CN112872551A - Automatic high-speed welding set of robot of buckled plate - Google Patents
Automatic high-speed welding set of robot of buckled plate Download PDFInfo
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- CN112872551A CN112872551A CN202110179130.6A CN202110179130A CN112872551A CN 112872551 A CN112872551 A CN 112872551A CN 202110179130 A CN202110179130 A CN 202110179130A CN 112872551 A CN112872551 A CN 112872551A
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- welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- 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
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
-
- 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
- B23K9/32—Accessories
- B23K9/321—Protecting means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a robot automatic high-speed welding device for corrugated plates, which comprises a plurality of welding robots arranged on two sides of a container production line, wherein a workbench is independently arranged between the robots and the containers, linear guide rails are arranged on the workbench and in the horizontal moving direction of the robots, and laser welding seam tracking sensors are arranged on the linear guide rails; during welding, the laser sensor starts scanning corrugated plate welding seams in preference to the movement of the robot, welding seam tracks are dynamically generated in the welding process and transmitted to the robot controller, and the robot dynamically executes welding operation while scanning and welding until a welding task of the station is completed. The corrugated plate welding device can effectively ensure the welding quality and the stability of the corrugated plate, greatly improve the welding efficiency and realize the welding automation.
Description
Technical Field
The invention relates to the technical field of robot automatic welding, in particular to a robot automatic high-speed welding device for corrugated plates.
Background
Containers play a great role in the modern logistics industry, and the technology of manufacturing containers is constantly being developed. The container side plate and the top plate structure are corrugated plates of three-dimensional space structures with equally spaced grooves, and when the corrugated plates are welded with an upper beam and a lower beam, the corrugated plates are welded at more fillet welds, the weld width is uneven, the consistency is poor, and the welding workload is high and the difficulty is high. At present, the corrugated plate is mainly welded by hand or semi-automatic welding, the efficiency of the hand welding is low, and the forming quality of a welding line is difficult to control; in the existing semi-automatic welding mode, the laser tracking sensors are all fixed on a robot welding gun, in order to guarantee continuous welding seam tracking in the welding process, the welding gun cannot adjust the posture along with the change of a welding seam, so that the forming quality of the welding seam of different slope sections of the corrugated plate has obvious difference, the welding gun can only be applied to the welding of shallow corrugated plates with low welding quality requirements, and the requirement on the consistency of the forming quality of the welding seam of the deep corrugated plate is difficult to meet. Moreover, the welding operation environment of the corrugated plate of the container is severe, the noise is high, the dust is much, the health of the operating personnel is seriously harmed, and the automatic transformation is urgently needed.
Disclosure of Invention
The invention aims to provide a corrugated plate robot automatic high-speed welding device which can adjust the posture of a welding gun at any time in the process of tracking a welding seam, effectively ensure the forming quality and stability of the welding seam of a deep corrugated plate, fully cover the high-quality welding of a shallow corrugated plate, greatly improve the welding efficiency and realize the automatic welding.
The technical solution of the invention is as follows:
the utility model provides a high-speed welding set of robot automation of buckled plate, characterized by: the welding robot comprises a plurality of welding robots arranged on two sides of a container production line, a workbench is independently arranged between the robots and the container, linear guide rails are arranged on the workbench and in the horizontal moving direction of the robots, and laser welding seam tracking sensors are arranged on the linear guide rails; during welding, the laser sensor starts scanning corrugated plate welding seams in preference to the movement of the robot, welding seam tracks are dynamically generated in the welding process and transmitted to the robot controller, and the robot dynamically executes welding operation while scanning and welding until a welding task of the station is completed. Because laser sensor and robot separation, the robot can adjust welder gesture according to the change of welding seam angle at any time in welding process, keeps welder angle to be close perpendicular to the welding seam all the time to can satisfy the welding seam formation quality uniformity requirement of dark buckled plate, cover the high quality welding of shallow buckled plate comprehensively.
The robot welding gun is provided with the anti-collision device, when the welding gun is slightly collided accidentally, the welding robot can stop moving immediately, and the robot and the collider are protected from being damaged.
The linear guide rail provided with the laser welding seam tracking sensor is driven by a single motor and is used as a seventh shaft of an external expanding shaft of the six-shaft welding robot, so that the robot has at least seven-shaft linkage function.
The length range of the linear guide rail provided with the laser welding seam tracking sensor is 0.3-3 m, and the linear guide rail is arranged on an I-shaped steel fixed on the workbench, so that the longer guide rail can be prevented from being distorted and deformed, and the running path of the sensor is ensured to be a horizontal straight line.
The laser welding seam tracking sensor is characterized in that a protective cover is additionally arranged on a shell of the laser welding seam tracking sensor, so that the sensor can be effectively prevented from being interfered by arc light, splashing, dust and the like.
During welding operation, the container carries out welding operation through the assembly line, because of the space limitation that receives the welding robot to arrange, divides the multistation to weld. The containers are welded at equal intervals when entering each station until all the containers flow out of the welding area.
In order to ensure that the welding seam of the previous station can be connected end to end without leaving a gap with the welding seam of the next station and the welding is not repeated, the tail end of the formed welding seam of the previous station is prescanning by using a laser welding seam tracking sensor during the welding of the next station, the position of the characteristic point of the welding seam is identified, and the welding seam track is dynamically generated by scanning while welding, so that the starting point of the welding of the next station can be accurately controlled.
The invention has the following advantages:
the laser welding seam recognition system can realize the separation independent motion of a laser sensor and a robot, effectively solve the key problem that the welding gun cannot change the posture in the welding seam tracking process caused by the fact that a laser is arranged at the welding gun position of the robot, always keep the angle of the welding gun close to the welding seam perpendicular to the welding seam, meet the requirement of consistency of the welding seam forming quality of a deep corrugated plate, comprehensively cover the high-quality welding of a shallow corrugated plate, and scan the welding seam in real time in the welding process, dynamically generate the welding seam track, and realize the automatic welding of the corrugated plate of a container.
By adopting the welding process, the welding process parameters are adjusted, the welding speed is increased, the welding speed can be increased to 1.5-2.5 m/min from 1 m/min of manual welding on the premise of meeting the welding seam quality, repair welding is not needed in one-step forming, and the welding efficiency is greatly improved.
And thirdly, a plurality of welding robots are adopted to cooperatively operate, the corrugated plate welding is completed in a multi-station mode, the full-automatic unmanned welding operation of various box-type containers is realized, and the production cost of the containers and the labor intensity of workers are reduced.
And fourthly, the brand-new and upgraded robot control system effectively reduces the difficulty of the information transmission processing process for the upper computer, improves the response speed of the system, further improves the production efficiency and reduces the cost.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 and 3 are schematic views of deep corrugated plate and shallow corrugated plate, respectively.
Detailed Description
A robot automatic high-speed welding device for corrugated plates comprises a plurality of welding robots 2 arranged on two sides of a flow production line of a container 1, a workbench 3 is independently arranged between the robots and the container, linear guide rails 4 are arranged on the workbench and in the horizontal moving direction of the robots, and laser welding seam tracking sensors 5 are arranged on the linear guide rails; during welding, the laser sensor starts scanning corrugated plate welding seams in preference to the movement of the robot, welding seam tracks are dynamically generated in the welding process and transmitted to the robot controller, and the robot dynamically executes welding operation while scanning and welding until a welding task of the station is completed. Because laser sensor and robot separation, the robot can adjust welder gesture according to the change of welding seam angle at any time in welding process, keeps welder angle to be close perpendicular to the welding seam all the time to can satisfy the welding seam formation quality uniformity requirement of dark buckled plate, cover the high quality welding of shallow buckled plate comprehensively.
The robot welding gun can be provided with an anti-collision device 6 optionally, when the welding gun is slightly collided accidentally, the welding robot can stop moving immediately, and the robot and a collider are protected from being damaged.
The linear guide rail provided with the laser welding seam tracking sensor is driven by a single motor and is used as a seventh shaft of an external expanding shaft of the six-shaft welding robot, so that the robot has at least seven-shaft linkage function.
The length range of the linear guide rail provided with the laser welding seam tracking sensor is 0.3-3 m, and the linear guide rail is arranged on an I-shaped steel 7 fixed on the workbench, so that the long guide rail can be prevented from being distorted and deformed, and the running path of the sensor is ensured to be a horizontal straight line.
The laser welding seam tracking sensor is characterized in that a protective cover is additionally arranged on a shell of the laser welding seam tracking sensor, so that the sensor can be effectively prevented from being interfered by arc light, splashing, dust and the like.
During welding operation, the container carries out welding operation through the assembly line, because of the space limitation that receives the welding robot to arrange, divides the multistation to weld. The containers are welded at equal intervals when entering each station until all the containers flow out of the welding area.
In order to ensure that the welding seam of the previous station can be connected end to end without leaving a gap with the welding seam of the next station and the welding is not repeated, the tail end of the formed welding seam of the previous station is prescanning by using a laser welding seam tracking sensor during the welding of the next station, the position of the characteristic point of the welding seam is identified, and the welding seam track is dynamically generated by scanning while welding, so that the starting point of the welding of the next station can be accurately controlled.
Further, the container welding assembly line has the following functions: the assembly line can continue to operate only when it is ensured that all welding robots have completed the welding task and returned to a standby state, thereby ensuring that the container does not collide with the welding robots when operating on the assembly line.
Claims (7)
1. The utility model provides a high-speed welding set of robot automation of buckled plate, characterized by: the welding robot comprises a plurality of welding robots arranged on two sides of a container production line, a workbench is independently arranged between the robots and the container, linear guide rails are arranged on the workbench and in the horizontal moving direction of the robots, and laser welding seam tracking sensors are arranged on the linear guide rails; during welding, the laser sensor starts scanning a corrugated plate welding seam prior to the movement of the robot, a welding seam track is dynamically generated and transmitted to the robot controller, and the robot dynamically executes welding operation while scanning and welding until a welding task of a station is completed; because laser sensor and robot separation, the robot can adjust welder gesture according to the change of welding seam angle at any time in welding process, keeps welder angle to be close perpendicular to the welding seam all the time to can satisfy the welding seam formation quality uniformity requirement of dark buckled plate, cover the high quality welding of shallow buckled plate comprehensively.
2. A robotic automated high speed welding apparatus for corrugated board as claimed in claim 1, wherein: the robot welding gun is provided with the anti-collision device, when the welding gun is slightly collided accidentally, the welding robot can stop moving immediately, and the robot and the collider are protected from being damaged.
3. A robotic automated high speed welding apparatus for corrugated board as claimed in claim 1, wherein: the linear guide rail provided with the laser welding seam tracking sensor is driven by a single motor.
4. A robotic automated high speed welding apparatus for corrugated board as claimed in claim 1, wherein: the length range of the linear guide rail provided with the laser welding seam tracking sensor is 0.3-3 m, and the linear guide rail is arranged on an I-shaped steel fixed on the workbench.
5. A robotic automated high speed welding apparatus for corrugated board as claimed in claim 1, wherein: the shell of the laser welding seam tracking sensor is additionally provided with a protective cover.
6. A robotic automated high speed welding apparatus for corrugated board as claimed in claim 1, wherein: during welding operation, the container is welded through a production line, and welding is carried out in multiple stations due to the spatial limitation of the arrangement of the welding robots; the containers are welded at equal intervals when entering each station until all the containers flow out of the welding area.
7. A robotic automated high speed welding apparatus of corrugated board as claimed in claim 6, wherein: in order to ensure that the welding seam of the previous station can be connected end to end without leaving a gap with the welding seam of the next station and the welding is not repeated, the tail end of the formed welding seam of the previous station is prescanning by using a laser welding seam tracking sensor during the welding of the next station, the position of the characteristic point of the welding seam is identified, and the welding seam track is dynamically generated by scanning while welding, so that the starting point of the welding of the next station can be accurately controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110179130.6A CN112872551A (en) | 2021-02-08 | 2021-02-08 | Automatic high-speed welding set of robot of buckled plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110179130.6A CN112872551A (en) | 2021-02-08 | 2021-02-08 | Automatic high-speed welding set of robot of buckled plate |
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| Publication Number | Publication Date |
|---|---|
| CN112872551A true CN112872551A (en) | 2021-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110179130.6A Pending CN112872551A (en) | 2021-02-08 | 2021-02-08 | Automatic high-speed welding set of robot of buckled plate |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06246448A (en) * | 1993-02-26 | 1994-09-06 | Hitachi Zosen Corp | Welding robot for joining corrugated lap plates |
| CN105728972A (en) * | 2016-04-26 | 2016-07-06 | 河北工业大学 | Concave-convex angle-variable welding joint self-adaptive tracking control device and method |
| CN106112216A (en) * | 2016-08-18 | 2016-11-16 | 四川希思特智能科技有限公司 | A kind of weld seam automatic recognition and tracking device applying two-dimensional laser displacement transducer |
| CN207205619U (en) * | 2017-09-05 | 2018-04-10 | 唐山英莱科技有限公司 | Ripple seam tracking system based on 3 D laser scanning |
| CN110744175A (en) * | 2019-08-08 | 2020-02-04 | 上海发那科机器人有限公司 | Robot tracking welding system |
| CN111390418A (en) * | 2020-03-31 | 2020-07-10 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for container corrugated welding |
-
2021
- 2021-02-08 CN CN202110179130.6A patent/CN112872551A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06246448A (en) * | 1993-02-26 | 1994-09-06 | Hitachi Zosen Corp | Welding robot for joining corrugated lap plates |
| CN105728972A (en) * | 2016-04-26 | 2016-07-06 | 河北工业大学 | Concave-convex angle-variable welding joint self-adaptive tracking control device and method |
| CN106112216A (en) * | 2016-08-18 | 2016-11-16 | 四川希思特智能科技有限公司 | A kind of weld seam automatic recognition and tracking device applying two-dimensional laser displacement transducer |
| CN207205619U (en) * | 2017-09-05 | 2018-04-10 | 唐山英莱科技有限公司 | Ripple seam tracking system based on 3 D laser scanning |
| CN110744175A (en) * | 2019-08-08 | 2020-02-04 | 上海发那科机器人有限公司 | Robot tracking welding system |
| CN111390418A (en) * | 2020-03-31 | 2020-07-10 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for container corrugated welding |
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