CN111515603B - Welding system - Google Patents
Welding system Download PDFInfo
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- CN111515603B CN111515603B CN202010373266.6A CN202010373266A CN111515603B CN 111515603 B CN111515603 B CN 111515603B CN 202010373266 A CN202010373266 A CN 202010373266A CN 111515603 B CN111515603 B CN 111515603B
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
Abstract
The invention relates to a welding system which comprises an internal welding gun of a welding robot and an external welding gun additionally arranged, wherein the external welding gun is additionally arranged, so that the welding system can improve the welding efficiency, and a plurality of external welding guns can be arranged aiming at different workpieces to be welded so as to meet the welding requirements of different workpieces to be welded. In addition, the encoder is arranged on the positioner, so that the encoder and the positioner form a linkage structure, when the inner welding gun starts welding, the positioner and the encoder rotate, the encoder can send a welding signal to the second control device, and the second welding device controls the outer welding gun to start welding, so that the outer welding gun and the inner welding gun can work synchronously. When the welding of inside welder stops, positioner and encoder stall, stop signal to second controlling means can be sent to the encoder, and the welding of second welding set control outside welder stops to realize outside welder and the synchronous stopping of inside welder, improve welding system's intellectuality and degree of automation.
Description
Technical Field
The invention relates to the field of welding, in particular to a welding system.
Background
Welding is a manufacturing process and technique for joining metals or other thermoplastic materials, such as plastics, in a heated, high temperature or high pressure manner. The energy sources for modern welding are many, including gas flame, electric arc, laser, electron beam, friction, and ultrasonic, among others. These energy sources can present hazards to the operator, such as burns, electric shock, vision damage, inhalation of toxic gases, excessive uv exposure, etc. In order to avoid damage to human body, welding robots are widely used in industrial production lines due to their high efficiency and high precision. Generally, a welding robot includes one or two welding guns and a positioner, and a control system of the welding robot can control the positioner and the internal welding guns to start and stop simultaneously, so that the welding robot can complete automatic welding. However, in the process of implementing the conventional technology, the inventor finds that the number of welding guns of the conventional welding robot is small, and the number of welding guns of the conventional welding robot cannot meet the requirement of capacity along with the improvement of the production line on the capacity and efficiency.
Disclosure of Invention
Therefore, it is necessary to provide a welding system for solving the problem that the conventional welding robot cannot meet the requirement of productivity.
A welding system, comprising: the welding device comprises a first control device, a position changing machine and at least one internal welding gun, wherein the position changing machine and the at least one internal welding gun are connected with the first control device;
the welding system further comprises an encoder, at least one external welding gun and a second control device, wherein the second control device is connected with the encoder and the at least one external welding gun and is used for controlling the at least one external welding gun to start welding or stop welding according to a signal of the encoder;
the positioner and the encoder form a linkage structure, when the first control device controls the at least one inner welding gun to start welding, the positioner rotates and drives the encoder to rotate, the encoder generates a welding signal and sends the welding signal to the second control device, and the second control device controls the at least one outer welding gun to start welding according to the welding signal;
when the first control device controls the at least one inner welding gun to stop welding, the positioner stops rotating and enables the encoder to stop rotating, the encoder generates a stop signal and sends the stop signal to the second control device, and the second control device controls the at least one outer welding gun to stop welding according to the stop signal.
In one embodiment, the positioner comprises a rotary table, the encoder comprises a rotating wheel, and the rotary table and the rotating wheel form a linkage structure.
In one embodiment, the positioner comprises a first base, and the turntable is mounted on the first base;
the encoder comprises a second base and a bracket bottom plate connected with the second base, the second base is fixedly arranged on the first base, and a through hole is formed in the second base;
the encoder further comprises an encoder body, an output shaft is arranged on the encoder body, and the rotating wheel penetrates through the through hole through the output shaft and is connected with the rotating wheel.
In one embodiment, a pressing structure is disposed on the second base and used for adjusting the pressure of the contact surface between the rotating wheel and the turntable, so that the rotating wheel and the turntable form an interlocking structure.
In one embodiment, one end of the pressing structure is fixed on the second base, and the other end of the pressing structure is connected with the support bottom plate.
In one embodiment, the compression structure comprises a spring.
In one embodiment, the second control device includes:
the pulse counting unit is used for recording the real-time pulse output by the encoder;
the oscillation unit records the pulse number of the encoder every preset time;
the storage unit is connected with the oscillation unit and used for storing the pulse number of the encoder recorded by the oscillation unit every preset time;
and the comparison unit is connected with the pulse counting unit and the storage unit and is used for comparing the real-time pulses with the pulse number recorded at preset time intervals.
In one embodiment, the second control device further comprises a processing unit connected with the comparing unit and the at least one external welding gun, and used for controlling the at least one external welding gun to start welding or stop welding according to the comparison result of the comparing unit;
when the real-time pulse is larger than the pulse number recorded every preset time, the processing unit outputs a welding signal, and the at least one external welding gun starts welding according to the welding signal;
and when the real-time pulse is less than or equal to the pulse number recorded every preset time, the processing unit outputs a stop signal, and the at least one external welding gun stops welding according to the stop signal.
In one embodiment, the welding system further comprises a robotic column on which the at least one inner weld gun and the at least one outer weld gun are mounted.
In one embodiment, the encoder comprises an incremental encoder.
The welding system that above-mentioned embodiment provided both included welding robot from the inside welder in area, also included the extra outside welder who installs additional, through installing outside welder additional for welding system can improve welding efficiency, and can set up a plurality of outside welders to the different work pieces that wait, in order to satisfy the difference and wait the welding demand of welding the work piece. In addition, the encoder is arranged on the positioner, so that the encoder and the positioner form a linkage structure, when the inner welding gun starts welding, the positioner and the encoder rotate, the encoder can send a welding signal to the second control device, and the second welding device controls the outer welding gun to start welding, so that the outer welding gun and the inner welding gun can work synchronously. When the inner welding gun stops welding, the positioner and the encoder stop rotating, the encoder can send a stop signal to the second control device, and the second welding device controls the outer welding gun to stop welding, so that the outer welding gun and the inner welding gun are synchronously stopped. Compared with the traditional method in which the external welding gun is delayed to start or stop in the internal welding gun due to manual starting or stopping of the external welding gun, the method has the advantages that the external welding gun and the internal welding gun can be synchronized by controlling the external welding gun through the encoder and the second control device, delay caused by manual starting or stopping does not exist, and the method is more intelligent and automatic.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block schematic diagram of a welding system provided in accordance with an embodiment of the present application;
fig. 2 is a schematic structural diagram of a position changing machine and an encoder provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of the structure of the encoder base of FIG. 2;
FIG. 4 is a schematic diagram showing a partial enlargement of the structure of the position changing machine and the encoder in FIG. 2;
FIG. 5 is a block diagram of a welding system according to yet another embodiment of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Hereinafter, although terms such as "first", "second", and the like may be used to describe various components, the components are not necessarily limited to the above terms. The above terms are only used to distinguish one component from another. It will also be understood that expressions used in the singular include expressions of the plural unless the singular has a distinctly different meaning in the context. Furthermore, in the following embodiments, it will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features or components, but do not preclude the presence or addition of one or more other features or components.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The welding robot generally includes at least one internal welding gun and a positioner for dragging the workpiece to be welded to move the weld to be welded of the workpiece to be welded to a desired position for the internal welding gun of the welding robot to perform the welding operation. The positioner and the at least one internal welding gun are controlled by the integrated professional control system, the movement tracks of the welding robot and the positioner can be planned in advance in the initial welding period, and the control system controls the at least one internal welding gun and the positioner to start welding or stop welding simultaneously during welding, so that good matching of the welding robot and the positioner is realized in operation engineering.
In the conventional technology, a welding robot usually comprises one or two internal welding guns, and the welding efficiency is not high enough due to the small number of the internal welding guns, so that the production requirement cannot be met. In general, a control system of a welding robot prohibits opening of an unnecessary signal port, so that a user cannot develop a new function for the welding robot. In order to solve the above problem, one solution is to additionally provide at least one external welding gun, where the at least one external welding gun and the at least one internal welding gun are both mounted on the same mechanical arm column. After the external welding gun is added, in order to meet the welding quality, the external welding gun and the internal welding gun need to work synchronously, namely, the external welding gun and the internal welding gun are controlled to synchronously start welding and synchronously stop welding. And because the control system of the welding robot prohibits the unnecessary signal ports from being opened to the outside, the time value to be welded of the external welding gun can be calculated by the external calculation program according to the information of different types of welding robots input by a user by adding an external calculation program by adopting the traditional method, and the time value is an approximate value. The welding robot is provided with a start button of the internal welding gun, the start button is used for correspondingly setting the external welding gun on the external welding gun, when the welding system is operated, a user needs to press the start button arranged on the welding robot firstly, after the internal welding gun starts to weld, the start button of the external welding gun is pressed again, the external welding gun and the internal welding gun are welded together, the time value of the external welding gun is the time value calculated by the external calculation program, and when the time is up, the external welding gun automatically stops welding.
However, in implementing the above conventional method, the inventors found that although the conventional method enables the outer torch and the inner torch to be welded together in most of the time of one welding turn, the method is affected by how fast the worker presses the button at the start of welding, which causes a certain time delay of the outer torch compared to the inner torch at the start of welding and at the start of welding, and the time value calculated by the external calculation program is an approximate value, which causes the welding end time of the outer torch and the welding end time of the inner torch to be not uniform due to the influence of the time value calculated by the external calculation program at the stop of welding. In addition, if emergency occurs, when the emergency stop key of the robot system is pressed, the emergency stop key of the external welding gun needs to be additionally pressed, and the manual repair welding is needed for the workpiece to be welded, and the intelligent degree is not high because the manual pressing of the emergency stop key of the external welding gun also delays the time when the external welding gun stops welding in the process compared with the internal welding gun.
To above-mentioned problem, the application provides a welding system, additionally set up at least one outside welder on welding robot, set up the encoder on the machine of shifting, utilize the encoder to gather welding robot's welding signal, when the machine of shifting starts, the encoder can follow the machine of shifting and obtain welding robot's welding signal, and send to outside second controlling means, outside second controlling means control outside welder starts, thereby make inside welder and outside welder can start work simultaneously. When the positioner stops, the encoder can obtain the stop signal of welding robot from the positioner to send to outside second controlling means, outside second controlling means control outside welder stops, thereby make inside welder and outside welder stop work simultaneously.
In one embodiment, as shown in fig. 1, the welding system includes a first control device 100, a positioner 200 coupled to the first control device 100, and at least one internal welding gun 300. The first control device 100, the positioner 200 and the at least one internal welding gun 300 form a welding robot. The first control device 100 is a control system of the welding robot, and is used for controlling the positioner 200 and the at least one internal welding gun 300 to be started or stopped simultaneously, so that the positioner 200 and the at least one internal welding gun 300 are matched to complete automatic welding work.
The welding robot further includes a driver, a transmission mechanism connected to the actuator, at least one robot arm connected to the transmission mechanism, etc., and the internal welding guns 300 are disposed at the ends of the robot arm, typically one or two in number. The first control apparatus 100 may control the internal welding gun 300 to perform welding in a desired position, posture and movement trace by controlling the movement of the robot arm.
The positioner 200 is arranged at a position corresponding to the internal welding gun 300 and is used for arranging a workpiece to be welded and driving the workpiece to be welded to perform rotary motion or inclined motion and the like, and the internal welding gun 300 can weld different positions of the workpiece to be welded by changing the position of the workpiece to be welded so as to complete an automatic welding task. In this embodiment, the positioner 200 may be a seat-type welding positioner, and may turn over the workpiece to be welded to an ideal welding position for welding, or drive the workpiece to be welded to rotate at a welding speed. When the welding robot starts to operate, the first control device 100 controls the positioner 200 to start to rotate and controls the at least one internal welding gun 300 to operate, and when the welding robot stops welding, the first control device 100 controls the positioner 200 to stop rotating and controls the at least one internal welding gun 300 to stop operating.
The welding system further comprises at least one second control means 400, an encoder 500 and at least one external welding gun 600. The second control device 400 is connected to the encoder 500 and at least one exterior welding torch 600, and is used for controlling the exterior welding torch to start welding or stop welding according to a signal of the encoder 500. In this embodiment, the second welding device 400 may be installed outside the welding robot.
Specifically, at least one external welding gun 600 is installed on the welding robot for setting the number of external welding guns 600 as required. The external welding gun 600 is matched with the internal welding gun 300, and the external welding gun and the internal welding gun start welding and stop welding at the same time, so that the welding efficiency is improved, and the production requirement is met.
The second control device 400 is connected to the exterior welding torch 600 and the encoder 500, and is used for acquiring a signal from the encoder 500 and controlling the exterior welding torch 600 to start simultaneously when the interior welding torch 300 starts welding. In this embodiment, the encoder 500 is mounted on the positioner 200, and forms an interlocking structure with the positioner 200. When the first control device 100 controls the internal welding gun 300 to start welding, the positioner 200 is synchronously started to rotate, the encoder 500 can rotate along with the positioner at the same time, the encoder 500 can generate a welding signal according to the rotation of the encoder 500, and then the second control device 400 controls the external welding gun 600 to start according to the received welding signal, so that the external welding gun 600 and the internal welding gun 300 are started at the same time. When the first control device 100 controls the inner welding gun 300 to stop welding, the positioner 200 synchronously stops rotating, the encoder 500 also stops rotating at the moment and generates a stop signal, and the second control device 400 controls the outer welding gun 600 to stop according to the received stop signal, so that the outer welding gun 600 and the inner welding gun 300 are simultaneously stopped.
The welding system that above-mentioned embodiment provided both includes welding robot's the inside welder 300 of taking certainly, also includes the outside welder 600 of extra additional installation, through installing outside welder 600 additional for welding system can improve welding efficiency, and can treat to the difference and set up a plurality of outside welders 600 to the work piece, treat to the welding demand of welding the work piece with satisfying the difference. In addition, the encoder 500 is arranged on the positioner 200, so that the encoder 500 and the positioner 200 form a linkage structure, when the internal welding gun 300 starts welding, the positioner 200 and the encoder 500 rotate, the encoder 500 can send a welding signal to the second control device 400, and the second welding device 400 controls the external welding gun 600 to start welding, so that the external welding gun 600 and the internal welding gun 300 synchronously work. When the internal welding gun 300 stops welding, the positioner 200 and the encoder 500 stop rotating, the encoder 500 can send a stop signal to the second control device 400, and the second welding device 400 controls the external welding gun 600 to stop welding, so that the external welding gun 600 and the internal welding gun 300 synchronously stop. Compared with the conventional method in which the external welding gun 600 is delayed to start or stop the internal welding gun 300 due to manual start or stop of the external welding gun 600, the method has the advantages that the external welding gun 600 and the internal welding gun 300 can be synchronized by controlling the external welding gun 600 through the encoder 500 and the second control device 400, delay caused by manual start or stop is avoided, and the method is more intelligent and automatic.
In one embodiment, as shown in fig. 2, the positioner 200 includes a rotary plate 210, the encoder 500 includes a rotary wheel 510, and the rotary plate 210 of the positioner 200 and the rotary wheel 510 of the encoder 500 form an interlocking structure. When the turntable 210 of the positioner 200 rotates, the rotating wheel 510 of the encoder 500 rotates simultaneously with the turntable 510 under the driving of the turntable 210. In this embodiment, when the dial 210 rotates forward (i.e., rotates counterclockwise), the rotating wheel 510 rotates clockwise, and when the dial 210 rotates backward (i.e., rotates clockwise), the rotating wheel 510 rotates counterclockwise.
Further, in one embodiment, the positioner 200 further includes a first base 220, and the turntable 210 is mounted on the first base 220 and rotates relative to the first base 220. The encoder 500 includes a second base 520, and the second base 520 is fixedly mounted on the first base 220. The second base 520 is further provided with a pressing structure, and the pressing structure is used for adjusting the pressure of a contact surface between the rotating wheel 510 of the encoder 500 and the turntable 210 of the positioner 200, so that the rotating wheel 510 and the turntable 210 are pressed to form a linkage structure.
Specifically, as shown in fig. 3, the second base 520 includes a bottom 521, a top plate 522, and two support plates 522 connecting the bottom 521 and the bottom plate 522. The bottom plate 521 may be provided with screw holes, the first base 220 may be provided with screw holes corresponding to the screw holes of the bottom plate 521, and the second base 520 may be fixedly mounted on the first base 220 by bolts, of course, the second base 520 may also be fixed to the first base 220 by other methods, such as welding, clamping, etc., which is not limited in this embodiment.
As shown in fig. 4, the encoder 500 further includes a bracket base plate 540 to which the encoder body 530 is mounted, and the bracket base plate 540 and the second base 520 are connected by a connection shaft 541. The encoder body 530 may be mounted on the bracket bottom plate 540, the encoder body 530 has an output shaft, the output shaft passes through a through hole formed in the bracket bottom plate 540, and the other end of the output shaft is mounted with the rotating wheel 510, that is, the rotating wheel 510 is connected with the encoder body 530 through the output shaft, and the rotating wheel 510 and the encoder body 530 are respectively located at two sides of the bracket bottom plate 540. The pressing structure 550 has one end fixed to the second base 520 and the other end connected to the braiding frame base plate 540, so as to adjust the pressure between the rotating wheel 510 and the rotating disc 210. In this embodiment, the pressing structure 550 may be an elastic member, such as a spring, and the spring may be a gas spring or a compression spring, which is not limited in this embodiment.
According to the welding system provided by the embodiment, the encoder 500 is arranged on the positioner 200 to collect the welding signal of the positioner 200 and send the welding signal to the second control device 400, so that the second control device 400 can control the external welding gun 600 to start welding according to the collected welding signal, and synchronous welding and synchronous stop of the internal welding gun 300 and the external welding gun 300 are realized. In addition, the encoder 500 includes the second base 520, the second base 520 is provided with the hold-down structure 550, the second base 520 is connected to the hold-down structure 550 one end, the other end linking bridge bottom plate 540 to can adjust the pressure of the contact surface between the rotating wheel 510 and the carousel 210, make the rotating wheel 510 compress tightly and form the interlock structure in the carousel 210, thereby the rotating wheel 510 rotates simultaneously when the carousel 210 rotates, be convenient for the encoder 500 to gather the welding signal of the carousel 210.
In one embodiment, as shown in fig. 5, the second control device 400 includes a pulse counting unit 410, an oscillating unit 420, and a comparing unit 430. The pulse counting unit 410 is used for recording the real-time pulses output by the encoder 500. The encoder 500 used in this embodiment is an incremental encoder, and when the rotating wheel of the encoder 500 rotates clockwise, the number of pulse signals generated by the encoder 500 increases, and when the rotating wheel of the encoder 500 rotates counterclockwise, the number of pulses generated by the encoder 500 decreases, so that the pulse counting unit 410 can record the number of real-time pulses generated by the encoder 500 at the current moment. The oscillation unit 420 is used for recording the number of pulses of the encoder 500 at preset time intervals, which can be selected according to requirements, such as 0.02s, 0.04s or 0.06 s. It is understood that the second control device 400 further comprises a storage unit 440 connected to the oscillation unit 420 for storing the number of pulses recorded by the oscillation unit 420 at predetermined time intervals. The comparing unit 430 is connected to the storage unit 440 and the pulse counting unit 410, and is used for comparing the real-time pulses with the number of pulses recorded at preset time intervals. The second control device 400 further comprises a processing unit 450 connected to the comparing unit 430 and the external welding torch 600 for controlling the external welding torch 600 according to the comparison result of the comparing unit 430. When the real-time pulse number collected by the pulse counting unit 410 is greater than the pulse number collected by the oscillating unit 420 every preset time, the processing unit 450 outputs a welding signal, and the external welding gun starts welding according to the welding signal. When the real-time pulse number collected by the pulse counting unit 410 is less than or equal to the pulse number recorded by the oscillating unit 420 every preset time, the processing unit 450 outputs a stop signal, and the external welding gun 600 stops welding according to the stop signal.
Specifically, when the first control device 100 controls the internal welding gun 300 to start, the turntable of the positioner 200 rotates forward at the welding speed, and drives the rotating wheel of the encoder 500 to rotate clockwise, so that the number of pulses generated by the encoder 500 is increased. When the workpieces to be welded need to be reworked and repaired, the turntable of the positioner 200 rotates reversely and drives the rotating wheel of the encoder 500 to rotate anticlockwise, and the number of pulses generated by the encoder 500 is reduced. It should be noted that, when welding robot starts, inside welder and outside welder all start the welding, and the carousel corotation of machine of shifting this moment, when welding robot reworking repair welding, only need start inside welder welding, outside welder need not to start, and the machine of shifting carousel reversal this moment.
The pulse counting unit 410 records the number of real-time pulses, and the oscillating unit 420 records the number of pulses every preset time, which is exemplified by a preset time interval of 0.06s in the embodiment. If the real-time pulse number recorded by the pulse counting unit 410 is greater than the pulse number recorded at preset time intervals, that is, the pulse number after 0.06s is greater than the pulse number before 0.06s, it indicates that the pulse number of the encoder 500 is increased, that is, the positioner 200 rotates forward, and welding needs to be started, and the external welding gun 600 is controlled to start, so as to realize synchronous welding with the internal welding gun.
If the real-time pulse number recorded by the pulse counting unit 410 is equal to the pulse number recorded at preset time intervals, that is, the pulse number after 0.06s is equal to the pulse number before 0.06s, it indicates that the pulse number of the encoder 500 is unchanged, that is, the positioner 200 does not rotate and needs to stop welding, and the external welding gun 600 is controlled to stop so as to realize synchronous stop with the internal welding gun.
If the real-time pulse number recorded by the pulse counting unit 410 is smaller than the pulse number recorded at preset time intervals, that is, the pulse number after 0.06s is smaller than the pulse number before 0.06s, it indicates that the pulse number of the encoder 500 is reduced, that is, the positioner 200 is inverted, and at this time, rework repair welding is required, and the external welding gun 600 is controlled to stop without starting the external welding gun 600.
In the above embodiment, the second control device 400 may be a PLC (Programmable Logic Controller), the pulse counting unit 410 may be a high-speed counter inside the PLC, the oscillating unit 420 may be an oscillating circuit inside the PLC, and the storage unit 440 may be a register inside the PLC.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A welding system, comprising: the welding device comprises a first control device, a position changing machine and at least one internal welding gun, wherein the position changing machine and the at least one internal welding gun are connected with the first control device;
the welding system further comprises an encoder, at least one external welding gun and a second control device, wherein the second control device is connected with the encoder and the at least one external welding gun and is used for analyzing a real-time pulse signal of the encoder and controlling the at least one external welding gun to start welding or stop welding;
the positioner and the encoder form a linkage structure, when the first control device controls the at least one internal welding gun to start welding, the positioner rotates and drives the encoder to rotate, the encoder generates the real-time pulse signal and sends the real-time pulse signal to the second control device, and the second control device analyzes the real-time pulse signal to control the at least one external welding gun to start welding;
when the first control device controls the at least one internal welding gun to stop welding, the positioner stops rotating and enables the encoder to stop rotating, the encoder generates the real-time pulse signal and sends the real-time pulse signal to the second control device, and the second control device analyzes the real-time pulse signal to control the at least one external welding gun to stop welding;
the second control device comprises a pulse counting unit, an oscillating unit, a storage unit, a comparison unit and a processing unit;
the pulse counting unit is used for recording the real-time pulse signal output by the encoder;
the oscillation unit is used for recording the pulse number of the encoder at preset time intervals;
the storage unit is connected with the oscillation unit and used for storing the pulse number of the encoder recorded by the oscillation unit every preset time;
the comparison unit is connected with the pulse counting unit and the storage unit and is used for comparing the real-time pulses with the pulse number recorded at preset time intervals;
and the processing unit is connected with the comparison unit and the at least one external welding gun and is used for controlling the at least one external welding gun to start welding or stop welding according to the comparison result of the comparison unit.
2. The welding system of claim 1, wherein the positioner comprises a rotary table, and the encoder comprises a rotary wheel, the rotary table and the rotary wheel forming a linkage.
3. The welding system of claim 2, wherein the positioner comprises a first base on which the turntable is mounted;
the encoder comprises a second base and a bracket bottom plate connected with the second base, the second base is fixedly arranged on the first base, and a through hole is formed in the second base;
the encoder further comprises an encoder body, an output shaft is arranged on the encoder body, and the rotating wheel penetrates through the through hole through the output shaft and is connected with the rotating wheel.
4. The welding system of claim 3, wherein the second base is configured with a pressing structure for adjusting a pressure of a contact surface between the rotating wheel and the turntable, so that the rotating wheel and the turntable form a linkage structure.
5. The welding system of claim 4, wherein the hold-down structure is secured to the second base at one end and to the support base at an opposite end.
6. The welding system of claim 5, wherein the hold-down structure comprises a spring.
7. The welding system of claim 1, wherein the processing unit is configured to control the at least one external welding gun to start welding or stop welding according to the comparison result of the comparison unit, and comprises:
when the real-time pulse is larger than the pulse number recorded every preset time, the processing unit outputs a welding signal, and the at least one external welding gun starts welding according to the welding signal;
and when the real-time pulse is less than or equal to the pulse number recorded every preset time, the processing unit outputs a stop signal, and the at least one external welding gun stops welding according to the stop signal.
8. The welding system of claim 7, further comprising a robotic column on which the at least one inner weld gun and the at least one outer weld gun are mounted.
9. The welding system of claim 2, wherein the encoder increases the number of pulses generated by the rotary wheel rotating clockwise when the inner torch is activated.
10. The welding system of any of claims 1-9, wherein the encoder comprises an incremental encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN202486615U (en) * | 2012-03-31 | 2012-10-10 | 中国矿业大学 | Coordination control system for multiple welding robots |
| CN205200848U (en) * | 2015-11-18 | 2016-05-04 | 长沙长泰机器人有限公司 | Automobile body processing is with welding system of assembling |
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| JP2000237878A (en) * | 1999-02-19 | 2000-09-05 | Kawasaki Heavy Ind Ltd | Control method of electric servo type resistance welding equipment and controller therefor |
| CN102380718A (en) * | 2010-08-30 | 2012-03-21 | 上海运青制版有限公司 | Automatic welding and blocking device with circumferential and universal angle |
| CN201997835U (en) * | 2011-03-15 | 2011-10-05 | 常州市华强焊割设备有限公司 | Side plate welding device for excavator grab of excavator |
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| CN111515603A (en) | 2020-08-11 |
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