CN113319408A - Rectangular coordinate type submerged arc welding robot - Google Patents

Rectangular coordinate type submerged arc welding robot Download PDF

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Publication number
CN113319408A
CN113319408A CN202110799797.6A CN202110799797A CN113319408A CN 113319408 A CN113319408 A CN 113319408A CN 202110799797 A CN202110799797 A CN 202110799797A CN 113319408 A CN113319408 A CN 113319408A
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CN
China
Prior art keywords
welding
controller
pin
laser
flux
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CN202110799797.6A
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Chinese (zh)
Inventor
王继龙
付玉俭
李新建
王洪建
王睿智
高广
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Jinan Times New Century Science & Technology Co ltd
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Jinan Times New Century Science & Technology Co ltd
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Priority to CN202110799797.6A priority Critical patent/CN113319408A/en
Publication of CN113319408A publication Critical patent/CN113319408A/en
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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
    • B23K9/18—Submerged-arc welding
    • 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
    • B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
    • B23K9/1006—Power supply
    • B23K9/1043—Power supply characterised by the electric circuit
    • B23K9/1056—Power supply characterised by the electric circuit by using digital 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
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • 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
    • B23K9/32—Accessories
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

Rectangular coordinate type submerged arc welding robot includes: the controller is used for transmitting a control command, receiving detection signal data and setting welding parameters so as to realize automatic welding; rectangular coordinate telecontrol equipment, rectangular coordinate telecontrol equipment is used for adjusting the welding position, welding circuit device is used for forming the welding circuit in order to carry out automatic weld, welding circuit device includes welding power supply, send a subassembly and welder, and flux recovery unit, flux recovery unit is used for retrieving unnecessary flux, welding wire detection device is used for detecting whether the welding wire consumes totally, the laser tracking device is used for realizing the detection of welding seam characteristic, the laser tracking device includes laser sensor, laser sensing driver and welding assembly.

Description

Rectangular coordinate type submerged arc welding robot
The technical field is as follows:
the invention relates to a rectangular coordinate type submerged arc welding robot.
Background art:
welding, also known as fusion welding, is a manufacturing process and technique for joining metals or other thermoplastic materials, such as plastics, by means of heat, high temperature or high pressure.
The energy sources for modern welding are many, including gas flame, electric arc, laser, electron beam, friction, and ultrasonic, among others; in addition to use in a factory, welding can be performed in a variety of environments, such as the field, underwater, and space; wherever welding can be dangerous for the operator, appropriate precautions must be taken while welding is being performed.
The existing special welding machine is complex in operation, single in pertinence and low in automation intelligence degree; meanwhile, most of the existing industrial welding robots are of an articulated structure and are composed of rotational degrees of freedom, the welding gun is flexible in spatial posture and suitable for workpieces with complex shapes and more spatial curve surfaces, but the welding range is small, the tail end bearing capacity is generally 6Kg, the mechanical arm is relatively weak in rigidity, the welding robot is more suitable for mounting a light welding gun of gas shielded welding, the submerged arc welding is difficult to bear the weight of the welding gun, a wire feeder, a welding flux hopper and the like, in addition, the articulated robot is difficult to control in motion, and is not suitable for being used in large range and large space, the cost is higher, and the problem of welding seam welding of welding seam deviation and thermal deformation in the welding process is difficult to solve.
The invention content is as follows:
the embodiment of the invention provides a rectangular coordinate type submerged arc welding robot which is reasonable in structural design, based on the integrated control principle of a controller, matched with various types of electric elements and mechanical structures, adopts a single-arm structure and consists of three linear shafts, and has the advantages of good mechanical strength, strong bearing capacity, high response speed, high positioning precision, flexible adjustment of welding gun position, capability of prolonging the stroke of the linear shafts along with the size of a workpiece and realization of the large-range welding requirements of workpieces with different lengths and heights; meanwhile, the robot controller is used as a main control center, the intelligent degree is high, the interfaces are rich, the functions are complete, personalized customization can be realized, welding seam deviation in the welding process can be effectively eliminated, and the problems in the prior art are solved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
rectangular coordinate type submerged arc welding robot includes:
the controller is used for transmitting a control command, receiving detection signal data and setting welding parameters so as to realize automatic welding;
the rectangular coordinate movement device is used for adjusting the welding position and comprises a Y-axis walking lower platform, a Y-axis walking upper platform, an X-axis body and a Z-axis body which are arranged in a matched mode, a Y-axis walking guide rail is connected to the Y-axis walking lower platform through a transmission assembly and used for driving the Y-axis walking lower platform to move, and the X-axis body and the Z-axis body are respectively provided with the transmission assembly so as to drive the X-axis body and the Z-axis body to move;
the welding circuit device is used for forming a welding circuit to perform automatic welding, and comprises a welding power supply, a wire feeding assembly and a welding gun, wherein the welding power supply is arranged on a Y-axis walking lower platform and is connected with the welding gun through a welding cable, the wire feeding assembly is arranged in the middle of the Z-axis body, and the welding gun is arranged at the bottom of the Z-axis body;
the flux recovery device is used for recovering redundant flux and comprises a flux recovery machine, a flux large barrel and a flux funnel which are connected through a flux conveying pipeline;
the welding wire detection device is used for detecting whether a welding wire is consumed completely, and comprises a detection switch, a relay, a power supply and an alarm which are connected, wherein the detection switch comprises two detection components which are arranged in a matched mode, and the two detection components are respectively connected with the relay and the power supply so as to form a passage;
the laser tracking device is used for detecting the characteristics of the welding seam and comprises a laser sensor, a laser sensing driver and a welding assembly.
The controller is connected with the welding power supply through the analog quantity output unit to send analog quantity signals of welding current and welding voltage to the welding power supply so as to adjust the welding current and the welding voltage; the controller is connected with the upper computer through a communication line so as to set welding parameters of the welding assembly and motion parameters of the transmission assembly and transmit control instructions to the controller; the controller is connected with the transmission assembly through a trigger, and the trigger is used for controlling the start and stop of the transmission assembly; the controller is also connected with a radiator, and the radiator is used for reducing the temperature rise of the controller.
The welding assembly comprises a tail end shaft of the welding robot, an installation support is connected to the tail end shaft of the welding robot, a welding gun is arranged on the installation support, a welding flux feeding pipe and a welding flux recycling pipe which are matched with the welding gun are arranged on the installation support, a laser sensor is arranged at the front end of the installation support along the welding direction of the welding robot, and the laser sensor is used for identifying the laser position coordinate of a welding seam; the controller is connected with the laser sensing driver through an RS232 serial port and a communication cable so as to transmit the laser position coordinate identified by the laser sensor to the controller, and the laser sensing driver is connected with the laser sensor through an RS485 serial port and a control cable; the controller is connected with a memory, and the memory is used for storing the laser position coordinate when the welding wire points to the welding seam; the controller is connected with the welding robot through an electromagnetic relay so as to drive the welding robot to control the offset action of the welding gun.
The model of controller is STM32F103C8T6, is equipped with 64 pins on the controller, the controller links to each other with the digital IO unit through thirteen number pin, fourteen number pin, fifteen number pin and sixteen number pin, the controller links to each other with the radiator through twenty number pin and twenty-one number pin, the controller links to each other with analog output unit through thirty-three number pin, thirty-four number pin and thirty-five number pin, the controller links to each other with the trigger through forty-four number pin and forty-five number pin, the controller links to each other with the RS485 serial ports through thirty-eight number pin, thirty-nine number pin and forty number pin.
A welding machine control aerial plug is arranged between the controller and the welding power supply, a plurality of interfaces are arranged on the welding machine control aerial plug, and the digital IO unit is correspondingly connected with the eleventh, twelfth, thirteenth and fourteenth interfaces on the welding machine control aerial plug; and the analog quantity output unit is correspondingly connected with the second interface, the fourth interface and the eighth interface of the control aerial plug of the welding machine.
Every detecting element includes the insulating seat, locates conductive carbon brush and signal connection end on the insulating seat, conductive carbon brush's one end is used for setting up with the welding wire contact, and one of them detecting element's conductive carbon brush other end passes through the signal connection end and links to each other with the relay, and another detecting element's conductive carbon brush other end passes through the signal connection end and links to each other with the power, the relay with the input of controller links to each other, the alarm with the output of controller links to each other.
The transmission assembly comprises a servo motor, a speed reducer and a gear rack which are matched with each other.
The type of the radiator is TC4427, 8 pins are arranged on the radiator, a second pin of the radiator is connected with a twenty-first pin of the controller, a fourth pin of the radiator is connected with a twenty-first pin of the controller, an eleventh resistor and a twelfth resistor which are connected in parallel are arranged on a fifth pin of the controller, an MOS (metal oxide semiconductor) tube is arranged on the twelfth resistor, and a cooling fan is connected to the MOS tube.
The type of trigger is FDS4495, is equipped with 8 pins on the trigger, is equipped with first resistance between the pin of a trigger and No. two pins, is equipped with the second resistance between the pin of No. three of trigger and No. four pins, the pin of No. two of trigger links to each other with the pin of forty-five of controller, the pin of No. three of trigger links to each other with the pin of forty-four of controller, the pin of No. five of trigger and No. eight pin link to each other with drive assembly.
The model of the RS485 serial port is SP3485, 8 pins are arranged on the RS485 serial port, the first pin of the RS485 serial port is connected with the forty pins of the controller, the second pin and the third pin of the RS485 serial port are in short circuit with the thirty-nine pins of the controller, and the fourth pin of the RS485 serial port is connected with the thirty-eight pins of the controller.
By adopting the structure, the controller is used for transmitting a control instruction, receiving detection signal data and setting welding parameters so as to realize automatic welding; the welding position is adjusted through the rectangular coordinate movement device, real-time tracking of multilayer multi-pass welding is achieved, the welding position can be prolonged along with the size of a workpiece, and the requirement of large-range welding of workpieces with different lengths and heights is met; a corresponding welding loop is formed through the welding loop device to carry out automatic welding, so that automatic rapid welding is convenient to carry out, and the triggering speed is high; the excessive welding flux is recycled through the welding flux recycling device, so that the waste of the welding flux is avoided; detecting whether the welding wire at the corresponding position is consumed completely through a welding wire detection device, and quickly supplementing the welding wire in time when the welding wire is not used; the detection of the weld joint characteristics is realized through the laser tracking device, the automatic and accurate locating of the initial point, the real-time tracking of the welding process and the automatic identification of the end point of the workpiece are realized, and the device has the advantages of high efficiency, practicability, accuracy, flexibility and complete functions.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a side view of fig. 1.
Fig. 3 is a top view of fig. 1.
Fig. 4 is a schematic structural diagram of a laser tracking device according to the present invention.
Fig. 5 is a schematic view of the working state of the laser tracking device of the present invention.
FIG. 6 is a control schematic diagram of the wire detecting device of the present invention.
Fig. 7 is a schematic structural diagram of the detection switch of the present invention.
Fig. 8 is a control schematic of the present invention.
Fig. 9 is an electrical schematic of the controller of the present invention.
Fig. 10 is an electrical schematic diagram of the heat sink of the present invention.
Fig. 11 is an electrical schematic of the trigger of the present invention.
Fig. 12 is an electrical schematic diagram of the RS485 serial port of the present invention.
The specific implementation mode is as follows:
in order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings.
As shown in fig. 1 to 12, a cartesian submerged arc welding robot includes:
the controller is used for transmitting a control command, receiving detection signal data and setting welding parameters so as to realize automatic welding;
the rectangular coordinate movement device is used for adjusting the welding position and comprises a Y-axis walking lower platform, a Y-axis walking upper platform, an X-axis body and a Z-axis body which are arranged in a matched mode, a Y-axis walking guide rail is connected to the Y-axis walking lower platform through a transmission assembly and used for driving the Y-axis walking lower platform to move, and the X-axis body and the Z-axis body are respectively provided with the transmission assembly so as to drive the X-axis body and the Z-axis body to move;
the welding circuit device is used for forming a welding circuit to perform automatic welding, and comprises a welding power supply, a wire feeding assembly and a welding gun, wherein the welding power supply is arranged on a Y-axis walking lower platform and is connected with the welding gun through a welding cable, the wire feeding assembly is arranged in the middle of the Z-axis body, and the welding gun is arranged at the bottom of the Z-axis body;
the flux recovery device is used for recovering redundant flux and comprises a flux recovery machine, a flux large barrel and a flux funnel which are connected through a flux conveying pipeline;
the welding wire detection device is used for detecting whether a welding wire is consumed completely, and comprises a detection switch, a relay, a power supply and an alarm which are connected, wherein the detection switch comprises two detection components which are arranged in a matched mode, and the two detection components are respectively connected with the relay and the power supply so as to form a passage;
the laser tracking device is used for detecting the characteristics of the welding seam and comprises a laser sensor, a laser sensing driver and a welding assembly.
The controller is connected with the welding power supply through the analog quantity output unit to send analog quantity signals of welding current and welding voltage to the welding power supply so as to adjust the welding current and the welding voltage; the controller is connected with the upper computer through a communication line so as to set welding parameters of the welding assembly and motion parameters of the transmission assembly and transmit control instructions to the controller; the controller is connected with the transmission assembly through a trigger, and the trigger is used for controlling the start and stop of the transmission assembly; the controller is also connected with a radiator, and the radiator is used for reducing the temperature rise of the controller.
The welding assembly comprises a tail end shaft of the welding robot, an installation support is connected to the tail end shaft of the welding robot, a welding gun is arranged on the installation support, a welding flux feeding pipe and a welding flux recycling pipe which are matched with the welding gun are arranged on the installation support, a laser sensor is arranged at the front end of the installation support along the welding direction of the welding robot, and the laser sensor is used for identifying the laser position coordinate of a welding seam; the controller is connected with the laser sensing driver through an RS232 serial port and a communication cable so as to transmit the laser position coordinate identified by the laser sensor to the controller, and the laser sensing driver is connected with the laser sensor through an RS485 serial port and a control cable; the controller is connected with a memory, and the memory is used for storing the laser position coordinate when the welding wire points to the welding seam; the controller is connected with the welding robot through an electromagnetic relay so as to drive the welding robot to control the offset action of the welding gun.
The model of controller is STM32F103C8T6, is equipped with 64 pins on the controller, the controller links to each other with the digital IO unit through thirteen number pin, fourteen number pin, fifteen number pin and sixteen number pin, the controller links to each other with the radiator through twenty number pin and twenty-one number pin, the controller links to each other with analog output unit through thirty-three number pin, thirty-four number pin and thirty-five number pin, the controller links to each other with the trigger through forty-four number pin and forty-five number pin, the controller links to each other with the RS485 serial ports through thirty-eight number pin, thirty-nine number pin and forty number pin.
A welding machine control aerial plug is arranged between the controller and the welding power supply, a plurality of interfaces are arranged on the welding machine control aerial plug, and the digital IO unit is correspondingly connected with the eleventh, twelfth, thirteenth and fourteenth interfaces on the welding machine control aerial plug; and the analog quantity output unit is correspondingly connected with the second interface, the fourth interface and the eighth interface of the control aerial plug of the welding machine.
Every detecting element includes the insulating seat, locates conductive carbon brush and signal connection end on the insulating seat, conductive carbon brush's one end is used for setting up with the welding wire contact, and one of them detecting element's conductive carbon brush other end passes through the signal connection end and links to each other with the relay, and another detecting element's conductive carbon brush other end passes through the signal connection end and links to each other with the power, the relay with the input of controller links to each other, the alarm with the output of controller links to each other.
The transmission assembly comprises a servo motor, a speed reducer and a gear rack which are matched with each other.
The type of the radiator is TC4427, 8 pins are arranged on the radiator, a second pin of the radiator is connected with a twenty-first pin of the controller, a fourth pin of the radiator is connected with a twenty-first pin of the controller, an eleventh resistor and a twelfth resistor which are connected in parallel are arranged on a fifth pin of the controller, an MOS (metal oxide semiconductor) tube is arranged on the twelfth resistor, and a cooling fan is connected to the MOS tube.
The type of trigger is FDS4495, is equipped with 8 pins on the trigger, is equipped with first resistance between the pin of a trigger and No. two pins, is equipped with the second resistance between the pin of No. three of trigger and No. four pins, the pin of No. two of trigger links to each other with the pin of forty-five of controller, the pin of No. three of trigger links to each other with the pin of forty-four of controller, the pin of No. five of trigger and No. eight pin link to each other with drive assembly.
The model of the RS485 serial port is SP3485, 8 pins are arranged on the RS485 serial port, the first pin of the RS485 serial port is connected with the forty pins of the controller, the second pin and the third pin of the RS485 serial port are in short circuit with the thirty-nine pins of the controller, and the fourth pin of the RS485 serial port is connected with the thirty-eight pins of the controller.
The rectangular coordinate type submerged arc welding robot in the embodiment of the invention has the working principle that: based on the integrated control principle of the controller, the single-arm type structure is adopted by matching with various types of electric elements and mechanical structures, the single-arm type structure consists of three linear shafts, the mechanical strength is good, the bearing capacity is strong, the response speed is high, the positioning precision is high, the position of a welding gun is flexibly adjusted, the stroke of the linear shafts can be prolonged along with the size of a workpiece, and the large-range welding requirements of workpieces with different lengths and heights are met; meanwhile, the robot controller is used as a main control center, the intelligent degree is high, the interfaces are rich, the functions are complete, personalized customization can be realized, welding seam deviation in the welding process can be effectively eliminated, specifically, the three linear shafts can be customized according to the size of a workpiece, the market demand is met, the operation is simple, unattended intelligent welding in the welding process is realized, the production efficiency and the consistency of the welding seams are greatly improved, and the robot controller is very suitable for batch welding operation of long straight welding seams.
In the integral scheme, the automatic welding device mainly comprises a controller, wherein the controller is used for transmitting a control command, receiving detection signal data and setting welding parameters so as to realize automatic welding; the rectangular coordinate motion device is used for adjusting the welding position; a welding loop device for forming a welding loop for automatic welding; the flux recovery device is used for recovering redundant flux; the welding wire detection device is used for detecting whether the welding wire is completely consumed; the laser tracking device is used for realizing detection of weld joint characteristics; all the functional devices are mutually matched, so that the welding seam deviation in the welding process is effectively eliminated, and the automatic welding is completed.
Regarding the aspect of an electrical component, the controller is used as a core component, the model of the controller is STM32F103C8T6, 64 pins are arranged on the controller, the controller is connected with a digital IO unit through a thirteen pin, a fourteen pin, a fifteen pin and a sixteen pin, the controller is connected with a radiator through a twenty pin and a twenty-first pin, the controller is connected with an analog output unit through a thirty-third pin, a thirty-fourth pin and a thirty-fifth pin, the controller is connected with a trigger through a forty-fourth pin and a forty-fifth pin, and the controller is connected with an RS485 serial port through a thirty-eighteen pin, a thirty-ninth pin and a forty-fifth pin, so that an integral hardware circuit is formed, automatic welding is realized by means of the integral hardware circuit, and the integral welding quality is improved.
Preferably, a welder control aerial plug is arranged between the controller and the welding power supply, a plurality of interfaces are arranged on the welder control aerial plug, and the digital IO unit is correspondingly connected with the eleventh, twelfth, thirteenth and fourteenth interfaces on the welder control aerial plug; analog output unit corresponds with second, fourth and eighth interface that the welding machine control was inserted by plane and links to each other, and under the effect that the welding machine control was inserted by plane, the wiring is more clear orderly, prevents the wiring error, can also prevent electrical accident such as short circuit or open circuit simultaneously, and the security is more.
In rectangular coordinate telecontrol equipment, platform under the Y axle walking of main including the setting that cooperatees, Y axle walking upper mounting plate, X axle body and Z axle body, be connected with Y axle walking guide rail through drive assembly under the Y axle walking on the platform, Y axle walking guide rail is used for driving platform removal under the Y axle walking, be equipped with drive assembly on X axle body and Z axle body respectively, in order to drive X axle body and Z axle body motion, thereby make the X axle, a rectangular three-coordinate is constituteed to three straight line axles of Y axle and Z axle, servo motor through the setting that cooperatees, mutual removal is realized to speed reducer and rack, welder can come accurate adjustment to required position to weld according to actual demand.
Under the mutual cooperation of a plurality of working function devices, the rectangular coordinate type submerged arc welding robot has a welding seam outline automatic identification technology, can realize real-time tracking, high-precision locating of a starting point and automatic identification of a welding end point of multilayer multi-pass welding, enables equipment to have high-precision locating capability of the starting point through the technologies, thereby accurately controlling welding key parameters such as the height of a welding gun, offset distance of the welding gun and the like, and can realize unattended welding operation through the automatic identification function of the welding end point.
Generally, the controller is in communication connection with an upper computer, a human-computer interface is arranged on the upper computer, and the human-computer interface can be used for setting motion parameters connected with the transmission assembly and exchanging information (such as a tool, a rotary table and the like) with welding auxiliary equipment; setting a welding parameter process library through a human-computer interface to store welding parameters of different workpieces, and adopting a guide type editing function to enable the parameters to be edited simply and clearly; the welding technology of the sectional variable process in the welding process can be realized through simple parameter setting, the customized requirements of welding are met, and the real-time adjustment of the process parameters in the welding process can also be realized; the welding device has the functions of online self-checking whether welding wires and welding fluxes exist in the welding process, self-checking and self-processing of welding faults, such as wire sticking, wire breaking and the like, and the device can detect special conditions and can give an alarm or stop the vehicle.
As for the flux recovery device, comprising a flux recovery machine, a flux large barrel and a flux hopper which are connected through a flux conveying pipeline, when residual flux appears, the flux can be recovered in time.
Because the welding wire is used as a filler metal or is simultaneously used as a metal wire welding material for electric conduction, the welding wire is used as the filler metal in gas welding and tungsten electrode gas shielded arc welding; in submerged arc welding, electroslag welding and other gas metal arc welding, the wire is both a filler metal and a conductive electrode. The surface of the welding wire is not coated with a welding flux with an anti-oxidation effect, so that the welding wire detection device comprises a detection switch, a relay, a power supply and an alarm which are connected, wherein the detection switch comprises two detection components which are arranged in a matched mode, and the two detection components are respectively connected with the relay and the power supply to form a passage; preferably, each detection assembly comprises an insulating base, a conductive carbon brush and a signal connection end, the conductive carbon brush and the signal connection end are arranged on the insulating base, one end of the conductive carbon brush is used for being in contact with a welding wire, the other end of the conductive carbon brush of one detection assembly is connected with the relay through the signal connection end, the other end of the conductive carbon brush of the other detection assembly is connected with the power supply through the signal connection end, the relay is connected with the input end of the controller, and the alarm is connected with the output end of the controller.
When the welding wire is sufficient, the conductive carbon brushes of the two detection assemblies are contacted with the welding wire, and a loop formed by the two detection assemblies, the welding wire, the relay and the power supply is in a conduction state; when the welding wire is short, the conductive carbon brush of at least one detection assembly cannot be contacted with the welding wire, so that a loop formed by the two detection assemblies, the welding wire, the relay and the power supply is in a power-off state. The relay can adopt a normally open relay or a normally closed relay, if the normally open relay is adopted, a normally open signal of the relay is transmitted to the controller in a conducting state, and the controller controls the welding operation to be normally carried out; under the outage state, the closing signal of relay will transmit to the controller, and the control alarm reports to the police, can in time inform operating personnel to change the welding wire, has greatly reduced the invalid operating time of welding equipment, has improved production efficiency.
For the laser tracking device, the laser tracking device mainly comprises a laser sensor, a laser sensing driver and a welding assembly, wherein the welding assembly comprises a tail end shaft of a welding robot, an installation support is connected to the tail end shaft of the welding robot, a welding gun is arranged on the installation support, a welding flux feeding pipe and a welding flux recycling pipe which are matched with the welding gun are arranged on the installation support, the laser sensor is arranged at the front end of the installation support along the welding direction of the welding robot, and the laser sensor is used for identifying the laser position coordinate of a welding seam; the controller is connected with the laser sensing driver through an RS232 serial port and a communication cable so as to transmit the laser position coordinate identified by the laser sensor to the controller, and the laser sensing driver is connected with the laser sensor through an RS485 serial port and a control cable; the controller is connected with a memory, and the memory is used for storing the laser position coordinate when the welding wire points to the welding seam; the controller is connected with the welding robot through an electromagnetic relay so as to drive the welding robot to control the offset action of the welding gun.
The laser tracking device can realize automatic and accurate locating of a starting point, real-time tracking of a welding process and automatic identification of a workpiece end point.
For the automatic accurate locating function of the starting point, moving the welding gun to the rough position of the starting welding point, wherein the range is +/-15 mm; starting a position finding function laser sensor to send currently detected laser coordinates LY1 (left and right positions) and LZ1 (height position) data to a controller, comparing the data with stored proofing calibration data by the controller to calculate that the data which should be shifted in the X direction of a welding gun is delta X-LY 1-LY, the data which should be shifted in the Z direction is delta Z-LZ 1-LZ, when the delta X is positive, the robot X shaft runs in the negative direction, when the delta X is negative, the robot Z shaft runs in the negative direction, when the delta Z is positive, the robot Z shaft runs in the positive direction, when the delta Z is negative, the welding gun starts to run in the direction of reducing deviation according to the data of the delta X and the delta Z at a lower safe speed, during the running, the laser sensor returns the laser coordinates of the LY1 and the LZ1 to the controller in real time, the controller calculates the data of the delta X and the delta Z in real time, and considers that the welding gun moves to the coordinate position of the initial proofing calibration when the delta X and the delta Z are 0, and executing the action in place to realize the high-precision starting point locating process.
For the real-time tracking function of the welding process, the laser coordinate position is initial calibration data, namely LY and LZ, the data is used as a reference value in the welding process of the robot, the laser sensor and the welding wire position are a fixed relative position, the laser detection data are ensured to be always stably close to LY and LZ through the deviation action of an X axis and a Z axis of the robot to ensure that the welding wire always runs on a correct welding line, the front-back distance of the laser line and the welding wire is a fixed front-front distance, the welding line is considered to have no deviation in the front-front distance length, the tracking control is not needed, after the welding is started, the laser sensor returns a current laser coordinate value (LY1.LY2.LY3.. LYN and LZ1.LZ2.LZ3.. LZN) to the controller every 200ms to form a welding line deviation track, therefore, each point of the robot can calculate a movement data to eliminate the current welding line deviation, the controller controls the X axis and the Z axis of the welding gun to move along the direction of eliminating the delta X and the delta Z in real time, and the welding gun always moves along an absolute coordinate offset position in real time, so that the welding gun is ensured to weld at the correct welding seam position stably all the time.
For the automatic workpiece end point identification function, a laser line welded to the tail end of a workpiece leaves a welding seam outline position, the difference between the laser line irradiation position and a normal welding seam outline is large, the difference between detected data and normal welding seam deviation data is also large, when the data is detected to be continuously larger than a certain set value, the controller judges that the laser line leaves the tail end of the workpiece, the distance between a welding gun and a laser sensor is a front distance, and the robot continues to weld until the length of the front distance is finished and then automatically stops the welding process.
In particular, for straight weld workpieces such as I-steel, box-shaped beams, chassis of large vehicles, main bodies of large equipment and the like, the rectangular coordinate type submerged arc welding robot in the embodiment of the invention has absolute advantages compared with the existing joint robot and a special common welding machine.
In conclusion, the rectangular coordinate type submerged arc welding robot in the embodiment of the invention is based on the integrated control principle of the controller, is matched with various types of electric elements and mechanical structures, adopts a single-arm structure, consists of three linear shafts, and has the advantages of good mechanical strength, strong bearing capacity, high response speed, high positioning precision, flexible adjustment of the position of a welding gun, and the stroke of the linear shafts can be prolonged along with the size of a workpiece, so that the requirement of large-range welding of workpieces with different lengths and heights is met; meanwhile, the robot controller is used as a main control center, the intelligent degree is high, the interfaces are rich, the functions are complete, personalized customization can be realized, welding seam deviation in the welding process can be effectively eliminated, specifically, the three linear shafts can be customized according to the size of a workpiece, the market demand is met, the operation is simple, unattended intelligent welding in the welding process is realized, the production efficiency and the consistency of the welding seams are greatly improved, and the robot controller is very suitable for batch welding operation of long straight welding seams.
The above-described embodiments should not be construed as limiting the scope of the invention, and any alternative modifications or alterations to the embodiments of the present invention will be apparent to those skilled in the art.
The present invention is not described in detail, but is known to those skilled in the art.

Claims (10)

1. Rectangular coordinate formula submerged arc welding robot, its characterized in that includes:
the controller is used for transmitting a control command, receiving detection signal data and setting welding parameters so as to realize automatic welding;
the rectangular coordinate movement device is used for adjusting the welding position and comprises a Y-axis walking lower platform, a Y-axis walking upper platform, an X-axis body and a Z-axis body which are arranged in a matched mode, a Y-axis walking guide rail is connected to the Y-axis walking lower platform through a transmission assembly and used for driving the Y-axis walking lower platform to move, and the X-axis body and the Z-axis body are respectively provided with the transmission assembly so as to drive the X-axis body and the Z-axis body to move;
the welding circuit device is used for forming a welding circuit to perform automatic welding, and comprises a welding power supply, a wire feeding assembly and a welding gun, wherein the welding power supply is arranged on a Y-axis walking lower platform and is connected with the welding gun through a welding cable, the wire feeding assembly is arranged in the middle of the Z-axis body, and the welding gun is arranged at the bottom of the Z-axis body;
the flux recovery device is used for recovering redundant flux and comprises a flux recovery machine, a flux large barrel and a flux funnel which are connected through a flux conveying pipeline;
the welding wire detection device is used for detecting whether a welding wire is consumed completely, and comprises a detection switch, a relay, a power supply and an alarm which are connected, wherein the detection switch comprises two detection components which are arranged in a matched mode, and the two detection components are respectively connected with the relay and the power supply so as to form a passage;
the laser tracking device is used for detecting the characteristics of the welding seam and comprises a laser sensor, a laser sensing driver and a welding assembly.
2. The cartesian submerged arc welding robot according to claim 1, wherein: the controller is connected with the welding power supply through the analog quantity output unit to send analog quantity signals of welding current and welding voltage to the welding power supply so as to adjust the welding current and the welding voltage; the controller is connected with the upper computer through a communication line so as to set welding parameters of the welding assembly and motion parameters of the transmission assembly and transmit control instructions to the controller; the controller is connected with the transmission assembly through a trigger, and the trigger is used for controlling the start and stop of the transmission assembly; the controller is also connected with a radiator, and the radiator is used for reducing the temperature rise of the controller.
3. The cartesian submerged arc welding robot according to claim 2, wherein: the welding assembly comprises a tail end shaft of the welding robot, an installation support is connected to the tail end shaft of the welding robot, a welding gun is arranged on the installation support, a welding flux feeding pipe and a welding flux recycling pipe which are matched with the welding gun are arranged on the installation support, a laser sensor is arranged at the front end of the installation support along the welding direction of the welding robot, and the laser sensor is used for identifying the laser position coordinate of a welding seam; the controller is connected with the laser sensing driver through an RS232 serial port and a communication cable so as to transmit the laser position coordinate identified by the laser sensor to the controller, and the laser sensing driver is connected with the laser sensor through an RS485 serial port and a control cable; the controller is connected with a memory, and the memory is used for storing the laser position coordinate when the welding wire points to the welding seam; the controller is connected with the welding robot through an electromagnetic relay so as to drive the welding robot to control the offset action of the welding gun.
4. The cartesian submerged arc welding robot according to claim 3, wherein: the model of controller is STM32F103C8T6, is equipped with 64 pins on the controller, the controller links to each other with the digital IO unit through thirteen number pin, fourteen number pin, fifteen number pin and sixteen number pin, the controller links to each other with the radiator through twenty number pin and twenty-one number pin, the controller links to each other with analog output unit through thirty-three number pin, thirty-four number pin and thirty-five number pin, the controller links to each other with the trigger through forty-four number pin and forty-five number pin, the controller links to each other with the RS485 serial ports through thirty-eight number pin, thirty-nine number pin and forty number pin.
5. The cartesian submerged arc welding robot according to claim 2, wherein: a welding machine control aerial plug is arranged between the controller and the welding power supply, a plurality of interfaces are arranged on the welding machine control aerial plug, and the digital IO unit is correspondingly connected with the eleventh, twelfth, thirteenth and fourteenth interfaces on the welding machine control aerial plug; and the analog quantity output unit is correspondingly connected with the second interface, the fourth interface and the eighth interface of the control aerial plug of the welding machine.
6. The cartesian submerged arc welding robot according to claim 1, wherein: every detecting element includes the insulating seat, locates conductive carbon brush and signal connection end on the insulating seat, conductive carbon brush's one end is used for setting up with the welding wire contact, and one of them detecting element's conductive carbon brush other end passes through the signal connection end and links to each other with the relay, and another detecting element's conductive carbon brush other end passes through the signal connection end and links to each other with the power, the relay with the input of controller links to each other, the alarm with the output of controller links to each other.
7. The cartesian submerged arc welding robot according to claim 1, wherein: the transmission assembly comprises a servo motor, a speed reducer and a gear rack which are matched with each other.
8. The cartesian submerged arc welding robot according to claim 4, wherein: the type of the radiator is TC4427, 8 pins are arranged on the radiator, a second pin of the radiator is connected with a twenty-first pin of the controller, a fourth pin of the radiator is connected with a twenty-first pin of the controller, an eleventh resistor and a twelfth resistor which are connected in parallel are arranged on a fifth pin of the controller, an MOS (metal oxide semiconductor) tube is arranged on the twelfth resistor, and a cooling fan is connected to the MOS tube.
9. The cartesian submerged arc welding robot according to claim 4, wherein: the type of trigger is FDS4495, is equipped with 8 pins on the trigger, is equipped with first resistance between the pin of a trigger and No. two pins, is equipped with the second resistance between the pin of No. three of trigger and No. four pins, the pin of No. two of trigger links to each other with the pin of forty-five of controller, the pin of No. three of trigger links to each other with the pin of forty-four of controller, the pin of No. five of trigger and No. eight pin link to each other with drive assembly.
10. The cartesian submerged arc welding robot according to claim 4, wherein: the model of the RS485 serial port is SP3485, 8 pins are arranged on the RS485 serial port, the first pin of the RS485 serial port is connected with the forty pins of the controller, the second pin and the third pin of the RS485 serial port are in short circuit with the thirty-nine pins of the controller, and the fourth pin of the RS485 serial port is connected with the thirty-eight pins of the controller.
CN202110799797.6A 2021-07-15 2021-07-15 Rectangular coordinate type submerged arc welding robot Pending CN113319408A (en)

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Application Number Priority Date Filing Date Title
CN202110799797.6A CN113319408A (en) 2021-07-15 2021-07-15 Rectangular coordinate type submerged arc welding robot

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Application Number Priority Date Filing Date Title
CN202110799797.6A CN113319408A (en) 2021-07-15 2021-07-15 Rectangular coordinate type submerged arc welding robot

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024045598A1 (en) * 2022-08-29 2024-03-07 中建安装集团有限公司 Intelligent submerged arc welding method for stainless-steel composite plate

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024045598A1 (en) * 2022-08-29 2024-03-07 中建安装集团有限公司 Intelligent submerged arc welding method for stainless-steel composite plate

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