CN111545965A - Rapid-changing efficient automatic welding system and implementation method - Google Patents
Rapid-changing efficient automatic welding system and implementation method Download PDFInfo
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- CN111545965A CN111545965A CN202010539618.0A CN202010539618A CN111545965A CN 111545965 A CN111545965 A CN 111545965A CN 202010539618 A CN202010539618 A CN 202010539618A CN 111545965 A CN111545965 A CN 111545965A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
- B25J9/1656—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
Abstract
The quick-changing efficient automatic welding system comprises a welding robot and a mechanical measuring arm device, wherein a mechanical arm comprises an upright post, a first measuring arm is rotatably connected to the upright post through a first horizontal rotating joint, a second measuring arm is rotatably connected to the tail end of the first measuring arm through a second horizontal rotating joint, and a second angle sensor is connected to the first horizontal rotating joint; and a Z-axis measuring head is arranged at the tail end of the second measuring arm. The method for realizing the rapid-changing efficient automatic welding comprises the following steps: a: selecting a mechanical measuring arm device; b: fixing the relative position of the mechanical measuring arm device and the welding robot; c: measuring the coordinate positions of at least two points on the welding line by using a mechanical measuring arm device; d: generating a welding track by a computer; e: and the welding robot generates a welding path according to the welding track. The invention solves the bottleneck problem which can not be solved for a long time.
Description
Technical Field
The invention relates to a welding technology, in particular to a high-efficiency automatic welding system capable of realizing rapid model change under the condition of small-batch workpieces and an implementation method, and belongs to the technical field of welding.
Background
The automatic (semi-automatic) welding robot has wide application in the current industrial production, can reduce the cost and improve the efficiency by replacing manual welding, when the welding robot carries out welding, the welding path of the robot per se produced according to a program runs, and the welding paths of different welding seams and workpieces are different, so the welding robot must have the welding path matched with the position of the workpiece and the shape of the welding seam before welding, the welding path of the current robot is formed by manual teaching, the teaching is also called guidance, namely the welding robot is guided by a user, the robot is operated once per step according to an actual task, the welding robot automatically memorizes the position, the posture, the motion parameters, the process parameters and the like of each action taught in the guiding process, and automatically generates a program for continuously executing all operations. After the teaching is completed, a start command is given to the welding robot, and the welding robot can accurately perform the teaching action and complete all the operations step by step, namely teaching and reproduction, or programming of the welding robot. Teaching playback is a common form of robot when welding simple workpieces. The following is a general welding robot teaching work process: creating a file and storing teaching data; teaching operation, namely controlling the welding robot to operate once step by step according to an actual task, and recording the position, the posture, the motion parameters, the process parameters and the like of each action of the welding robot during teaching; checking or correcting teaching data during or after the teaching process by using tracking operation; fourthly, using file editing operation to edit the details to finish the program in the tracking operation process or after the completion; and fifthly, after the teaching is finished, the welding robot is carried out to check the teaching program in an idle walking mode.
Specifically, in the welding operation, when the automatic welding equipment is used for welding a workpiece, the automatic welding equipment needs to be fixed by a positioning tool, and a specialized operator carries out teaching work through a demonstrator to plan a welding path and design welding parameters. The workpiece needs to be completely consistent with the shape and the space position of the taught workpiece by means of the positioning tool, so that the robot is not repeatedly taught and can perform repeated welding operation, and therefore, the workpiece with uniform specification and large batch size is high in economic benefit and working efficiency.
However, for some welding workpieces with various specifications and small quantity of each specification, the welding robot adopted in the case has the following three problems, namely 1, high requirement on operators; 2. the teaching steps are complicated; 3. each workpiece needs to be provided with a set of tool. The workpieces of each batch need to be changed after welding, the production cost is obviously increased, and the welding efficiency by using a welding robot is much lower than that of manual welding, so that the workpieces cannot be generally adopted.
The requirement of manual teaching on operators is high, and the teaching work of the welding robot can be finished only by the programming technology of machine language and higher welding process level. When the welding robot is used for welding, the teaching process must be carried out at least once every workpiece of a model change, namely, the position, the posture, the motion parameters, the process parameters and the like of each action are manually guided, and if some parameters after one teaching are not suitable, the parameters are required to be modified for many times. The robot welding must guarantee that repeated work piece location is unanimous, and special frock or flexible frock (also need adjustment, calibration frock clamp reach the effect of special frock) are indispensable. Therefore, in the case of manufacturing new small-lot products, manual welding is generally selected in factories.
With the development of domestic industry, on one hand, the situation of zero stock is inevitable, and the production of large batches of welding workpieces is less and less. On the other hand, the demand for non-standard manufacture of industrial products is increasing, and even though the shapes and structures of parts of the same type have high similarity, the size difference always exists, and the size difference cannot be completed by the same welding tool clamp and the same robot program. Therefore, the situation that a new small batch of workpieces appears in the welding production field becomes more and more normal, so that the welding robot frequently changes the model when performing the operation, the situation seriously restricts the application of the robot of the conventional teaching method, manual welding has to be adopted for economic benefit, and the manual welding has many traditional problems such as quality guarantee failure, difficult performance under severe environment, inconsistent welding seam quality and the like. Therefore, aiming at the welding problem of the small-batch order workpieces, how to weld the workpieces reduces the operation difficulty taught by the robot, has no requirement of operators and no special welding work requirement, thereby expanding the application range of the welding robot, applying the robot welding in the small-batch workpiece welding operation scene needing frequent changing, ensuring the welding quality, having economic benefit superior to manual welding and being a technical problem which is not solved for a long time in the current welding field.
Disclosure of Invention
The invention aims to overcome the bottleneck problem that the existing small-batch workpieces cannot be welded by using a welding robot in the welding process, and provides a rapid-prototyping high-efficiency automatic welding system and a realization method.
In order to realize the purpose of the invention, the following technical scheme is adopted: the automatic welding system comprises a welding robot and a mechanical measuring arm device, the welding robot comprises a control system, the mechanical measuring arm device comprises a mechanical arm and a computer system, the computer is communicated with the control system of the welding robot, the mechanical arm comprises a stand column, the stand column is rotatably connected with a first measuring arm through a horizontal rotary joint I, the horizontal rotary joint I is connected with an angle sensor I, a second measuring arm is rotatably connected at the tail end of the first measuring arm through a horizontal rotary joint II, and the horizontal rotary joint II is connected with an angle sensor II; the second measuring arm is provided with a Z-axis measuring head in a vertical sliding mode at the tail end of the second measuring arm, a displacement sensor is arranged in a matched mode with the Z-axis measuring head, and the first angle sensor, the second angle sensor and the displacement sensor are all connected to a computer system.
Further, the method comprises the following steps of; the first angle sensor and the second angle sensor are respectively a first rotary encoder and a second rotary encoder, and the two rotary encoders are respectively connected to the rotating parts of the two joints.
Further, the method comprises the following steps of; the displacement sensor is as follows: z axle measuring head fixed connection on the slider or with slider integrative setting, the slider cooperation sets up on the guide rail, guide rail fixed connection is on the second measuring arm, the outside face that the slider is located the guide rail is the rack structure, is provided with the gear with the rack cooperation, gear revolve connects on the second measuring arm, is connected with rotary encoder three in the axis of rotation of gear.
Further, the method comprises the following steps of; the tail end of the second measuring arm is screwed with a sliding block puller bolt through a screw hole, and after a tightening head puller bolt, the puller bolt puller sliding block can not freely slide.
Further, the method comprises the following steps of; the diameter of the lower end of the Z-axis measuring head is less than 0.5 mm.
The method for realizing the rapid prototyping efficient automatic welding comprises the following steps of:
a: selecting a mechanical measuring arm device, wherein the mechanical measuring arm device is provided with a computer, the mechanical measuring arm device transmits a measured point to the computer and then can be recorded by the computer, and the computer is communicated with the welding robot;
b: fixing the relative position of the mechanical measuring arm device and the welding robot;
c: measuring the coordinate positions of at least two points on the welding line by using a mechanical measuring arm device, and storing the coordinate positions in a computer;
d: the computer generates a welding track according to the coordinate position of the measured point and the shape of the welding seam measured by the mechanical measuring arm device;
e: the welding robot generates a welding path according to the welding track generated by the computer.
Further, the method comprises the following steps of; and D, taking the original point I set in the welding robot as the original point or taking the original point II set by the mechanical measuring arm device as the original point at the coordinate position in the step C, and when the original point II set by the mechanical measuring arm device is taken as the original point, converting the coordinate from the original point II to the original point I when the welding robot generates a welding path according to the welding track generated by the computer in the step E.
Further, the method comprises the following steps of; during measurement, a measuring head of the handheld mechanical arm is placed on a point to be measured, and then the coordinate position of the point is recorded through a computer.
The invention has the positive and beneficial technical effects that: the invention has the positive and beneficial technical effects that:
1. in the welding system, during teaching, a person holds the measuring arm by hand to find a point position for teaching, the teaching is more convenient than the teaching by holding a demonstrator, and the teaching efficiency is high when the workpiece is frequently changed;
2. the mechanical arm teaching operation is simple without training, the teaching difficulty is reduced, and the teaching efficiency is improved;
3. the original point of the traditional welding robot is fixed, the teaching process is complicated and professional, tools are required to be made, the tools ensure that the relative positions of workpieces and the original point are unchanged in batch welding, the teaching process and the teaching mode of the mechanical arm are very simple, the relative positions of the workpieces and a welding machine can be obtained after teaching every time, the positioning tools are not needed (if the clamping time is longer than the teaching time, the tool using efficiency is lower), the positions of the workpieces can be different, and the coordinate positions of the workpieces are measured by a measuring arm;
4. when the tool is used for welding operation in a large scale, the method has the efficiency advantage of one-time teaching compared with the traditional teaching method, because the batch size is large, the method is slightly superior to the traditional method in efficiency, when the small-batch welding operation with frequent model change is carried out, the method has the efficiency advantage of teaching every time (N times) compared with the traditional teaching method, and because the necessary teaching times are increased, the efficiency of the method is greatly higher than that of the traditional method. The method has obvious advantages in small batch or single piece manufacturing, the robot welding is high in cost, long in time consumption and low in efficiency when the welding batch is small due to the complexity of the teaching process in the robot welding, when the batch is lower than a certain value, the economy of the robot welding is not as good as that of manual welding, but the manual welding has a plurality of traditional problems such as quality guarantee failure, difficulty in carrying out welding under severe environment, inconsistent welding seam quality and the like, so the teaching is a great obstacle for popularizing and applying the welding robot in small batch welding operation, the small batch welding operation is a development direction of subsequent customization and personalized manufacturing, the proportion of small batch workpieces in the welding operation in tasks and orders is higher and higher, and the teaching method is simple in process, short in time consumption and free of operation of special professionals, so that even each small batch of workpieces is taught, the welding efficiency of the robot is limited and is still higher than that of manual welding, and the traditional defects of manual welding can be avoided, so that the teaching method overcomes the obstacle of low efficiency of the robot in small-batch workpiece welding;
5. because mechanical measurement arm device is a set of independent device for welding robot, only through computer communication between the two, so when switching over in batches, welding robot just can demonstrate next batch of work piece when welding last batch of work piece, and teaching and welding can cross operation basically, and teaching has realized big batch of work piece welding basically in other words.
Therefore, the system can be compared favorably with the efficiency of the robot for welding large-batch workpieces in the small-batch workpiece welding operation of frequent model changing, and the bottleneck problem that automatic welding cannot be solved for a long time under the condition of frequent model changing of small-batch welding is solved.
Drawings
Fig. 1 is an overall schematic view of a mechanical measuring arm device.
Fig. 2 is an enlarged view at E in fig. 1.
FIG. 3 is a schematic view of an automated welding system.
Detailed Description
In order to more fully explain the implementation of the present invention, examples of the implementation of the present invention are provided. These examples are merely illustrative of the present invention and do not limit the scope of the present invention.
The invention is explained in further detail in connection with the accompanying drawings, in which: 1: a column; 2: a first horizontal rotation joint; 3: a first measuring arm; 4: a second horizontal rotation joint; 5: a second measuring arm; 6: a Z-axis measuring head; 7: a slider; 8: a guide rail; 9: a gear; 10: jacking the bolt; 11: a welding robot.
As shown in the attached drawings, the rapid prototyping efficient automatic welding system comprises a welding robot 11 and a mechanical measuring arm device, wherein the welding robot comprises a control system, the mechanical measuring arm device comprises a mechanical arm and a computer system, the mechanical arm comprises a stand column 1, a first measuring arm 3 is rotatably connected onto the stand column through a horizontal rotary joint I2, an angle sensor I is connected onto the horizontal rotary joint I, a second measuring arm 5 is rotatably connected onto the tail end of the first measuring arm through a horizontal rotary joint II 4, and an angle sensor II is connected onto the horizontal rotary joint II; the first angle sensor and the second angle sensor are respectively a first rotary encoder and a second rotary encoder, the two rotary encoders are respectively connected to rotating pieces of two joints, a Z-axis measuring head 6 is arranged at the tail end of the second measuring arm in a sliding mode in the vertical direction, a displacement sensor is arranged in a matched mode with the Z-axis measuring head, and the first angle sensor, the second angle sensor and the displacement sensor are all connected to a computer system. Horizontal rotation joint can adopt the bearing, can be for the inner circle rotation in the bearing, also can be for the outer lane rotation, rotary encoder connects on the rotating turret, this is present common technique, displacement sensor be: z axle measuring head fixed connection on slider 7 or with slider integrative setting, the slider cooperation sets up on guide rail 8, guide rail fixed connection is on the second measuring arm, the face that the slider is located the guide rail outside is the rack structure, is provided with gear 9 with the rack cooperation, gear revolve connects on the second measuring arm, is connected with rotary encoder three in the axis of rotation of gear. A gear shaft can be fixedly connected with the gear, and the rotary encoder is connected to the gear shaft. The tail end of the second measuring arm is screwed with a sliding block puller bolt 9 through a screw hole, and after a tightening head puller bolt, the puller bolt puller sliding block can not freely slide. After the puller bolt is loosened, the Z axis can freely slide, the diameter of the lower end of the Z axis measuring head is smaller than 0.5mm, so that the teaching error can be ensured to be within 0.5mm, and the requirement of welding precision is met. In this application, the encoder model in the arm can adopt the rotatory incremental encoder M50L5000ZG0C of PENON, can adopt gyration support plane bearing in the rotary joint, and the model can adopt XRU3515RU66 bearing.
The mechanical measuring arm device structure is a mature SCARA robot structure, and the innovation of the applicant is that the SCARA robot structure is adopted as a measuring arm to be integrated into a welding robot to manufacture an automatic welding system, so that the teaching difficulty is reduced, the teaching efficiency is improved, the welding efficiency is greatly improved particularly for small-batch workpieces needing frequent changing, the quality is ensured, the adaptation degree of automatic welding to products with different welding tracks is obviously improved, and the production efficiency is greatly improved.
The method for realizing the rapid prototyping efficient automatic welding comprises the following steps of:
a: selecting a mechanical measuring arm device, wherein the mechanical measuring arm device is provided with a computer, the mechanical measuring arm device transmits a measured point to the computer and then can be recorded by the computer, and the computer is communicated with the welding robot;
b: fixing the relative position of the mechanical measuring arm device and the welding robot;
c: measuring the coordinate positions of at least two points on the welding line by using a mechanical measuring arm device, and storing the coordinate positions in a computer;
d: the computer generates a welding track according to the coordinate position of the measured point and the shape of the welding seam measured by the mechanical measuring arm device;
e: the welding robot generates a welding path according to the welding track generated by the computer.
Further, the method comprises the following steps of; and D, taking the original point I set in the welding robot as the original point or taking the original point II set by the mechanical measuring arm device as the original point at the coordinate position in the step C, and when the original point II set by the mechanical measuring arm device is taken as the original point, converting the coordinate from the original point II to the original point I when the welding robot generates a welding path according to the welding track generated by the computer in the step E.
Further, the method comprises the following steps of; during measurement, a measuring head of the handheld mechanical arm is placed on a point to be measured, and then the coordinate position of the point is recorded through a computer.
1, when the welding seam is a straight welding seam, only measuring the starting point and the end point of the welding seam, and producing a welding track no matter whether the welding seam is inclined relative to a reference horizontal plane or not; 2: when the welding seam is a circular welding seam, the welding track can be produced only by measuring two points on the measuring circle, and whether the welding seam is inclined or not is also not considered.
The invention is suitable for the SCARA mechanical measuring arm, but the mechanical measuring arm in the invention is not only the SCARA mechanical measuring arm, but also a plurality of mechanical arms can realize the application, and the mechanical measuring arm is the existing mature technology and equipment at present. However, the teaching is directly carried out by hands by the mechanical measuring arm, namely, a person holds the mechanical arm to the position for teaching, and the teaching is very favorable for embodying the advantages of teaching. Therefore, the method is provided with the measuring arm, is light and simple, is more convenient to measure, and can show the advantages of teaching or not.
The method has the innovation points that the mechanical measuring arm is applied to the teaching process, so that the method is simple and reliable, and the SCARA mechanical measuring arm is low in cost, flexible in movement, wide in accessible range and capable of achieving the error smaller than 0.5 mm. Although a mechanical measuring arm is a device capable of acquiring position information, it is not an easy imaginable and feasible thing to integrate it into a welding machine to form a small-batch automatic workpiece welding system suitable for frequent type changing operation, because the traditional robot teaching is realized by a welding robot, and the teaching efficiency is improved by modifying the performance of the welding robot and improving the skilled operation of the operator, and the application does not find any teaching function independent of the robot, and the applicant really confirms the teaching work by using a mechanical arm instead of a demonstrator after many attempts, wherein the creative labor is paid, including the selection and design of a measuring head and an encoder, in order to ensure the teaching efficiency and the measuring range, the design of the SCARA mechanical measuring arm still cannot solve the technical problems to be solved by the invention if the mechanical measuring arm is complex in structure and long in measuring time, and the applicant also tries a plurality of known positioning methods such as laser grid positioning, pull rope encoders and radio frequency multi-echo positioning before the invention succeeds. The specific development process is described as follows:
(1) and (3) positioning the laser grids, converting the spatial position measured by the laser into an infinite number of grids by using an integrated image acquisition and laser ranging module, and measuring the information of the object at the spatial position by using an inductor. However, the object to be welded is structured, and light emitted by laser can be blocked, so that some welding seams can not be effectively measured, the welding track can not be determined, and the teaching function can be realized;
(2) the pull rope encoder is characterized in that a spring type pull wire box is additionally arranged on the encoder and used for measuring displacement. The linear displacement is converted into a rotational movement of the encoder shaft. Detailed description: the pull-cord displacement sensor is formed by a stretchable stainless steel cable wound around a threaded hub which is coupled to a precision rotary sensor which may be an incremental encoder, an absolute (independent) encoder, a hybrid or conductive plastic rotary potentiometer, a synchronizer or resolver. During operation, the stay cord type displacement sensor is installed at a fixed position, the head of the rope is pulled to a measuring position, the hub with the threads drives the precise rotary inductor to rotate, and an electric signal proportional to the moving distance of the stay cord is output. The measuring distance is determined, the position information of the object can be measured by using the three pull rope encoders, but the three pull rope encoders can only be used for measuring the upper surface without the blockage of the object, the measuring precision is low, the error value is 2-3mm, and the three pull rope encoders cannot be used for welding;
(3) radio frequency multi-echo positioning, the principle and 3D scanning almost utilize radio signals to obtain position information through non-contact mode identification and reading and writing. He can locate the position information with small errors (usually in the order of centimeters) in a short time (usually in the order of millimeters) and with a large signal propagation range. However, the positioning device can only obtain the point cloud appearance of the object in the space position, namely, the appearance information of the object is presented by using countless points, the computer can only obtain the position information, the information of the welding track can not be obtained, the welding track can only be designed manually, the practicability is not strong, and the teaching function is not provided.
It can be seen from the above that the present invention has been accomplished with an absently perceived feeling by those skilled in the art after the completion of teaching and forming a welding trajectory using a mechanical measuring arm independent of the welding robot, but the idea and derivation of the solution is obvious before.
After the embodiments of the present invention have been described in detail, it will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention, and it is intended that all simple modifications, equivalent changes and modifications made to the above embodiments based on the technical spirit of the present invention shall fall within the technical scope of the present invention, and the present invention shall not be limited by the description.
Claims (8)
1. High-efficient automatic weld system of type changing fast, its characterized in that: the automatic welding system comprises a welding robot and a mechanical measuring arm device, the welding robot comprises a control system, the mechanical measuring arm device comprises a mechanical arm and a computer system, the computer is communicated with the control system of the welding robot, the mechanical arm comprises an upright post, a first measuring arm is rotatably connected to the upright post through a first horizontal rotary joint, a first angle sensor is connected to the first horizontal rotary joint, a second measuring arm is rotatably connected to the tail end of the first measuring arm through a second horizontal rotary joint, and a second angle sensor is connected to the second horizontal rotary joint; the second measuring arm is provided with a Z-axis measuring head in a vertical sliding mode at the tail end of the second measuring arm, a displacement sensor is arranged in a matched mode with the Z-axis measuring head, and the first angle sensor, the second angle sensor and the displacement sensor are all connected to a computer system.
2. The rapid prototyping efficient automatic welding system as set forth in claim 1, wherein: the first angle sensor and the second angle sensor are respectively a first rotary encoder and a second rotary encoder, and the two rotary encoders are respectively connected to the rotating parts of the two joints.
3. The rapid prototyping efficient automatic welding system as set forth in claim 1, wherein: the displacement sensor is as follows: z axle measuring head fixed connection on the slider or with slider integrative setting, the slider cooperation sets up on the guide rail, guide rail fixed connection is on the second measuring arm, the outside face that the slider is located the guide rail is the rack structure, is provided with the gear with the rack cooperation, gear revolve connects on the second measuring arm, is connected with rotary encoder three in the axis of rotation of gear.
4. The rapid prototyping efficient automatic welding system as set forth in claim 2, wherein: the tail end of the second measuring arm is screwed with a sliding block puller bolt through a screw hole, and after a tightening head puller bolt, the puller bolt puller sliding block can not freely slide.
5. The in-welding rapid prototyping efficient automated welding system as set forth in claim 1, wherein: the diameter of the lower end of the Z-axis measuring head is less than 0.5 mm.
6. The method for realizing the rapid prototyping efficient automatic welding adopts the rapid prototyping efficient automatic welding system as claimed in any one of claims 1 to 6, and is characterized by comprising the following steps:
a: selecting a mechanical measuring arm device, wherein the mechanical measuring arm device is provided with a computer, the mechanical measuring arm device transmits a measured point to the computer and then can be recorded by the computer, and the computer is communicated with the welding robot;
b: fixing the relative position of the mechanical measuring arm device and the welding robot;
c: measuring the coordinate positions of at least two points on the welding line by using a mechanical measuring arm device, and storing the coordinate positions in a computer;
d: the computer generates a welding track according to the coordinate position of the measured point and the shape of the welding seam measured by the mechanical measuring arm device;
e: the welding robot generates a welding path according to the welding track generated by the computer.
7. The method for realizing rapid prototyping efficient automatic welding as set forth in claim 6, wherein: and D, taking the original point I set in the welding robot as the original point or taking the original point II set by the mechanical measuring arm device as the original point at the coordinate position in the step C, and when the original point II set by the mechanical measuring arm device is taken as the original point, converting the coordinate from the original point II to the original point I when the welding robot generates a welding path according to the welding track generated by the computer in the step E.
8. The method for realizing rapid prototyping efficient automatic welding as set forth in claim 6, wherein: during measurement, a measuring head of the handheld mechanical arm is placed on a point to be measured, and then the coordinate position of the point is recorded through a computer.
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| CN202010539618.0A CN111545965A (en) | 2020-06-15 | 2020-06-15 | Rapid-changing efficient automatic welding system and implementation method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112756839A (en) * | 2021-03-04 | 2021-05-07 | 焦作智造机电设备有限公司 | Method for realizing programming-free automatic welding of straight pipe fitting through visual image tracing |
| CN116160102A (en) * | 2023-04-21 | 2023-05-26 | 中国核工业二三建设有限公司 | Plasma arc automatic welding equipment for welding stainless steel plates and use method |
-
2020
- 2020-06-15 CN CN202010539618.0A patent/CN111545965A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112756839A (en) * | 2021-03-04 | 2021-05-07 | 焦作智造机电设备有限公司 | Method for realizing programming-free automatic welding of straight pipe fitting through visual image tracing |
| CN112756839B (en) * | 2021-03-04 | 2022-03-08 | 焦作智造机电设备有限公司 | Method for realizing programming-free automatic welding of straight pipe fitting through visual image tracing |
| CN116160102A (en) * | 2023-04-21 | 2023-05-26 | 中国核工业二三建设有限公司 | Plasma arc automatic welding equipment for welding stainless steel plates and use method |
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