot body; 5. a welding gun; 51. a welding power supply; 52. a wire feeder; 6. and scanning the identification unit.
Detailed Description
As shown in fig. 3, the container wall plate is formed by welding a frame and a corrugated plate, the welding of the junction of the frame and the corrugated plate is corrugated welding, and a is a welding track.
As shown in fig. 1 and 4, the automatic welding process for the container corrugation welding comprises a human-computer interaction unit 1, wherein the human-computer interaction unit 1 is connected with a central control system 2, and the human-computer interaction unit 1 is used for displaying, controlling operation and parameter setting; the central control system 2 is connected with and controls the robot body 4 to move through the controller 3, the welding gun 5 and the scanning recognition unit 6 are installed on the robot body 4, and the robot body 4 drives the welding gun 5 and the scanning recognition unit 6 to move; the central control system 2 is connected with a welding power supply 51, the welding power supply 51 is connected with a wire feeder 52 to provide power for the wire feeder 52, and the wire feeder 52 is connected with a welding gun 5; the scanning recognition unit 6 is in transmission connection with the central control system 2, the scanning recognition unit 6 comprises a laser sensor, the laser sensor is used for collecting original information of a welding seam, the central control system 2 calculates a welding route through a recognition algorithm, the robot body 4 is controlled to move according to the route information, the welding gun 5 is driven, the welding power supply 51 is started, and the wire feeder 52 works to supply welding wires to the welding gun 5 to perform welding work; this design can carry out the wave soldering welding to the container automatically, and welding precision is high, and welding quality is good, and work efficiency promotes by a wide margin, has improved the economic benefits of enterprise.
On the basis of the scheme, the gun cleaning device is preferably arranged in a matched mode.
On the basis of the above scheme, more preferably, the robot is further provided with a wireless remote controller, the wireless remote controller is wirelessly connected with the central control system 2, the wireless remote controller can carry out X, Y, Z movement control in three directions (front and back, left and right, and up and down directions) on the robot body 4, misoperation of workers on the demonstrator possibly can be avoided, operation is simpler and more visual, quick gun alignment is realized, and more visual gun alignment operation is realized through the wireless remote controller.
The robot body 4 is ABB IRB1410, and the controller 3 is IRC 5.
The specific welding steps are as follows:
(1) after the wall plate is in place, the wall plate is fixed through a clamp, a central control system 2 is started, and the central control system 2 controls a robot body 4 through a controller 3 so as to drive a laser sensor to move;
(2) after the laser sensor is moved to the position near the welding seam, the laser sensor is started to scan, and scanning information is transmitted to the central control system 2 in real time;
(3) after receiving the welding seam track of the first corrugation, the central control system 2 calculates the welding track position of the welding gun 5 through a welding seam identification algorithm;
(4) the central control system 2 controls the welding gun 5 on the robot body 4 to move through the welding track information of the welding gun 5, simultaneously starts the welding power supply 51, and the wire feeder 52 works to supply welding wires to the welding gun 5 for welding;
(5) during welding, the laser sensor can scan the next corrugation in real time, and the position of the next welding track is calculated, so that welding and scanning calculation are realized at the same time, and the working efficiency is improved until the welding work of the whole corrugation is finished;
the method can automatically weld the container by the corrugated welding, has high welding precision and good welding quality, greatly improves the working efficiency and improves the economic benefit of enterprises.
As shown in fig. 2, the weld joint identification algorithm includes the following specific steps:
(1) firstly, scanning a complete ripple by a laser sensor, and collecting 1 scanning point every 0.5mm to obtain an initial scanning track point;
(2) classifying the track points according to the positions of the track points:
1) a bottom point is arranged;
2) an upper left corner point;
3) a left waist point;
4) a lower left corner point;
5) a bottom point is arranged;
6) a lower right corner;
7) a right waist point;
8) a right upper fillet point;
(3) preprocessing the track points, and fitting an upper bottom straight line, a lower bottom straight line, a left waist line, a right waist line and a transition arc;
(4) setting 5 welding posture types of welding, and obtaining initial position compensation values under various postures by a calibration method:
1) upper and lower bottom postures;
2) a left fillet attitude;
3) a left waist posture;
4) right fillet attitude;
5) a right waist posture;
(5) adjusting the coordinates of the track points according to the types of the track points and the corresponding fitting shapes to obtain the final positions of the track points;
(6) selecting a welding attitude according to the type of the track point;
(7) after the positions and welding postures of all initial scanning track points of the corrugation are calculated, the welding track of the first corrugation is obtained;
(8) starting welding according to the welding track, and scanning and acquiring the track point of the next ripple in real time by the laser sensor in the welding process;
(9) repeating the steps 3-7 after acquiring the trace point data of the next complete corrugation to obtain the welding trace of the next corrugation;
(10) adding the obtained track into the whole welding track, waiting for the robot to read, and repeating the steps to finally complete the whole welding work.
Claims (5)
1. An automatic welding process for container corrugation welding is characterized by comprising the following steps:
firstly, fixing a wallboard, starting a central control system, and controlling a robot body by the central control system through a controller so as to drive a laser sensor to move;
after moving to the position near the welding seam, starting a laser sensor to scan, and transmitting scanning information to a central control system in real time;
thirdly, after receiving the welding seam track of the first corrugation, the central control system calculates the welding seam track position of the welding gun through a welding seam identification algorithm;
fourthly, the central control system controls the welding gun on the robot body to move through the welding track information of the welding gun, meanwhile, a welding power supply is started, and the wire feeder works to supply welding wires to the welding gun for welding;
fifthly, during welding, the laser sensor scans the next corrugation in real time, and calculates the position of the next welding track, so that welding and scanning calculation are realized at the same time until the welding work of the whole corrugation is finished;
the specific method of the weld joint identification algorithm is as follows:
A. firstly, scanning a complete ripple by a laser sensor, and collecting 1 scanning point every 0.5mm to obtain an initial scanning track point;
B. classifying the track points according to the positions of the track points:
1) a bottom point is arranged;
2) an upper left corner point;
3) a left waist point;
4) a lower left corner point;
5) a bottom point is arranged;
6) a lower right corner;
7) a right waist point;
8) a right upper fillet point;
C. preprocessing the track points, and fitting an upper bottom straight line, a lower bottom straight line, a left waist line, a right waist line and a transition arc;
D. setting 5 welding posture types of welding, and obtaining initial position compensation values under various postures by a calibration method:
1) upper and lower bottom postures;
2) a left fillet attitude;
3) a left waist posture;
4) right fillet attitude;
5) a right waist posture;
E. adjusting the coordinates of the track points according to the types of the track points and the corresponding fitting shapes to obtain the final positions of the track points;
F. selecting a welding attitude according to the type of the track point;
G. after the positions and welding postures of all initial scanning track points of the corrugation are calculated, the welding track of the first corrugation is obtained;
H. starting welding according to the welding track, and scanning and acquiring the track point of the next ripple in real time by the laser sensor in the welding process;
I. repeating the steps 3-7 after acquiring the trace point data of the next complete corrugation to obtain the welding trace of the next corrugation;
J. adding the obtained track into the whole welding track, waiting for the robot to read, and repeating the steps to finally complete the whole welding work.
2. An automatic welding process for container corrugation welding according to claim 1, characterized in that: the system comprises a man-machine interaction unit, a central control system and a control unit, wherein the man-machine interaction unit is connected with the central control system and is used for displaying, controlling operation and setting parameters; the central control system is connected with and controls the robot body to move through the controller, a welding gun and a scanning identification unit are mounted on the robot body, and the robot body drives the welding gun and the scanning identification unit to move; the central control system is connected with a welding power supply, the welding power supply is connected with a wire feeder, and the wire feeder is connected with a welding gun; the scanning recognition unit is in transmission connection with the central control system, the scanning recognition unit comprises a laser sensor, the laser sensor is used for collecting original information of a welding seam, the central control system calculates a welding route through a recognition algorithm, the robot body is controlled to move according to the route information, a welding gun is driven, a welding power supply is started, and a wire feeder supplies welding wires to the welding gun to perform welding work.
3. An automatic welding process for container corrugation welding according to claim 2, characterized in that: the matching is provided with a gun cleaning device.
4. An automatic welding process for container corrugation welding according to claim 2, characterized in that: the wireless remote controller is matched with the robot body and is in wireless connection with the central control system, and the wireless remote controller can carry out X, Y, Z movement control in three directions on the robot body.
5. An automatic welding process for container corrugation welding according to claim 2, characterized in that: the robot body is ABB IRB1410, and the controller is IRC 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010240422.1A CN111390418B (en) | 2020-03-31 | 2020-03-31 | Automatic welding process for container corrugated welding |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010240422.1A CN111390418B (en) | 2020-03-31 | 2020-03-31 | Automatic welding process for container corrugated welding |
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| CN111390418A CN111390418A (en) | 2020-07-10 |
| CN111390418B true CN111390418B (en) | 2022-02-22 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112355439A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Special machine automatic welding process for container corrugated welding |
| CN112355438A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Automatic robot welding process for container corrugated welding |
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| CN112935675B (en) * | 2021-03-15 | 2023-04-25 | 成都焊研威达科技股份有限公司 | Special spot welding machine for angle steel camber molding of web angle steel assembly |
| CN113909720B (en) * | 2021-09-24 | 2024-01-26 | 深圳前海瑞集科技有限公司 | Welding device and welding method for deep wave steep slope corrugated plate container |
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Denomination of invention: An Automatic Welding Process for Corrugated Welding of Container Effective date of registration: 20221129 Granted publication date: 20220222 Pledgee: Zhejiang Shengzhou Rural Commercial Bank Co.,Ltd. Pukou Sub branch Pledgor: SHAOXING HANLI INDUSTRIAL AUTOMATION SCIENCE & TECHNOLOGY Co.,Ltd. Registration number: Y2022330003301 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |