CN113370235A - Automatic milling device for weld reinforcement, path generation method and using method - Google Patents
Automatic milling device for weld reinforcement, path generation method and using method Download PDFInfo
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- CN113370235A CN113370235A CN202110768810.1A CN202110768810A CN113370235A CN 113370235 A CN113370235 A CN 113370235A CN 202110768810 A CN202110768810 A CN 202110768810A CN 113370235 A CN113370235 A CN 113370235A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention discloses an automatic milling device for weld reinforcement, a path generation method and a using method. The invention generates the automatic milling path of the weld reinforcement by taking the surfaces of the base materials near the two sides of the weld as reference to realize the automatic milling of the weld reinforcement, so that the processed surface at the weld is consistent with the surface of the base material near the weld, the aim of accurately removing the weld reinforcement is achieved under the condition of not accidentally damaging the base material, and the automatic milling path is particularly suitable for accurately and efficiently removing the weld reinforcement under the severe conditions of larger welding deformation, wrong edges of a joint, inconsistent deformation of the base materials at the two sides of the weld and the like.
Description
Technical Field
The invention relates to an automatic milling device, a path generating method and a using method, in particular to an automatic milling device for weld reinforcement, a path generating method and a using method.
Background
The weld reinforcement is removed after welding, so that the appearance of the weld is consistent with that of the parent metal, the root cause of local stress generated by the welding joint is eliminated, and the problem of premature failure of the welding joint caused by possible welding defects in the weld reinforcement is solved. Therefore, weld reinforcement is required to be removed after welding of a plurality of welding structures, the weld reinforcement is removed by adopting a manual polishing method at present, the manual polishing efficiency is low, particularly for high-hardness materials, the polishing efficiency is lower, and meanwhile, the labor intensity of polishing workers is high, and a large amount of dust and high decibel noise generated in the polishing process seriously harm the health of the workers. In recent years, automatic grinding technology and equipment for weld reinforcement are developed, and grinding working environment is greatly improved. However, the weld reinforcement is removed by grinding in automatic grinding, so that a large amount of dust and high decibel noise generated in the grinding process cannot be avoided, and metals with high activity such as aluminum alloy and titanium alloy cannot be removed by a grinding method. The milling method with high processing efficiency is adopted to remove the weld reinforcement, no dust is generated, the sound is very small, and the method is suitable for processing various metals, but the current mainstream method for removing the weld reinforcement is still the grinding method, one important reason is that the weld reinforcement is often inconsistent and the inconsistency degree is large, the metal removing speed of the milling is high, the inconsistency of the weld reinforcement does not obviously influence the milling force, the milling process of the weld reinforcement is difficult to accurately and quickly sense through a force sensor, and the false damage to the base metal is easily caused when the weld reinforcement is milled. The reasons for inconsistent welding seams mainly include pre-welding assembly errors, welding deformation, welding process parameter fluctuation and the like. Under the severe condition that the heights of base materials at two sides of a welding seam are inconsistent or the welding deformation of the base materials at two sides of the welding seam is inconsistent due to different assembling misalignment or constraint, materials and the like, the automatic removal of the welding seam extra height through milling processing becomes more difficult, and even if an advanced laser sensor is adopted, the accidental damage of the milling processing to the base materials under the severe condition is difficult to avoid.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an automatic milling device for weld reinforcement, a path generation method and a use method, which apply the automatic milling method to the removal processing of the weld reinforcement in high quality, greatly improve the processing efficiency of the weld reinforcement and completely avoid accidental injury to a processed workpiece.
The technical scheme is as follows: the robot comprises a robot, wherein a milling path picking module and a milling module are connected to the wrist of the robot, the milling path picking module comprises a teaching thimble and a plurality of displacement sensors, each displacement sensor is provided with a sliding measuring rod, and the end part of each sliding measuring rod is provided with a roller.
The milling path picking module comprises two displacement sensors, the middle point of a connecting line of the axial midpoints of the initial extending parts of the first sliding measuring rod and the second sliding measuring rod, which correspond to the two displacement sensors, is the center of a first tool of the robot, and the needle point of the teaching thimble corresponds to the center of the first tool of the robot.
The displacement sensor is connected with the milling path picking module controller, and the milling path picking module controller is communicated with the robot controller.
The lengths of the initial extending parts of the sliding measuring rods are the same.
The milling module comprises a peripheral milling cutter, and the middle point of the axis of the peripheral milling cutter is the center of a second tool of the robot.
The robot, the milling path picking module and the milling module are all connected with a robot controller.
A method for generating a welding seam surplus height automatic milling path comprises the following steps:
the first step, teaching, specifically include:
1) before teaching, scribing on a standard workpiece to serve as a teaching path, wherein the teaching path corresponds to the position of a central line of a welding seam to be milled;
2) in the teaching process, teaching is carried out on the tip of the teaching thimble along a teaching path, a first sliding measuring rod and a second sliding measuring rod are symmetrically arranged on two sides of the teaching path, and rollers at the end parts of the first sliding measuring rod and the second sliding measuring rod are in rolling connection with the surface of a standard workpiece;
3) after teaching, a robot teaching track is obtained, the displacement size collected by the first displacement sensor at each teaching point is TFD [ i ] (i is 1, 2, 3, …, n), and the displacement size collected by the second displacement sensor at each teaching point is TSD [ i ] (i is 1, 2, 3, …, n);
secondly, generating an automatic milling path of the extra height of the welding seam, wherein a first sliding measuring rod and a second sliding measuring rod are symmetrically arranged on two sides of the to-be-milled welding seam on the to-be-processed workpiece, rollers at the end parts of the first sliding measuring rod and the second sliding measuring rod are in rolling connection with the surface of the to-be-processed workpiece, an arbitrary position between two ends of the to-be-milled welding seam is taken as a starting point, a milling path picking module moves towards one direction of the to-be-milled welding seam along a first tool center of the robot according to a teaching track of the robot, the milling path picking module returns to the starting point after the end is reached, the milling path picking module moves towards the other direction of the to-be-milled welding seam along the teaching track of the robot again according to the first tool center of the robot, the milling path picking module stops after the end is reached, when the first tool center of the robot reaches a teaching point, both a first displacement sensor and a second displacement sensor collect displacement data, the displacement size collected by the first displacement sensor is AFD [ i ] (i ═ 1, 2, 3, …, n), the displacement size collected by the second displacement sensor is ASD [ i ] (i is 1, 2, 3, …, n), D [ i ] (Max (AFD [ i ] -TFD [ i ], ASD [ i ] -TSD [ i ]) (i is 1, 2, 3, …, n), the radius of the peripheral milling cutter is R, and the robot teaching track is corrected by D [ i ] and R, so that the extra-weld height automatic milling path can be generated.
And generating automatic milling paths of the weld reinforcement height before milling the weld to be milled.
The distance between the rolling connection points of the first sliding measuring rod and the second sliding measuring rod and the surface of the workpiece to be processed is 1-20 mm from the corresponding edges of the weld joint to be milled.
The use method of the automatic welding seam surplus height milling device comprises the following steps:
(1) a teaching thimble is arranged on the milling path picking module;
(2) positioning and clamping a standard workpiece;
(3) teaching of
(4) Unloading the teaching thimble and the standard workpiece;
(5) positioning and clamping a machined workpiece;
(6) generating an automatic milling path of the weld reinforcement;
(7) milling the welding line according to the automatic milling path of the welding line excess height;
(8) and (5) unloading the machined workpiece, repeating the steps (5) to (7), and automatically milling the weld reinforcement of the next machined workpiece.
Has the advantages that: the invention has the following advantages:
(1) the invention realizes sensing by adopting the contact type displacement sensor, has high sensing precision, simple algorithm for generating the milling path of the weld reinforcement height and low cost.
(2) The invention does not realize automatic milling by directly detecting the shape or the size of the weld reinforcement, but generates an automatic milling path by taking the surfaces of the parent metal near the two sides of the weld as reference to realize automatic milling, achieves the aim of accurately removing the weld reinforcement under the condition of not accidentally damaging the parent metal, and is particularly suitable for accurately removing the weld reinforcement under the severe conditions of larger welding deformation, wrong edges of a joint, inconsistent deformation of the parent metal at the two sides of the weld and the like;
(3) the invention solves the problem that the welding seam surplus height milling easily causes the accidental damage of the base metal, so that the automatic milling method is applied to the welding seam surplus height removing processing with high quality, the efficiency is greatly improved compared with the automatic grinding method, the automatic milling method is suitable for the removing processing of various metal welding seam surplus heights, and meanwhile, no dust is generated and the noise is very small.
Drawings
FIG. 1 is a schematic view of an automatic milling apparatus according to the present invention;
FIG. 2 is a schematic diagram of a milling path pick-up module according to the present invention;
FIG. 3 is a schematic diagram of the present invention illustrating a robot using a milling path pick-up module;
FIG. 4 is a schematic diagram of an automatic weld reinforcement milling path generated by the milling path picking module according to the present invention;
FIG. 5 is a schematic diagram illustrating milling of a weld to be milled by using a milling module according to the present invention;
FIG. 6 is a cross-sectional view of a weld to be milled according to the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, the present invention includes a robot 1, a robot controller 2, a milling path picking module 3, and a milling module 4, wherein the milling path picking module 3 and the milling module 4 are both mounted on a robot wrist 5, and the robot controller 2 controls the robot 1, the milling path picking module 3, and the milling module 4.
As shown in fig. 2, the milling path picking module 3 comprises a first displacement sensor 6, a second displacement sensor 7, a milling path picking module controller 8 and a teaching thimble 9, and the milling path picking module controller 8 controls the first displacement sensor 6 and the second displacement sensor 7 to realize data acquisition and processing and communicates with the robot controller 2. The first displacement sensor 6 and the second displacement sensor 7 are completely the same, the two sensors are symmetrically installed in the milling path picking module 3 in parallel, the distance between the two sensors can be adjusted, the first displacement sensor 6 comprises a first sliding measuring rod 10, the second displacement sensor 7 comprises a second sliding measuring rod 11, the length of an initial extending part 12 of the first sliding measuring rod is the same as that of an initial extending part 13 of the second sliding measuring rod, the connecting line midpoint of the axial midpoint 14 of the initial extending part of the first sliding measuring rod and the axial midpoint 15 of the initial extending part of the second sliding measuring rod is defined as a first tool center 16 of the robot, the needle point of the teaching thimble 9 corresponds to the first tool center 16 of the robot, the teaching thimble 9 is detachable, and the end parts of the first sliding measuring rod 10 and the second sliding measuring rod 11 are respectively provided with a roller 17.
As shown in fig. 5, the milling module 4 includes a peripheral milling cutter 18 and a servo motor 19, and the servo motor 19 drives the peripheral milling cutter 18 to perform a milling motion. The midpoint of the peripheral milling cutter 18 axis is defined as the robot second tool center 20.
The invention considers the essence of the removal of the weld reinforcement to ensure that the weld reinforcement is the same as the base material, therefore, the shape or the size of the weld reinforcement does not need to be considered, and only needs to plan a processing path by taking the surface of the base material near the weld as a reference to ensure that the surface of the weld reinforcement after the weld reinforcement is removed by processing is consistent with the surface of the base material near the weld. When the automatic milling device for the weld joint surplus height is used for milling and removing the surplus height of a weld joint to be milled, the key point is to generate an automatic milling path for the weld joint surplus height according to the thought. Generating an automatic milling path of the weld joint extra height requires two steps, wherein the first step is teaching, and for the same processed workpiece, the teaching is carried out for 1 time and only 1 time; and secondly, generating an automatic milling path for the weld reinforcement height, wherein each to-be-milled weld 23 needs to generate the automatic milling path for the weld reinforcement height before milling.
Specific example 1:
the workpiece 21 to be processed, which is made of 16Mn and is plate-shaped and has the dimensions of 1m long, 0.5m wide and 10mm thick, is formed by welding two pieces of base metal 22 which have the dimensions of 1m long, 0.25m wide and 10mm thick, and the pseudo-milling weld 23 is a linear weld and is 1m long. As shown in fig. 6, the surface of the workpiece 21 to be machined, from which the weld bead needs to be removed, is a to-be-milled surface 24. The width of the fusion width 25 of the welding line to be milled, which is positioned on the surface to be milled, is 13-15mm, the height of the excess height 26 of the welding line to be milled, which is positioned on the surface to be milled, is 4-6mm, and the excess height needs to be removed after welding.
First, the robot 1 is taught, and as shown in fig. 3, before teaching, a teaching thimble 9 is attached to the milling path picking module 3, and a standard workpiece 27 is prepared, and the standard workpiece 27 is a base material 22 of the same specification, that is, a steel plate having a length of 1m, a width of 0.25m, and a thickness of 10 mm. The standard workpiece 27 is placed on an operation table 28 and is installed and positioned by a clamp 29, and a line is scribed on the surface of the standard workpiece 27 along the length direction to be used as a teaching path 30, wherein the teaching path 30 corresponds to the position of the central line of the weld joint 23 to be milled. The center line of the pseudo-milling weld 23 refers to the center line of an intersecting surface obtained by intersecting the pseudo-milling weld 23 in an ideal state with the pseudo-milling surface 24 of the workpiece 21 to be machined, and the pseudo-milling weld 23 in the ideal state refers to the pseudo-milling weld 23 with consistent melt width. The robot 1 drives the milling path picking module 3 to reach the position right above the teaching path 30, in the teaching process, the needle point of the teaching thimble 9 is taught along the teaching path 30, the first sliding measuring rod 10 and the second sliding measuring rod 11 are symmetrically arranged on two sides of the teaching path 30, the rollers 17 at the end parts of the first sliding measuring rod 10 and the second sliding measuring rod 11 are in rolling connection with the surface of the standard workpiece 27, and the rolling connection points of the first sliding measuring rod 10 and the second sliding measuring rod 11 and the surface of the standard workpiece 27 are 5-20mm away from the teaching path through adjustment of the adjusting knob 31. After teaching, teaching tracks of the robot are obtained, displacement sizes TFD [ i ] (i is 1, 2, 3, …, n) collected by the first displacement sensor 6 at each teaching point, and displacement sizes TSD [ i ] (i is 1, 2, 3, …, n) collected by the second displacement sensor 7 at each teaching point. After the teaching is completed, the jig 29 is released, and the standard workpiece 27 and the teaching thimble 9 are removed.
In this example, the teaching for the robot 1 described above needs to be performed only once regardless of the number of workpieces 21 to be processed. After the teaching is completed, a weld joint extra height automatic milling path can be generated for each welding joint 23 to be milled before milling.
As shown in fig. 4, the workpiece 21 to be machined is placed on the operation table 28 with the face 24 to be milled of the workpiece 21 facing upward and is mounted and positioned by the jig 29. The robot 1 drives the milling path picking module 3 to reach the position right above the to-be-milled welding line 23, so that the first sliding measuring rod 10 and the second sliding measuring rod 11 are symmetrically arranged on two sides of the to-be-milled welding line 23, the rollers 17 at the end parts of the first sliding measuring rod 10 and the second sliding measuring rod 11 are in rolling connection with the to-be-milled surface 24, and the distances between the rolling connection points of the first sliding measuring rod 10 and the second sliding measuring rod 11 and the to-be-milled surface 24 are respectively 1-20 mm from the edges of the to-be-milled welding line 23 corresponding to each other through adjustment of the adjusting knob 31. And taking any point between two ends of the weld joint 23 to be milled as a starting point, enabling the milling path picking module 3 to move towards one direction of the weld joint 23 to be milled along the teaching track of the robot along the first tool center 16 of the robot, returning the milling path picking module 3 to the starting point and then moving towards the other direction of the weld joint 23 to be milled after the end is reached, and stopping the operation after the end is reached. During the movement of the milling path picking module 3, when the robot first tool center 16 reaches a teach point, the first displacement sensor 6 and the second displacement sensor 7 both collect displacement data, the displacement size collected by the first displacement sensor 6 is AFD [ i ] (i ═ 1, 2, 3, …, n), the displacement size collected by the second displacement sensor 7 is ASD [ i ] (i ═ 1, 2, 3, …, n), D [ i ] ═ Max (AFD [ i ] -TFD [ i ], ASD [ i ] -TSD [ i ]) (i ═ 1, 2, 3, …, n), the radius of the peripheral milling cutter 18 is R, and the robot teach trajectory is corrected by D [ i ] and R, so that the automatic milling path with the weld seam remaining height can be generated.
And after the automatic milling path of the weld joint extra height is generated, milling the weld joint 23 to be milled. As shown in fig. 5, the robot 1 drives the milling module 4 to reach a position right above the weld joint 23 to be milled, starts the milling module 4, and the servo motor 19 drives the peripheral milling cutter 18 to perform a milling motion, and the milling module 4 moves along the automatic milling path of the robot second tool center 20 according to the weld joint extra height, and after reaching the other end of the weld joint 23 to be milled, the milling process of the weld joint 23 to be milled is completed, and the extra height of the weld joint 23 to be milled is accurately removed.
And loosening the workpiece 21 to be machined, and installing and milling the next workpiece 21 to be machined. No matter how many workpieces 21 are processed, the teaching is only required to be performed on the robot once, which is time-saving. Before milling, each weld joint height automatic milling path is generated for each to-be-milled weld joint 23, so that the high milling precision is achieved, and the accidental damage to the machined workpiece 21 is avoided.
In the process of generating the automatic milling path for the extra-high weld joint, a data acquisition point of the milling path pickup module 3 is determined by the robot controller 2 and sends an instruction to the milling path pickup module controller 8, the milling path pickup module controller 8 directly controls data acquisition and processing of the first displacement sensor 6 and the second displacement sensor 7 and sends the processed data to the robot controller 2, the robot controller 2 generates the automatic milling path for the extra-high weld joint according to a teaching track of the robot, data D [ i ] sent by the milling path pickup module controller 8 and the diameter R of the peripheral milling cutter 18, and controls the robot 1 to drive the milling module 4 to do corresponding milling motion according to the automatic milling path for the extra-high weld joint. The servo motors 19 in the milling module 4 are also directly controlled by the robot controller 2.
Specific example 2:
the material is Q235, the shape is a half-pipe shape, the workpiece to be processed with the dimension specification of 10m long, 0.25m radius and 12mm thickness is formed by welding two half-pipe base metals with the length of 5m, the radius of 0.25m and the thickness of 12mm, the weld joint to be milled is a semi-ring-shaped weld joint with the length of 0.785 m. The concave surface of the processed workpiece is a to-be-milled surface. The width of the fusion width of the welding line to be milled, which is positioned on the surface to be milled, is 15-17mm, and the height of the extra height of the welding line to be milled, which is positioned on the surface to be milled, is 5-7mm, and the extra height needs to be removed after welding.
In this example: (1) the standard workpiece adopts a piece of base metal with the same specification, namely a semi-tubular base metal with the length of 5m, the radius of 0.25m and the thickness of 12mm, and (2) a special tool clamp is needed to position and clamp the standard workpiece and the processed workpiece. The method used in example 1 was the same except for the difference between the above two points.
Specific example 3:
the material is 6061 aluminum alloy, the shape is wavy, the processed workpiece with the dimension specification of 1m long, 0.8m wide and 6mm thick is formed by welding two wavy base metals with the length of 1m, the width of 0.4m and the thickness of 6mm in a splicing mode along the length direction, the pseudo-milling welding line is a wavy welding line, and the length of the pseudo-milling welding line is 1.5m after the pseudo-milling welding line is straightened. The surface of the machined workpiece, which needs to be removed due to the weld reinforcement, is a planned milling surface. The width of the fusion width of the welding line to be milled, which is positioned on the surface to be milled, is 10-13mm, and the height of the extra height of the welding line to be milled, which is positioned on the surface to be milled, is 3-4mm, and the extra height needs to be removed after welding.
In this example: (1) the standard workpiece adopts a piece of base metal with the same specification, namely a piece of wavy base metal with the length of 1m, the width of 0.4m and the thickness of 6mm, and (2) a special tool clamp is needed to position and clamp the standard workpiece and the processed workpiece. The method used in example 1 was the same except for the difference between the above two points.
The automatic milling device and the method of the invention are adopted to remove the weld reinforcement, thereby avoiding the difficult problem that the welding reinforcement is easy to cause the accidental damage of the parent metal during the milling process, leading the automatic milling method to be applied to the welding reinforcement removing process with high quality, greatly improving the efficiency compared with the automatic grinding method, being suitable for the removal process of the weld reinforcement of various metals, simultaneously generating no dust and having very small noise.
Claims (10)
1. The utility model provides a welding seam surplus height automatic milling device, characterized in that, includes robot (1), the wrist of robot (1) is connected with mills route and picks up module (3) and mill module (4), mill route pick up module (3) including teaching thimble (9) and a plurality of displacement sensor, every displacement sensor all is equipped with the slip measuring staff, the tip of slip measuring staff all is equipped with gyro wheel (17).
2. The automatic milling device for the weld reinforcement according to claim 1, characterized in that the milling path picking module (3) comprises two displacement sensors, the middle point of a connecting line of the axial middle points of the initially extending parts of the first sliding measuring rod (10) and the second sliding measuring rod (11) corresponding to the two displacement sensors is a first tool center (16) of the robot, and the needle point of the teaching thimble (9) corresponds to the first tool center (16) of the robot.
3. The weld reinforcement automatic milling device according to claim 1 or 2, characterized in that the displacement sensor is connected with a milling path pick-up module controller (8), and the milling path pick-up module controller (8) is in communication with the robot controller (2).
4. The automatic weld reinforcement milling device according to claim 1, wherein the lengths of the initial extending parts of the sliding measuring rods are the same.
5. The automatic weld reinforcement milling device according to claim 1, characterized in that the milling module (4) comprises a peripheral milling cutter, and the middle point of the axis of the peripheral milling cutter is the center (20) of the second robot tool.
6. The automatic weld reinforcement milling device according to claim 1, characterized in that the robot (1), the milling path picking module (3) and the milling module (4) are all connected with a robot controller (2).
7. A method for generating a welding seam surplus height automatic milling path is characterized by comprising the following steps:
the first step, teaching, specifically include:
1) before teaching, scribing on a standard workpiece to serve as a teaching path, wherein the teaching path corresponds to the position of a central line of a welding seam to be milled;
2) in the teaching process, teaching is carried out on the tip of the teaching thimble along a teaching path, a first sliding measuring rod and a second sliding measuring rod are symmetrically arranged on two sides of the teaching path, and rollers at the end parts of the first sliding measuring rod and the second sliding measuring rod are in rolling connection with the surface of a standard workpiece;
3) after teaching, a robot teaching track is obtained, the displacement size collected by the first displacement sensor at each teaching point is TFD [ i ] (i is 1, 2, 3, …, n), and the displacement size collected by the second displacement sensor at each teaching point is TSD [ i ] (i is 1, 2, 3, …, n);
secondly, generating an automatic milling path of the extra height of the welding seam, wherein a first sliding measuring rod and a second sliding measuring rod are symmetrically arranged on two sides of the to-be-milled welding seam on the to-be-processed workpiece, rollers at the end parts of the first sliding measuring rod and the second sliding measuring rod are in rolling connection with the surface of the to-be-processed workpiece, an arbitrary position between two ends of the to-be-milled welding seam is taken as a starting point, a milling path picking module moves towards one direction of the to-be-milled welding seam along a first tool center of the robot according to a teaching track of the robot, the milling path picking module returns to the starting point after the end is reached, the milling path picking module moves towards the other direction of the to-be-milled welding seam along the teaching track of the robot again according to the first tool center of the robot, the milling path picking module stops after the end is reached, when the first tool center of the robot reaches a teaching point, both a first displacement sensor and a second displacement sensor collect displacement data, the displacement size collected by the first displacement sensor is AFD [ i ] (i ═ 1, 2, 3, …, n), the displacement size collected by the second displacement sensor is ASD [ i ] (i is 1, 2, 3, …, n), D [ i ] (Max (AFD [ i ] -TFD [ i ], ASD [ i ] -TSD [ i ]) (i is 1, 2, 3, …, n), the radius of the peripheral milling cutter is R, and the robot teaching track is corrected by D [ i ] and R, so that the extra-weld height automatic milling path can be generated.
8. The method for generating the weld reinforcement automatic milling path according to claim 7, wherein the weld reinforcement automatic milling path is generated before the weld to be milled is milled.
9. The method for generating the weld reinforcement automatic milling path according to claim 7, wherein the distance between the rolling connection points of the first sliding measuring rod and the second sliding measuring rod and the surface of the workpiece to be processed is 1mm-20mm from the corresponding edge of the weld to be milled.
10. The use method of the automatic welding seam surplus height milling device is characterized by comprising the following steps:
(1) a teaching thimble is arranged on the milling path picking module;
(2) positioning and clamping a standard workpiece;
(3) teaching of
(4) Unloading the teaching thimble and the standard workpiece;
(5) positioning and clamping a machined workpiece;
(6) generating an automatic milling path of the weld reinforcement;
(7) milling the welding line according to the automatic milling path of the welding line excess height;
(8) and (5) unloading the machined workpiece, repeating the steps (5) to (7), and automatically milling the weld reinforcement of the next machined workpiece.
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| CN114237150A (en) * | 2021-12-17 | 2022-03-25 | 常熟理工学院 | Robot welding seam milling path control method and device based on welding seam characteristics |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114237150A (en) * | 2021-12-17 | 2022-03-25 | 常熟理工学院 | Robot welding seam milling path control method and device based on welding seam characteristics |
| CN114237150B (en) * | 2021-12-17 | 2024-02-09 | 常熟理工学院 | Robot weld milling path control method and device based on weld features |
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| CN113370235B (en) | 2023-01-31 |
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