CN112692409A - Tube plate welding system based on touch position finding calibration and welding method thereof - Google Patents
Tube plate welding system based on touch position finding calibration and welding method thereof Download PDFInfo
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- CN112692409A CN112692409A CN202011508900.9A CN202011508900A CN112692409A CN 112692409 A CN112692409 A CN 112692409A CN 202011508900 A CN202011508900 A CN 202011508900A CN 112692409 A CN112692409 A CN 112692409A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0953—Monitoring or automatic control of welding parameters using computing means
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/18—Sheet panels
Abstract
The invention relates to the technical field of welding, in particular to a tube plate welding system based on touch position finding calibration and a welding method thereof.A ABB touch position finding system is arranged for measuring the size deviation of a workpiece, a data source is provided for the correction position of the welding system, and measured data are transmitted to the ABB system for processing through analog quantity communication; the ABB system is responsible for executing the welding track, receives command signals from the welding system, adjusts the preset track through the commands, receives HMI system signals, obtains product deviation data through calculation, and transmits the deviation data to the ABB system. According to the invention, the ABB touch position-finding system is used for measuring the position data of different plates and pipes placed on the positioner relative to the standard points, and after the position data is processed by the ABB robot software system, the automatic offset processing of the welding system is realized, so that the welding system has strong practicability.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a tube plate welding system based on touch position finding calibration and a welding method thereof.
Background
The tube plate welding refers to a processing process that an ABB robot welds a plate to be welded and a tube to be welded together by using an argon arc welding method. The traditional processing is that ginseng and the welding of the workpieces are realized. Some adopted machines have certain dimensional tolerance because the product exists, and this tolerance exceeds the equipment tolerance that allows, and the user need carry out artifical teaching according to different work pieces at every turn in the use, just can automatic processing after the teaching.
In the plate pipe welding system in the prior art, because the welded workpiece has certain dimensional tolerance due to the fact that the workpiece is artificially welded, and the existing machining precision also has tolerance, the combination of the two tolerances exceeds the allowable tolerance of equipment, a user needs to manually teach according to different workpieces every time in the use process, the automatic machining can be carried out after teaching, time and labor are wasted, and the productivity of the equipment cannot be effectively utilized. Some traditional processing still utilizes the manual work to carry out and can not guarantee the yield of product more.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses a tube plate welding system based on touch position finding calibration and a welding method thereof, which are used for solving the problems that in the tube plate welding system in the prior art, because a welded workpiece has certain dimensional tolerance due to manual workpiece feeding and the existing machining precision also has tolerance, the combination of the two tolerances exceeds the allowable tolerance of equipment, a user needs to manually teach different workpieces each time in the using process, automatic machining can be carried out after teaching, time and labor are wasted, and the productivity of the equipment cannot be effectively utilized.
The invention is realized by the following technical scheme:
in a first aspect, the invention discloses a tube plate welding system based on touch locating calibration, wherein the system is provided with an ABB touch locating system for measuring the size deviation of a workpiece, a data source is provided for the correction position of the welding system, and measured data are transmitted to the ABB system for processing through analog quantity communication; the ABB system is responsible for executing the welding track, receives command signals from the welding system, adjusts the preset track through the commands, receives HMI system signals, obtains product deviation data through calculation, and transmits the deviation data to the ABB system.
Furthermore, the welding system, the HMI system and the ABB system are connected through a PROFINNET bus to realize data exchange.
Furthermore, the isochronous data exchange of the profinet bus is defined in isochronous real-time capability and communicates on the basis of the ethernet controller ERTEC.
Furthermore, the ABB system is responsible for executing the tail end, executing the welding track, receiving a command signal from the welding system, and adjusting the preset track through the command to realize the accuracy of the processing position.
Furthermore, the ABB touch locating system adds uniform electric fields to four vertexes of RT, RB, LT and LB at the detection end, so that the lower layer of ITO GLASS is fully distributed with uniform voltage, the upper layer of the ABB touch locating system is a signal receiving device, and when any point on the surface of the ABB touch locating system is touched, the controller detects that the resistance changes at the touched point, and then the coordinate is changed.
Furthermore, the welding system is a tube plate welding system which is mainly constructed by a PLC, an ABB robot, a hydraulic system and a displacement system.
Furthermore, the HMI system is composed of hardware and software; the hardware part of the HMI system comprises a processor, a display unit, an input unit, a communication interface and a data storage unit; the software part of the HMI system comprises system software running in HMI hardware and picture configuration software running under a PC Windows operating system.
Furthermore, the welding wire of the ABB touch locating system is electrified with low voltage in the locating mode, the workpiece is grounded, a contact signal is generated when the welding wire and the workpiece are in contact in the moving process of the robot along the locating track, the robot stops moving, and the path is corrected by using the deviation value of the current position and the program set position, so that the real target value is obtained.
Further, the ABB system includes a processor and a memory storing instructions for execution, receives command signals from the welding system, and adjusts the predetermined trajectory via the commands.
In a second aspect, the present invention discloses a tube sheet welding system based on touch position finding calibration and a welding method thereof, wherein the welding method is executed by using the tube sheet welding system based on touch position finding calibration of the first aspect, and the welding method comprises the following steps:
s1 obtaining size parameters of different positions of the object to be measured through manual selection in the HMI system, and transmitting the data to the welding system;
s2, the welding system receives HMI system data and carries out calculation, and after the calculation is finished, the obtained data is transmitted to the ABB robot system;
s3 the ABB robot system receives the welding system transmission data and changes the preset track according to the welding system data;
s4 the ABB robot system calls the ABB touch locating system to accurately locate again;
and S5 the ABB robot system touches the locating data and changes the preset track by combining the welding system data to finally obtain the accurate processing track.
The invention has the beneficial effects that:
according to the invention, the ABB touch position-finding system is used for measuring position data of different plates and pipes placed on the positioner relative to standard points, and the ABB touch position-finding system is used for processing the position data through the ABB robot software system, so that automatic offset processing of the welding system is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram illustrating a tube sheet welding system and a welding method based on touch locating calibration.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment discloses a tube sheet welding system based on calibration is sought to touching, and it includes: the system comprises a touch locating system, an HMI software system, a welding control system and an ABB robot system.
In this embodiment, the welding system is used as a control center of the system and is connected to the ABB robot, the hydraulic system, the displacement system and the HMI respectively. The touch locating system can obtain the actual position of a measured object through measurement of different positions and conversion of a mathematical formula, calculate the deviation of position coordinates through comparison calculation of the actual position and a standard position, and transmit the deviation data to the ABB robot to realize automatic plate and tube welding processing.
The whole system of the embodiment comprises an ABB locating system, a welding system, an HMI system and an ABB system. Developers need to integrate these systems into a whole to realize the automation of the processing.
In this embodiment, a developer needs to perform model selection, programming of a welding system and an HMI system, programming of an ABB locating system, and field teaching on equipment.
In this embodiment, the overall deviation and deviation direction of the processed device need to be known in the system development process, and the ABB locating system model, the measurement range and other parameters are selected according to the data.
In this embodiment, a technician needs to develop a set of processing and welding procedures based on touch locating suitable for customer products according to product conditions. When different products are machined at each time, the system can obtain measurement data by touching and locating the measurement at different positions of the products, and the HMI software system can realize the machining of workpieces with large deviation sizes by the transformation of a coordinate system.
Example 2
The embodiment discloses a tube plate welding system based on touch position finding calibration, wherein an ABB touch position finding system is arranged in the system and used for measuring the size deviation of a workpiece, a data source is provided for the correction position of the welding system, and the measured data is transmitted to the ABB system for processing through analog quantity communication; the ABB system is responsible for executing the welding track, receives command signals from the welding system, adjusts the preset track through the commands, receives HMI system signals, obtains product deviation data through calculation, and transmits the deviation data to the ABB system.
In this embodiment, the welding system, the HMI system, and the ABB system are connected by a profinet bus to realize data exchange.
In this embodiment, isochronous data exchange on the profinet bus is defined in isochronous real-time functionality and is communicated based on the ethernet controller ERTEC.
In this embodiment, the ABB system is responsible for executing the end execution work, is responsible for executing the welding track, receives the instruction signal from the welding system, and adjusts the predetermined track through the instruction, thereby achieving the accuracy of the processing position.
In this embodiment, the ABB touch locating system adds uniform electric fields to the four vertexes RT, RB, LT, LB of the detecting end, so that the lower ITO GLASS layer is covered with uniform voltages, and the upper ITO GLASS layer is a signal receiving device.
In this embodiment, the welding system is a tube plate welding system constructed by using a PLC, an ABB robot, a hydraulic system, and a displacement system as main bodies.
In the embodiment, the HMI system is composed of hardware and software; the hardware part of the HMI system comprises a processor, a display unit, an input unit, a communication interface and a data storage unit; the software part of the HMI system comprises system software running in HMI hardware and picture configuration software running under a PC Windows operating system.
In the embodiment, when the ABB touch locating system is in the locating mode, the welding wire of the system is electrified with low voltage, the workpiece is grounded, a contact signal is generated when the welding wire and the workpiece are in contact in the moving process of the robot along the locating track, the robot stops moving, and the path is corrected by using the deviation value of the current position and the program set position, so that the real target value is obtained.
In this embodiment, the ABB system includes a processor and a memory storing instructions for execution, receives command signals from the welding system, and adjusts the predetermined trajectory via the commands.
Example 3
The embodiment discloses a tube plate welding system based on touch locating calibration and a welding method thereof, as shown in fig. 1, and the welding method comprises the following steps:
s1 obtaining size parameters of different positions of the object to be measured through manual selection in the HMI system, and transmitting the data to the welding system;
s2, the welding system receives HMI system data and carries out calculation, and after the calculation is finished, the obtained data is transmitted to the ABB robot system;
s3 the ABB robot system receives the welding system transmission data and changes the preset track according to the welding system data;
s4 the ABB robot system calls the ABB touch locating system to accurately locate again;
and S5 the ABB robot system touches the locating data and changes the preset track by combining the welding system data to finally obtain the accurate processing track.
In the present invention, the welding system: the system is a tube plate welding system which is mainly constructed by a Siemens 1500PLC, an ABB robot, a hydraulic system and a displacement system.
The HMI software system consists of a siemens TP1500 series touch screen. The main functions are as follows: 1. selecting a welded plate and a welded tube, 2, realizing the relative position of the selected tube relative to the welded plate.
And the position searching system is touched, the welding wire of the system is electrified with low voltage electricity in a position searching mode, and the workpiece is grounded. When the robot moves along the locating track, once the welding wire and the workpiece contact, a contact signal is generated, and the robot stops moving. And correcting the path by using the deviation value of the current position and the program set position so as to obtain a real target value.
The ABB robot system is used for executing instructions issued by the welding system and carrying out welding operation according to set related parameters.
In conclusion, the ABB touch locating system is used for measuring the position data of different plates and pipes placed on the positioner relative to the standard points, and the ABB touch locating system is used for processing the position data through the ABB robot software system, so that the automatic offset processing of the welding system is realized.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A tube plate welding system based on touch position finding calibration is characterized in that the system is provided with an ABB touch position finding system for measuring the size deviation of a workpiece, a data source is provided for the correction position of the welding system, and measured data are transmitted to the ABB system for processing through analog quantity communication; the ABB system is responsible for executing the welding track, receives command signals from the welding system, adjusts the preset track through the commands, receives HMI system signals, obtains product deviation data through calculation, and transmits the deviation data to the ABB system.
2. The tube sheet welding system based on touch position finding calibration as claimed in claim 1, wherein the welding system, the HMI system and the ABB system are connected through profinet bus for data exchange.
3. The touch position calibration based tube sheet welding system of claim 1, wherein the isochronous data exchange of the profinet bus is defined in isochronous real-time capability and communicates on an ethernet controller ERTEC basis.
4. The tube sheet welding system based on touch position finding calibration as claimed in claim 1, wherein the ABB system is responsible for end execution work, for execution of welding tracks, receives command signals from the welding system, and adjusts the predetermined tracks through commands to achieve accuracy of machining positions.
5. The tube sheet welding system based on touch locating calibration of claim 1, wherein the ABB touch locating system applies uniform electric field to the four vertices of RT, RB, LT, LB at the probing end to make the lower ITO GLASS layer spread with uniform voltage and the upper ITO GLASS layer is a signal receiving device, when any point on the surface is touched, the controller detects the resistance change at the touched point to change the coordinate.
6. The tube sheet welding system based on touch position finding calibration as claimed in claim 1, wherein the welding system is a tube sheet welding system mainly constructed by PLC, ABB robot, hydraulic system and displacement system.
7. The touch location calibration based tube sheet welding system of claim 1, wherein said HMI system is comprised of two parts, hardware and software; the hardware part of the HMI system comprises a processor, a display unit, an input unit, a communication interface and a data storage unit; the software part of the HMI system comprises system software running in HMI hardware and picture configuration software running under a PC Windows operating system.
8. The tube plate welding system based on touch position finding calibration as claimed in claim 1, wherein the ABB touch position finding system is configured such that when in the position finding mode, the welding wire is energized with low voltage, the workpiece is grounded, when the welding wire and the workpiece contact each other during the movement of the robot along the position finding track, a contact signal is generated, the robot stops moving, and the path is corrected by using the deviation value between the current position and the programmed position, so as to obtain the real target value.
9. The touch seek calibration based tube sheet welding system of claim 1, wherein the ABB system comprises a processor and a memory storing instructions for execution, receives command signals from the welding system, and adjusts the predetermined trajectory via the commands.
10. A tube sheet welding system based on touch position finding calibration and a welding method thereof, wherein the welding method is executed by using the tube sheet welding system based on touch position finding calibration as claimed in any one of claims 1-9, the welding method comprises the following steps:
s1 obtaining size parameters of different positions of the object to be measured through manual selection in the HMI system, and transmitting the data to the welding system;
s2, the welding system receives HMI system data and carries out calculation, and after the calculation is finished, the obtained data is transmitted to the ABB robot system;
s3 the ABB robot system receives the welding system transmission data and changes the preset track according to the welding system data;
s4 the ABB robot system calls the ABB touch locating system to accurately locate again;
and S5 the ABB robot system touches the locating data and changes the preset track by combining the welding system data to finally obtain the accurate processing track.
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| CN202011508900.9A CN112692409A (en) | 2020-12-19 | 2020-12-19 | Tube plate welding system based on touch position finding calibration and welding method thereof |
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Cited By (3)
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| CN113733057A (en) * | 2021-09-23 | 2021-12-03 | 曹智军 | Method for assembling robot rib plates of U-shaped groove of single-beam crane |
| CN114102608A (en) * | 2021-12-24 | 2022-03-01 | 江苏汇博机器人技术股份有限公司 | Multifunctional robot fault diagnosis system |
| CN114769768A (en) * | 2022-05-19 | 2022-07-22 | 广州精艺智能设备有限公司 | Automatic production process and system for outer reinforcing ribs of vacuum pressure container |
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Application publication date: 20210423 |