CN114669923A - Method for detecting and adjusting welding attitude in relatively sealed space - Google Patents
Method for detecting and adjusting welding attitude in relatively sealed space Download PDFInfo
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- CN114669923A CN114669923A CN202210486300.XA CN202210486300A CN114669923A CN 114669923 A CN114669923 A CN 114669923A CN 202210486300 A CN202210486300 A CN 202210486300A CN 114669923 A CN114669923 A CN 114669923A
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- 238000003466 welding Methods 0.000 title claims abstract description 293
- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000008569 process Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 98
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 43
- 229910052742 iron Inorganic materials 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 12
- 230000011218 segmentation Effects 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000036544 posture Effects 0.000 claims description 6
- 230000001131 transforming effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 13
- 230000008859 change Effects 0.000 description 27
- 238000007789 sealing Methods 0.000 description 13
- 230000005389 magnetism Effects 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 7
- 238000013500 data storage Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 229910001369 Brass Inorganic materials 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 239000010951 brass Substances 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 230000035515 penetration Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002537 cosmetic Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
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Abstract
The application relates to the technical field of welding, in particular to a method for detecting and adjusting a welding posture in a relatively sealed space. The method comprises the following steps: fixing the surface to be welded on a positioner; adjusting a welding gun to be at an initial position; detecting the angle between a welding gun and a surface to be welded in the front-back direction of welding operation; detecting the angle between a welding gun and a surface to be welded in the left and right directions of welding operation; and adjusting the operation parameters of the welding gun according to the detected angle. When the angle in the front-back direction is detected, the electronic angle gauge is fixed on the welding gun cross rod; and when the angle in the left and right directions is detected, the electronic angle gauge is fixed on an auxiliary measuring part at the position of the vertical rod of the welding gun. According to the method, the angles of the front and back directions and the left and right directions are detected in a grading manner, the operation parameters of the welding gun are adjusted according to the detected angles, and the control parameters of the welding gun are corrected, so that a better angle is maintained between the welding gun and a surface to be welded at any time in the welding process, and a better welding effect is achieved.
Description
Technical Field
The application relates to the technical field of welding, in particular to a method for detecting and adjusting a welding posture in a relatively sealed space.
Background
The valve seat is characterized in that the sealing surface is a contact surface which is tightly attached to the valve seat and has a sealing effect, the surfacing of the sealing surface of the valve seat is an important process in the manufacturing of the valve seat, the surfacing quality of the sealing surface of the valve seat determines the manufacturing quality of the valve seat to a great extent, and the surfacing quality of the sealing surface determines whether the valve core member has faults or fails to determine the service life of the valve core member to a great extent. The sealing surface is the most critical working surface of the valve seat, and the quality of the sealing surface is related to the service life of the valve seat.
In the welding process, the angle of the welding gun has a direct relation with the welding seam forming and the welding quality, and the welding seam forming and the welding quality are shown to influence the appearance, the penetration depth, the welding width, the surplus height, the welding spatter and the like of the welding seam. When surfacing is carried out in a relatively closed or semi-closed space, how to effectively control the front-back angle and the left-right angle of a welding gun and a surfacing surface so as to adjust the required welding angle is an important thing. The effect of the welding gun angle on the weld penetration width is schematically shown in fig. 1.
In the process of surfacing welding the sealing surface of the valve seat of the relatively closed valve body, a welding gun of a welding robot is used for surfacing welding the sealing surface of the valve seat, three dimensions are welded on the constantly-changed welding surface, the welding surface is observed in no aspect, a proper welding angle is guaranteed, a good welding effect is achieved, and the problem that the welding angle needs to be considered is solved.
Disclosure of Invention
In order to enable a welding angle between a welding gun of a welding robot and a surface to be welded to be a better position in the process of surfacing welding of a sealing surface of a relatively closed space, the application provides a method for detecting and adjusting a welding posture in the relatively closed space.
The application provides a method for detecting and adjusting welding postures in a relatively sealed space adopts the following technical scheme:
a method for detecting and adjusting welding postures in a relatively sealed space comprises the following steps:
fixing the surface to be welded on a positioner;
adjusting a welding gun to be at an initial position;
detecting the angle between a welding gun and a surface to be welded in the front-back direction of welding operation;
detecting the angle between a welding gun and a surface to be welded in the left and right directions of welding operation;
and adjusting the operation parameters of the welding gun according to the detected angle.
By adopting the technical scheme, the angles of the welding gun and the surface to be welded in the front-back direction and the left-right direction of welding operation are detected in a grading manner, the operation parameters of the welding gun are adjusted according to the detected angles, the control parameters of the welding gun generated by presetting in the welding robot are corrected, and then the better angle is maintained between the welding gun and the surface to be welded in the welding process, so that a better welding effect is achieved.
Optionally, detecting an angle between the welding gun and a surface to be welded in the front-back direction of the welding operation includes:
taking points and segmenting the surface to be welded; setting a detection track; setting a starting detection position and setting a detection running direction;
fixing an electronic angle gauge which is already reset to zero on a horizontal plane on a cross rod of the welding gun;
running detection according to a set detection track;
and monitoring and recording the detection angle of the electronic angle gauge.
By adopting the technical scheme, the electronic angle gauge is arranged on the cross rod of the welding gun, so that the angle between the welding gun and the surface to be welded in the front and back directions of welding operation is detected.
Optionally, detecting an angle between the welding gun and the surface to be welded in the left-right direction of the welding operation includes:
taking points and segmenting the surface to be welded; setting a detection track; setting a starting detection position and setting a detection running direction;
transforming iron at the vertical rod of the welding gun;
fixing an electronic angle gauge which is reset to zero on the vertical plane on an auxiliary measuring part of the welding gun;
running detection according to a set detection track;
and monitoring and recording the detection angle of the electronic angle gauge.
By adopting the technical scheme, the electronic angle gauge is arranged in the vertical pipe of the welding gun, so that the angle between the welding gun and the surface to be welded in the left and right directions of welding operation can be detected.
Of course, if in the present application, the welding gun and the surface to be welded are continuously detected in the front-back direction of the welding operation and then in the left-right direction, or the welding gun and the surface to be welded are continuously detected in the left-right direction and then in the front-back direction, and in the process of the latter detection, points and segments are taken for the surface to be welded; setting a detection track; the steps of setting the initial detection position and setting the detection running direction can be extended to the point taking, the segmentation and the related setting in the previous step, and the point taking, the segmentation and the related setting are not necessarily repeated.
Optionally, the method for taking points and segmenting the surface to be welded and setting the initial detection position and track includes the steps of:
scanning a three-dimensional curved surface of a surface to be welded;
taking points on the three-dimensional curved surface of the surface to be welded;
segmenting the three-dimensional curved surface of the surface to be welded according to the point;
setting a detection track sequence for the three-dimensional curved surface of the surface to be welded according to segmentation;
and setting a starting detection position and setting a detection running direction according to the detection track sequence.
Through adopting above-mentioned technical scheme, for the preparation work before the detection, through treating the face of weld and getting some, segmentation, carry out the segmentation according to the characteristic of treating the face of weld and set for, can improve the accuracy nature of testing process better to and the convenience of operation. The initial detection position, trajectory, direction, etc. are set, that is, the process and sequence of completion of detection are determined. In addition, in the application, for the three-dimensional curved surface parameters of the surface to be welded which are stored in the welding robot, the relevant parameters are directly called, and the three-dimensional curved surface of the surface to be welded is not required to be scanned.
Optionally, setting a detection track sequence for the three-dimensional curved surface of the surface to be welded,
sequentially running and detecting all sections of the surface to be welded; or the like, or, alternatively,
sequentially detecting parts of the surface to be welded in a segmenting mode, and completing all segmenting detection in multiple times; or
And (4) carrying out jump operation detection on part of the surface to be welded in segments, and completing all segment detection in multiple times.
By adopting the technical scheme, various setting modes of the detection track sequence are disclosed.
Optionally, the electronic angle gauge is fixed at the lowest position of the welding gun cross bar.
Through adopting above-mentioned technical scheme, disclose for getting better detection effect, preferably fix the minimum position department at the welder horizontal pole.
Optionally, monitoring the detection angle of the electronic angle gauge includes:
shooting a real-time angle value displayed on a display screen of the electronic angle gauge through a video shooting device, and recording, processing and using data; or the like, or, alternatively,
and transmitting the detection data to external equipment through the electronic angle gauge so as to record, process and use the data.
By adopting the technical scheme, a recording mode of the detection data is disclosed.
Optionally, transforming iron at the position of the vertical rod of the welding gun, including
And an iron auxiliary measuring part is arranged at the welding tip of the vertical rod and is sleeved on the welding tip.
By adopting the technical scheme, the method for improving the iron at the position of the vertical rod of the welding gun is disclosed. Because the welding nozzle of welder is the material of brass, does not possess magnetism, electron angle gauge can't pass through magnetism and adsorb on the welding nozzle. And because the vertical rod of the welding gun is short and the welding tip is arranged, the electronic angle gauge is not fixed in enough space. Therefore, the vertical rod of the welding gun is reformed by iron. The electronic angle gauge is convenient to fix through magnetism.
Optionally, the appearance of the auxiliary measuring part is a regular plane, so that the electronic angle gauge is fixed through magnetic adsorption; the angle in the left and right directions is detected, and the fixed position of the electronic angle gauge on the auxiliary measuring part can be replaced during operation detection.
By adopting the technical scheme, the style of the auxiliary measuring part and the fixing mode of the electronic angle gauge on the auxiliary measuring part in the detection process are disclosed. In order to fix the electronic angle gauge conveniently, the appearance of the iron auxiliary measurement part is made into an outer hexagon, the outer hexagon is provided with a regular plane, and the iron auxiliary measurement part and the electronic angle gauge are fixed conveniently through magnetism. Of course, other shapes with regular planes are also possible. And because when measuring the angle of different positions, in order to avoid the electron angle gauge to interfere with the inner wall of the part in the closed space in the valve body, the electron angle gauge can be taken down and then installed on different surfaces of the outer hexagon of the iron auxiliary measuring part, and the detection on all tracks is realized by changing the fixation of the electron angle gauge on different surfaces of the outer hexagon.
Optionally, the angle value of the welding wire which deviates from the central axis of the vertical rod of the welding gun when the welding wire extends out of the welding gun nozzle is detected, and the operation parameter of the welding gun is adjusted according to the detected angle value.
By adopting the technical scheme, the angle in the welding process can be further corrected.
The application comprises at least one of the following beneficial technical effects:
1. according to the method, through twice detection, the angles formed by the welding gun and the surfaces to be welded in the front-back and left-right directions can be well determined in the process of operation of the welding gun on the welding surfaces, and the control parameters of the welding gun generated in the preset mode in the welding robot are corrected through the angle value and the angle change value obtained through detection, so that the better angle is maintained between the welding gun and the surfaces to be welded in the welding process, and a better welding effect is achieved. Firstly, adjusting the sectional angle (front and rear angles) of the welding gun cross rod and the horizontal plane, after the welding gun cross rod and the horizontal plane are fixed, adjusting the welding gun vertical rod (left and right angles) in a sectional mode, and storing and curing after the welding gun cross rod and the horizontal plane are proper.
2. This application is through treating the face of weld and getting some, segmentation, carries out the segmentation according to the characteristic of treating the face of weld and sets for, can improve testing process's accuracy nature better to and the convenience of operation. The initial detection position, trajectory, direction, etc. are set, that is, the process and sequence of completion of detection are determined.
3. This application is through adopting above-mentioned technical scheme, discloses the mode of iron transformation in butt welding gun montant department. Because the welding nozzle of the welding gun is made of brass and does not have magnetism, the electronic angle gauge cannot be adsorbed on the welding nozzle through the magnetism. And because the vertical rod of the welding gun is short and is provided with the welding tip, the electronic angle gauge is not fixed in enough space. Therefore, the vertical rod of the welding gun is reformed by iron. The electronic angle gauge is convenient to fix through magnetism.
Drawings
FIG. 1 is a schematic view of the effect of the weld gun angle on weld penetration width.
FIG. 2 is a schematic view of a valve seat and the location of the weld in the valve seat.
FIG. 3 is a schematic diagram of the three-dimensional curved surface of the welding surface for point acquisition, segmentation, and setting of the initial detection position and trajectory.
FIG. 4 is a three-dimensional view of a weld gun in a straight line segment before and after angular position detection.
FIG. 5 is a three-dimensional view of a welding gun in the forward and backward angular positions of the inner curved portion.
FIG. 6 is a three-dimensional view of a weld gun in a straight line segment for detecting left and right angle conditions.
FIG. 7 is a three-dimensional view of a welding gun in a left-right angle state at an inner bend section.
FIG. 8 is a schematic view of a wire deflection angle.
Reference numerals:
the device comprises a valve body 1, a welding surface 11, a welding gun 2, a cross rod 21, a vertical rod 22, a welding nozzle 23, a welding wire 24, an auxiliary measuring part 25 and an electronic angle gauge 3.
Detailed Description
The present application is described in further detail below with reference to the attached drawings.
In the process of surfacing the sealing surface of the relatively closed valve body 1, a welding gun 2 of a welding robot is used for surfacing the sealing surface of the valve seat, and materials such as pure nickel and the like which improve the performance of the sealing surface are welded on the welding surface 11 which changes continuously in three dimensions. Referring to fig. 2, specifically, in the valve body 1, the welding surface 11 is a long circular arc surface, and the welding robot is used for welding, so that on the welding surface 11 with three dimensions changing constantly, how to ensure that the welding wire 24 extending out of the welding gun 2 is always perpendicular to the front-back direction and the left-right direction of the welding surface 11 or a certain angle is maintained at a certain stage is the problem to be solved and overcome by the application.
When the welding gun 2 carries out surfacing welding, the valve body 1 to be welded is fixedly placed on a positioner of a welding robot, the welding gun 2 is adjusted to be positioned inside the valve body 1 to be welded, and the initial welding position of the welding gun 2 is determined. And starting the welding gun 2 to weld, wherein the welding gun 2 moves in a plane, and the welding robot controls the positioner to move, so that the welding surface 11 of the valve body 1 and the welding gun 2 are always in a proper welding range, and the welding robot controls the welding gun 2 to implement surfacing. The positioner is used for enabling the welding surface 11 to be in the horizontal direction through angular rotation, and the phenomenon that the molten pool flows to other positions or directions due to gravity is reduced as much as possible.
The angle between the welding gun 2 and the surface 11 to be welded is always in the desired better angle in the welding process, so that the welding effect achieves the ideal effect. Before welding, the welding gun 2 and the front-back angle and the left-right angle of the surface to be welded 11 of the welding gun 2 in the welding advancing direction are respectively detected by instruments for detecting angles arranged at different positions on the welding gun 2, the detected angles are recorded into a welding robot, the welding robot corrects the angle between the welding gun 2 and the surface to be welded 11 in a control unit, and a positioner is controlled to enable the welding surface 11 of the valve body 1 and the welding gun 2 to be at a proper angle all the time. Then, the welding operation is performed.
The welding gun 2 of the welding robot comprises a cross rod 21, a vertical rod 22 and a welding tip 23, wherein the welding tip 23 is arranged at the front end of the vertical rod 22, and a welding wire 24 extends out of the welding tip 23. The cross bar 21 and the vertical bar 22 are integrally formed and are both made of copper, and the welding tip 23 is also made of copper.
The method comprises the steps of firstly detecting in the front-back direction, then evaluating the current control parameters according to the detection result, determining whether to modify the control parameters in the front-back direction or not according to the evaluation result, fixing the determined control parameters and recording the fixed control parameters into a program of the welding robot. I.e. the angle between the cross bar 21 of the welding gun 2 and the horizontal plane does not change any more. Then, detecting and acquiring angles of the left and right directions of the segments, and noting that: the angle between the cross bar 21 and the horizontal plane is the angle parameter which has been solidified before, and when the angle of the vertical bar 22 of the welding gun 2 is adjusted to be proper, the angle parameter is solidified into the welding robot database.
In order to detect the angle between the welding gun 2 and the front and back direction of the surface 11 to be welded in the welding advancing direction, the measurement steps are mainly as follows:
when detecting the angle between the welding torch 2 and the surface to be welded 11 in the front-rear direction, a device for detecting the angle needs to be provided on the cross bar 21 of the welding torch 2.
1. Taking points and segmenting from the three-dimensional curved surface of the welding surface 11 to be welded; setting an initial detection position and track;
in a point-taking mode, the shape of the curved surface can be divided into several sections to complete. Refer to fig. 3. Firstly, scanning a three-dimensional curved surface of a welding surface 11 to be welded; then, the three-dimensional curved surface is analyzed, the curved surface section with a certain rule is divided into a plurality of track sections, and different segmentation points are marked at the boundary points of the sections, for example, A-J in the figure are segmentation points, the three-dimensional curved surface is divided into a straight line section I (A-B), an inner bent section I (B-F), a straight line section II (F-G) and an inner bent section II (G-A), wherein the inner bent section I is divided into four sub-sections B-C, C-D, D-E, E-F, and the inner bent section II is divided into four sub-sections G-H, H-I, I-J, J-A. In the selection of the segments, the three-dimensional curved surface characteristics of each minimum segment are as close as possible, so that when the welding gun 2 is welded on the three-dimensional curved surface of the welding surface 11, the change of the positioner is relatively simple, the change control is accurate, and the three-dimensional curved surface of the valve body 1 can adapt to the angle requirement required by the welding gun 2 at any time along with the change of the positioner.
And (3) taking points and segmenting according to the three-dimensional curved surface of the welding surface 11, setting a detection starting position, such as a point A point starting point, and setting a detection running sequence, such as A-B-C-D-E-F-H-I-J-A. Of course, the detection may be divided into multiple detections, each detection is set to a detection starting point, and finally the detection of the whole welding surface 11 is completed. If two straight line segments are detected, namely, A is used as a detection initial position to detect the A-B segment, F is used as a detection initial position to detect the F-G segment, then B is used as a detection initial position to detect the B-F segment, and G is used as a detection initial position to detect the G-A segment.
In order to ensure A better welding effect, after the surfacing of the whole welding surface 11 is completed, arc closing is also needed to be implemented, A point Q is taken as an arc closing starting point, A point S is taken as an arc closing end point, and an arc closing section comprises A point A, namely Q-A-S.
2. The electronic angle gauge 3 returns to zero on the horizontal plane;
the electronic angle gauge 3 can be used for detecting angles and displaying detected angle values on a display screen of the electronic angle gauge in real time. The electronic angle gauge 3 is reset to zero on a horizontal plane, a standard position with the value of 0 of the horizontal plane is given to the electronic angle gauge 3, then the electronic angle gauge is taken up and placed on a plane to be measured, and the measured angle is the angle change relative to the horizontal plane.
3. Fixing the electronic angle gauge 3 on a cross bar 21 of the welding gun 2;
because the cross bar 21 of the welding gun 2 is in a tubular shape with a uniform outer diameter, the electronic angle gauge 3 is easily fixed on the cross bar 21 in a binding mode and the like. Of course, since the electronic angle gauge 3 is provided with the magnetic body, it is easily magnetically attracted to the ferrous material. The welder material is red copper material, does not have magnetism, consequently also can set up iron auxiliary structure on horizontal pole 21, adsorbs electron angle gauge 3 on welder 2's horizontal pole 21 through the mode of adsorbing. In order to ensure the detection angle, the electronic angle gauge 3 is fixed at the relatively lowest position of the welding gun 2 in an absorbing manner, that is, the exposed parts of the electronic angle gauge 3 on the two sides of the cross bar 21 are basically the same.
4. Running detection according to a set track;
fig. 4 is a three-dimensional view showing the state of the welding torch 2 in the angle before and after detection of the straight line segment. Fig. 5 is a three-dimensional view showing the state of the welding torch 2 at the front and rear angles of the inner bend section. And running detection according to the set initial detection position, the detection track and the detection sequence. Welding robot control welder 2 begins at the face of weld 11 of valve body 1 from initial position, moves in the plane, and the movement of welding robot control positioner drives the face of weld 11 motion of valve body 1, makes face of weld 11 move to the height that is suitable apart from welder 2, has certain contained angle between welder 2 and the face of weld 11. At this time, the electronic angle gauge 3 detects an angle, which is an angle between the welding gun 2 and the surface 11 to be welded in the front-rear direction. The motion of the positioner drives the welding surface 11 of the valve body 1 to move according to a set track, and the electronic angle gauge 3 can detect the angle in real time and display the angle on a display screen of the electronic angle gauge.
5. Monitoring the angle change of the electronic angle gauge 3;
and monitoring the real-time angle value detected by the electronic angle gauge 3 and calculating the angle change.
The real-time angle value displayed on the display screen of the electronic angle gauge 3 can be shot through the video shooting device, and the real-time angle value is conveniently recorded, called and read.
6. And correspondingly adjusting according to the angle value.
According to the real-time angle value detected by the electronic angle gauge 3 and the angle change value obtained by calculation, the motion parameters of the welding gun 2 of the welding robot are adjusted, so that the angle between the welding gun 2 and the surface 11 to be welded in the front and back direction of the welding advancing direction is in a better state. The specific angle adjustment is realized by inputting corresponding data into a control program of the welding robot through an operation panel of the welding robot and executing the corresponding control program. The steps and methods of entry and execution are well documented in the operating protocols of the welding robot and associated training for use by the personnel involved, and therefore are not described in detail in this application.
In order to detect the angle between the welding gun 2 and the surface 11 to be welded in the left-right direction in the welding advancing direction, the measurement steps mainly comprise:
when detecting the angle between the welding torch 2 and the surface 11 to be welded in the left-right direction, a device for detecting the angle needs to be mounted on the vertical rod 22 of the welding torch 2.
1. Iron transformation is carried out at the position of a vertical rod 22 of the welding gun 2;
because the welding tip 23 of the welding gun 2 is made of brass and has no magnetism, the electronic angle gauge 3 cannot be attracted to the welding tip 23 through magnetism.
Since the stem 22 of the welding torch 2 is short and the welding tip 23 is mounted, there is not enough space to fix the electronic angle gauge 3.
Since the stem 22 of the welding gun 2 is substantially a tubular structure with a constantly changing outer diameter behind the korean cosmetic welding tip 23, it is inconvenient to fix the electronic angle gauge 3.
Therefore, the vertical rod 22 of the welding gun 2 is modified by iron. An iron auxiliary measuring part 25 is arranged at the welding tip 23 and sleeved on the welding tip 23. The appearance of the iron auxiliary measuring part 25 is made into an outer hexagon, and the outer hexagon is provided with a regular plane, so that the iron auxiliary measuring part and the electronic angle gauge 3 can be conveniently fixed through magnetism. Of course, other configurations are possible.
The vertical rod 22 of the welding gun 2 is arranged to be an iron part, so that the left and right angle change can be conveniently seen through the fixable electronic angle.
2. Taking points and segmenting from the three-dimensional curved surface of the welding surface 11 to be welded; setting an initial detection position and track;
if the angle detection in the front-back direction is performed, the three-dimensional curved surface of the welding surface 11 is subjected to point taking and segmentation, and an initial detection position and a track are set, so that the operation is not required to be repeated and the welding surface can be used continuously.
3. The electronic angle gauge 3 returns to zero on the vertical plane;
4. fixing the electronic angle gauge 3 on an iron auxiliary measuring part 25 of the welding gun 2;
5. running detection according to a set track;
fig. 6 is a three-dimensional view showing a state where the welding torch 2 detects a left-right angle in a straight line segment, and fig. 7 is a three-dimensional view showing a state where the welding torch 2 detects a left-right angle in an inflected segment. When measuring angles at different positions, in order to avoid interference between the electronic angle gauge 3 and the inner wall of a part in a closed space in the valve body 1, the electronic angle gauge 3 can be taken down and then installed on different surfaces of the outer hexagon of the iron auxiliary measuring part 25, and detection on all tracks is realized by changing the fixation of the electronic angle gauge 3 on different surfaces of the outer hexagon.
6. Monitoring the angle change of the electronic angle gauge 3;
7. and correspondingly adjusting according to the displayed angle value.
Further, since the welding wire 24 has a certain rigidity, the wire is deviated in a certain orientation when it is extended out of the tip of the welding torch 2, and therefore, the deviation angle needs to be counted.
The wire 24 extends from the tip 23 generally toward the inner corner of the cross bar 21 and the stem 22. Referring to fig. 8, for example, the welding wire 24 is offset 10 ° from the axis of the vertical shaft 22 of the welding gun 2. The welding wire 24 is at an angle of 90 degrees to the horizontal plane, and the cross bar 21 of the welding gun 2 is parallel to the horizontal plane. Firstly, the welding wire 24 is ensured to be vertical and horizontal, then the angle between the cross bar 21 and the horizontal is calculated according to the design angle (100 degrees in the figure) of the welding gun 2, and the middle cross bar 21 and the horizontal are in a parallel state. If the welding wire 24 is displaced by 8 deg., the cross bar 21 of the welding gun 2 must be raised upwards by an angle of 2 deg. to the horizontal. The welding wire 24 is offset by 10 degrees from the axis of the vertical rod 22 of the welding gun 2, the point taking of the trajectory in the bending section is also offset, the hypotenuse of the triangle is 12mm of the extension of the welding wire 24, the angle is 10 degrees, and the short hypotenuse has about 2.1mm of offset.
Aiming at the measurement result, the change value of the angle can be calculated, and information such as the change trend of the angle can be analyzed.
For a brand-new welding surface 11, firstly analyzing the three-dimensional change condition of the welding surface 11, and if the change is only two-dimensional change, namely a straight line segment similar to us, referring to the straight line segment for adjustment; in the case of a weld face 11 that varies in all three dimensions, we refer to our bend settings for adjustment.
When a brand-new welding surface 11 is used for taking points along a track, the taken point positions are ensured every time, the angle of the positioner is rotated to ensure that the local surface is horizontal, and the positioner and the welding robot are linked to memorize the stored positions.
The video capture device may be a cell phone. Of course, other video cameras may be used to capture the recording.
Because detect in valve body 1 inside, inconvenient manual work implements direct observation and record, through the form of video image record, can enough provide convenience for observing the record, record detection state that again can be real provides convenience for research and follow-up looking up.
Of course, the real-time angle value detected by the electronic angle gauge 3 can be recorded in a video recording mode, and the angle change can be calculated through manual recording of video data information. The electronic angle gauge 3 can be improved, a data acquisition unit is arranged, and the real-time angle value detected by the electronic angle gauge 3 can be displayed on a display screen in real time and can be acquired into the data acquisition unit. And the data transmission unit is also arranged, the data acquisition unit is connected with the data transmission unit, and the acquired real-time angle value is transmitted to external equipment through the data transmission unit so as to be recorded by external receiving equipment. The data transmission unit can transmit data in a wired form, such as a data transmission line, and also can transmit data in a wireless form, such as WIFI, GPRS, 3G, 4G, 5G, and the like. And a data storage unit can be further arranged, the data acquisition unit is connected with the data storage unit, and the data acquired by the data acquisition unit is stored in the data storage unit.
The external receiving device may be a device having data receiving and recording functions, which is separately configured, or may be a data receiving and recording unit integrated in the welding robot, or may be another device having data receiving and recording functions. The external receiving equipment is provided with a data receiving unit which can receive the real-time angle value data transmitted by the data transmission unit of the electronic angle gauge 3. A data recording unit is also provided, in which the accepted real-time angle value data is recorded. The recorded data can be displayed externally for manual recording, such as output to a display screen; or setting a printout for manual recording after the printout, such as printing to a mechanical printer or an electronic print file; the data processing unit can be further arranged, the data recording unit is connected with the data processing unit, and the recorded data are transmitted to the data processing unit for operation processing. The data processing unit can calculate the angle change and output the angle change value, and the angle change value can be directly recorded manually, so that the time and the energy for manually calculating the angle change value are saved, the calculation efficiency is improved, and data errors or errors generated by manual calculation can be avoided. And a data transmission unit can be arranged to directly output the angle change value calculated by the data processing unit to the welding robot. A data storage unit may be provided to store the received data, the calculated data, and the like.
Obviously, it is also possible to add data processing functions of external devices to the improvement of the electronic angle gauge 3. A data processing unit is arranged in the improvement of the electronic angle gauge 3, and the electronic angle gauge 3 can have a detected real-time angle value and an angle change value after operation by transmitting output data.
As another embodiment, the real-time angle value detected by the electronic angle gauge 3 may be directly transmitted to the welding robot, and the welding robot may be provided with a data receiving unit, a data recording unit, a data processing unit, a data storage unit, and the like, and the angle change value calculated by the data processing unit may be input to a control unit of the welding robot, and the control unit may further issue a control command to control the welding torch 2, so that the angle between the welding surface 11 and the welding torch 2 is always maintained in a preferable state.
Specific operating conditions refer to the accompanying drawings.
The spot taking, segmenting and track setting can be different in the detection process aiming at the welding surfaces 11 with different requirements.
If the requirement on the welding surface 11 of the part is not high, the three-dimensional valve seat surface to be welded can be intercepted, the welding gun 2 is operated in a segmented mode according to the track, the electronic angle gauge 3 is fixed on the welding gun 2, the real-time change of the angle is recorded through a video, and corresponding adjustment is carried out. The number of points and segments can be relatively small, and the track setting can be continuously carried out.
If the requirement on the welding surface 11 of the part is high, in a closed space, the number of points can be relatively large, the number of sections can be relatively large, and the track arrangement can be used for detecting the sections respectively. An electronic angle gauge 3 is fixed on the welding gun 2, and the real-time change of the angle is recorded by shooting a video and is correspondingly adjusted.
In order to improve the detection efficiency, the visualization of the detection process is realized. For the detection of the welding surface 11 in a closed or relatively closed space, only a partial area of the welding surface 11 can be cast and detected to simulate the actual situation, so that the test adjustment can be carried out in a relatively visible space.
The method can better determine the angles formed by the welding gun 2 in the front, back, left and right directions between the welding gun 2 and the surface to be welded 11 in the operation process of the welding gun 2 on the welding surface 11 through twice detection, and corrects the control parameters of the welding gun 2 preset in the welding robot through the angle value and the angle change value obtained through detection, so that the welding gun 2 can maintain a better angle with the surface to be welded 11 in the welding process, and a better welding effect can be achieved.
The method and the device can be used for detecting the angle between the welding gun 2 and the surface to be welded 11 before surfacing of the welding surface 11 in the relatively sealed valve body 1, and can also be used for detecting regular or irregular three-dimensional curved surfaces in other closed or relative spaces.
The above are preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A method for detecting and adjusting welding postures in a relatively sealed space is characterized by comprising the following steps:
fixing the surface to be welded on a positioner;
adjusting a welding gun to be at an initial position;
detecting the angle between a welding gun and a surface to be welded in the front-back direction of welding operation;
detecting the angle between a welding gun and a surface to be welded in the left and right directions of welding operation;
and adjusting the operation parameters of the welding gun according to the detected angle.
2. A method of detecting and adjusting a welding attitude within a relatively sealed space, according to claim 1, wherein an angle of the welding torch to the surface to be welded in a front-rear direction of a welding operation is detected, comprising the steps of:
taking points and segmenting on the surface to be welded; setting a detection track; setting a starting detection position and setting a detection running direction;
fixing an electronic angle gauge which returns to zero on a horizontal plane on a cross rod of the welding gun;
running detection according to a set detection track;
and monitoring and recording the detection angle of the electronic angle gauge.
3. The method for detecting and adjusting the welding posture in the relatively sealed space according to claim 1, wherein the angle of the welding torch to the surface to be welded in the left and right directions of the welding operation is detected, comprising the steps of:
taking points and segmenting the surface to be welded; setting a detection track; setting a starting detection position and setting a detection running direction;
transforming iron at the vertical rod of the welding gun;
fixing an electronic angle gauge which is reset to zero on the vertical plane on an auxiliary measuring part of the welding gun;
running detection according to a set detection track;
and monitoring and recording the detection angle of the electronic angle gauge.
4. A method for detecting and adjusting the welding attitude in a relatively sealed space according to claim 2 or 3, wherein the surfaces to be welded are point-segmented, and the setting of the initial detection position and trajectory comprises:
scanning a three-dimensional curved surface of a surface to be welded;
taking points on the three-dimensional curved surface of the surface to be welded;
segmenting the three-dimensional curved surface of the surface to be welded according to the point;
setting a detection track sequence for the three-dimensional curved surface of the surface to be welded according to segmentation;
and setting an initial detection position and a detection running direction according to the detection track sequence.
5. The method for detecting and adjusting the welding attitude in the relatively sealed space according to claim 4, wherein a detection track sequence is set for the three-dimensional curved surface of the surface to be welded,
sequentially running and detecting all sections of the surface to be welded; or the like, or a combination thereof,
sequentially detecting parts of the surface to be welded in a segmenting mode, and completing all segmenting detection in multiple times; or
And (4) carrying out jump operation detection on part of the surface to be welded in segments, and completing all segment detection in multiple times.
6. A method of detecting and adjusting a welding attitude within a relatively sealed space as defined in claim 2 wherein the electronic angle gauge is fixed at the lowest position of the torch beam.
7. A method of weld attitude detection and adjustment within a relatively sealed space, according to claim 2 or 3, wherein monitoring the detected angle of the electronic angle gauge comprises:
shooting a real-time angle value displayed on a display screen of the electronic angle gauge through a video shooting device, and recording, processing and using data; or the like, or, alternatively,
and transmitting the detection data to external equipment through the electronic angle gauge so as to record, process and use the data.
8. A method of detecting and adjusting the welding attitude within a relatively confined space as claimed in claim 3 wherein iron is transformed at the vertical bar of the welding torch including
An iron auxiliary measuring part is arranged at the welding tip of the vertical rod, and the auxiliary measuring part is sleeved on the welding tip.
9. The method for detecting and adjusting the welding attitude in the relatively sealed space according to claim 8, wherein the auxiliary measuring part is a regular plane in shape so that the electronic angle gauge is fixed by magnetic attraction; the angle in the left and right directions is detected, and the fixed position of the electronic angle gauge on the auxiliary measuring part can be replaced during operation detection.
10. The method of claim 1, wherein the angle of the welding wire extending out of the welding torch tip away from the central axis of the vertical shaft of the welding torch is detected, and the operating parameters of the welding torch are adjusted based on the detected angle.
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