CN115178833A - Robot multilayer multi-pass welding manufacturing system and control method and system thereof - Google Patents

Robot multilayer multi-pass welding manufacturing system and control method and system thereof Download PDF

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Publication number
CN115178833A
CN115178833A CN202210725965.1A CN202210725965A CN115178833A CN 115178833 A CN115178833 A CN 115178833A CN 202210725965 A CN202210725965 A CN 202210725965A CN 115178833 A CN115178833 A CN 115178833A
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China
Prior art keywords
welding
robot
upper computer
module
manufacturing system
Prior art date
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Pending
Application number
CN202210725965.1A
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Chinese (zh)
Inventor
尹玉环
孙雪君
夏佩云
高焓
从宝强
李送斌
高嘉爽
刁磊
曹晓
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Shanghai Aerospace Equipments Manufacturer Co Ltd
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Shanghai Aerospace Equipments Manufacturer Co Ltd
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Priority to CN202210725965.1A priority Critical patent/CN115178833A/en
Publication of CN115178833A publication Critical patent/CN115178833A/en
Pending legal-status Critical Current

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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
    • B23K9/06—Arrangements or circuits for starting the arc, e.g. by generating ignition voltage, or for stabilising the arc
    • B23K9/067—Starting the arc
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass

Abstract

The invention provides a robot multilayer multi-pass welding manufacturing system and a control method and a system thereof, wherein the robot multilayer multi-pass welding manufacturing system comprises: the robot welding system comprises a welding module, a robot and a control module thereof, a welding parameter measuring module and an upper computer control module; the welding module comprises a welding power supply, a welding torch, an argon bottle and a cooling water tank; the welding power supply, the argon bottle and the cooling water tank are respectively connected with the welding torch; the welding torch is fixed on the robot; the robot and the control module thereof comprise a six-axis industrial robot body and a controller thereof, receive an instruction from an upper computer to adjust the spatial position and the posture of the welding torch, and send the spatial position information of the welding torch to the upper computer in real time; the welding parameter measuring system comprises an arc voltage sensor and a current sensor, and the arc voltage sensor and the current sensor respectively send voltage and current information obtained by measurement to an upper computer in real time; the upper computer control module receives the space position information of the welding torch and the voltage and current information.

Description

Robot multilayer multi-pass welding manufacturing system and control method and system thereof
Technical Field
The invention relates to the technical field of machining and manufacturing, in particular to a robot multilayer and multi-pass welding manufacturing system and a control method and system thereof.
Background
In actual engineering production, a multi-layer and multi-pass welding process is generally needed for components with large thickness, and for workpieces with complex forms such as unfixed weld bead width, asymmetric groove sizes on two sides and the like, manual teaching is generally needed to repeatedly check when a robot is used for welding, or a mode of measuring the weld bead size by an optical measuring instrument method is adopted, so that the former increases workload and reduces working efficiency, and the latter greatly increases system cost.
Patent document WO2021114692A1 (application number: PCT/CN 2020/106399) discloses a welding control method and a welding control system, wherein the welding control method obtains parameter information of a welding groove, calls a welding control parameter corresponding to the parameter information according to the obtained parameter information, generates a welding control program, and finally controls a welding robot to perform welding work on the welding groove through the welding control parameter and the welding control program.
The invention provides a robot multilayer and multi-pass welding manufacturing system and a control method, which aim to reduce equipment cost while improving the manufacturing efficiency and the manufacturing precision of a multilayer and multi-pass welding process of a large-thickness component.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a robot multilayer multi-pass welding manufacturing system, a control method and a control system thereof.
According to the invention, the robot multilayer multi-pass welding manufacturing system comprises: the robot welding system comprises a welding module, a robot and a control module thereof, a welding parameter measuring module and an upper computer control module;
the welding module comprises a welding power supply, a welding torch, an argon bottle and a cooling water tank; the welding power supply, the argon bottle and the cooling water tank are respectively connected with the welding torch; the welding torch is fixed on the robot;
the robot and the control module thereof comprise a six-axis industrial robot body and a controller thereof, receive an instruction from an upper computer to adjust the spatial position and the posture of the welding torch, and send the spatial position information of the welding torch to the upper computer in real time;
the welding parameter measuring system comprises an arc voltage sensor and a current sensor, and respectively sends measured voltage and current information to an upper computer in real time;
the upper computer control module receives the space position information of the welding torch and the voltage and current information.
Preferably, in the welding module, the welding power supply, the argon gas cylinder and the cooling water tank are respectively connected with a welding torch through electric, water and gas pipelines, and the welding torch is fixed on a sixth shaft of the industrial robot.
According to the control method of the robot multilayer and multi-pass welding manufacturing system provided by the invention, the robot multilayer and multi-pass welding manufacturing system is used for executing the following steps:
step S1: controlling the welding torch to move according to a preset track through the robot;
step S2: the welding torch space position information is sent to an upper computer in real time through a robot controller; meanwhile, the arc voltage and current sensors transmit welding parameter measurement data to an upper computer in real time;
and step S3: and obtaining a motion track correction value according to the arc voltage obtained by the upper computer in real time, and obtaining an actual welding track based on the motion track correction value.
Preferably, the step S1 employs: and determining the position of the welding starting point, and starting arc by using current meeting preset requirements after the welding torch is moved to the welding starting point by the robot.
Preferably, the step S3 adopts: the correction value is obtained by utilizing the linear relation between the arc voltage and the arc length.
Preferably, the robot multi-layer multi-pass welding manufacturing system is shut down when the current measured by the current sensor exceeds a preset value.
According to the control system of the robot multilayer and multi-pass welding manufacturing system provided by the invention, the robot multilayer and multi-pass welding manufacturing system is used for executing the following steps:
a module M1: controlling the welding torch to move according to a preset track through the robot;
a module M2: the welding torch space position information is sent to an upper computer in real time through a robot controller; meanwhile, the arc voltage and current sensors transmit welding parameter measurement data to an upper computer in real time;
a module M3: and obtaining a movement track correction value according to the arc voltage obtained by the upper computer in real time, and obtaining an actual welding track based on the movement track correction value.
Preferably, the module M1 employs: and determining the position of the welding starting point, and starting arc by using current meeting preset requirements after the welding torch is moved to the welding starting point by the robot.
Preferably, the module M3 employs: the correction value is obtained by utilizing the linear relation between the arc voltage and the arc length.
Preferably, the robot multi-layer multi-pass welding manufacturing system is shut down when the current measured by the current sensor exceeds a preset value.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a robot multilayer and multi-pass welding manufacturing system and a control method, which aim to reduce equipment cost while improving the manufacturing efficiency and the manufacturing precision of a multilayer and multi-pass welding process of a large-thickness component.
Under the condition that extra expensive optical measuring equipment is not needed to be added, the existing equipment is utilized, the proportional relation between the arc voltage and the distance is utilized to measure and correct the size and the shape of the sample groove, and the multi-layer and multi-channel high-precision welding of the medium-thickness plate/thick plate is realized on the premise of hardly increasing the cost.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a welding system.
Fig. 2 is a control system schematic.
Fig. 3 is an exemplary diagram of a substrate bevel structure.
FIG. 4 is a schematic diagram of a substrate structure and traces.
Fig. 5 is a diagram illustrating a trajectory.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.
Example 1
The invention provides a robot multilayer and multichannel welding manufacturing system, which mainly comprises a welding system, a robot and a control system thereof, a welding parameter measuring system and an upper computer control system as shown in figure 1.
The welding system mainly comprises a welding power supply, a welding torch, an argon gas cylinder and a cooling water tank, wherein the power supply, the argon gas cylinder and the water tank are respectively connected with the welding torch through electric pipelines, water pipelines and gas pipelines, and the welding torch is fixed on the sixth axis of the industrial robot.
The robot and the control system thereof mainly comprise a six-axis industrial robot body and a controller thereof, and can receive instructions from an upper computer to adjust the spatial position and the posture of a welding torch and send the position information of the welding torch to the upper computer in real time.
The welding parameter measuring system mainly comprises an arc voltage sensor and a current sensor, and can send voltage and current information to an upper computer system in real time.
As shown in fig. 2, the upper computer control system can receive the torch spatial position information from the robot controller and the arc voltage and circuit information from the measurement system.
The invention also provides a robot multilayer multi-pass welding manufacturing system method, which comprises the following steps:
determining the position of a welding starting point in the middle of a welding seam in a manual teaching mode;
the robot moves the welding torch to a welding starting point and then starts an arc with a small electric arc, the current is set to be about 15A, and the robot moves according to a preset path.
The application object of the invention is a thick plate needing to be provided with a groove, the process is multilayer and multi-pass, the size and the shape of the groove are always changed due to factors such as machining errors, thermal deformation caused by a preorder weld bead and the like in the multilayer and multi-pass welding, the size needs to be corrected to eliminate errors, and a special optical measuring instrument and the like are generally needed or manual correction is needed at the moment. The invention uses the existing welding equipment, uses the linear relation between the arc voltage and the arc length, firstly uses the small current to start the arc and move according to the preset track, records the space position information, and generates the final track after correcting the preset track based on the corrected value obtained by the arc voltage.
As shown in fig. 3-5, the control method of the present patent is described by taking a track starting point as an example:
when the welding torch moves from a starting point positioned in the middle of the welding bead to the edge of the groove, the arc length is continuously reduced, the arc pressure is also continuously reduced, when the welding torch reaches a point P0, the arc pressure is reduced to a threshold value U, the robot controller records the space position of the welding torch at the moment and sends the space position to the upper computer, the space position is the coordinate of a track edge point P0, then the welding torch is controlled to move towards the welding direction, when the arc pressure is continuously reduced, the arc pressure is deviated towards the center of the welding seam, when the arc pressure is continuously increased, the arc pressure is kept stable in the moving process, the moving track is basically coincided with the edge of the groove, when the moving distance along the welding direction is L, the welding torch reaches a point P1, then the welding torch moves along the vertical welding direction, the arc pressure is firstly increased and then reduced, when the welding torch reaches a point P3, the arc pressure is reduced to the threshold value U, the robot controller records the space position of the welding torch at the moment and sends the space position to the upper computer, the space position is the coordinate of the track edge point P3, and the space position coordinate of the subsequent path point is obtained by repeating the process.
The actual welding track is: the welding starting point is P1, P4 and P7.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. A robotic multi-layer, multi-pass welding manufacturing system, comprising: the robot welding system comprises a welding module, a robot and a control module thereof, a welding parameter measuring module and an upper computer control module;
the welding module comprises a welding power supply, a welding torch, an argon bottle and a cooling water tank; the welding power supply, the argon bottle and the cooling water tank are respectively connected with the welding torch; the welding torch is fixed on the robot;
the robot and the control module thereof comprise a six-axis industrial robot body and a controller thereof, receive an instruction from an upper computer to adjust the spatial position and the posture of the welding torch, and send the spatial position information of the welding torch to the upper computer in real time;
the welding parameter measuring system comprises an arc voltage sensor and a current sensor, and the arc voltage sensor and the current sensor respectively send voltage and current information obtained by measurement to an upper computer in real time;
the upper computer control module receives the space position information of the welding torch and the voltage and current information.
2. The robotic multipass weld manufacturing system according to claim 1, wherein in the welding module the welding power supply, argon gas cylinder and cooling water tank are connected to a welding torch fixed on the sixth axis of the industrial robot via electric, water and gas lines, respectively.
3. A method for controlling a robotic multi-pass welding manufacturing system, the method comprising the steps of:
step S1: controlling the welding torch to move according to a preset track through the robot;
step S2: the welding torch space position information is sent to an upper computer in real time through a robot controller; meanwhile, the arc voltage and current sensors transmit welding parameter measurement data to an upper computer in real time;
and step S3: and obtaining a motion track correction value according to the arc voltage obtained by the upper computer in real time, and obtaining an actual welding track based on the motion track correction value.
4. The method for controlling a robotic multi-layer, multi-pass welding manufacturing system as claimed in claim 3, wherein said step S1 employs: and determining the position of the welding starting point, and starting arc by using current meeting preset requirements after the welding torch is moved to the welding starting point by the robot.
5. The method for controlling a robotic multi-layer, multi-pass welding manufacturing system as claimed in claim 3, wherein said step S3 employs: the correction value is obtained by utilizing the linear relation between the arc voltage and the arc length.
6. The method of claim 3, wherein the robotic multi-pass welding manufacturing system is shut down when the current measured by the current sensor exceeds a predetermined value.
7. A control system for a robotic multi-pass welding manufacturing system, the control system being configured to perform, using the robotic multi-pass welding manufacturing system of any one of claims 1-2:
a module M1: controlling the welding torch to move according to a preset track through the robot;
a module M2: the welding torch space position information is sent to an upper computer in real time through a robot controller; meanwhile, the arc voltage and current sensors transmit welding parameter measurement data to an upper computer in real time;
a module M3: and obtaining a motion track correction value according to the arc voltage obtained by the upper computer in real time, and obtaining an actual welding track based on the motion track correction value.
8. The control system for a robotic multi-layer, multi-pass welding manufacturing system as set forth in claim 7, wherein said module M1 employs: and determining the position of the welding starting point, and starting arc by using current meeting preset requirements after the welding torch is moved to the welding starting point by the robot.
9. The control system for a robotic multi-layer, multi-pass welding manufacturing system as set forth in claim 7, wherein said module M3 employs: the correction value is obtained by utilizing the linear relation between the arc voltage and the arc length.
10. The control system of a robotic multi-pass welding manufacturing system of claim 7 wherein the robotic multi-pass welding manufacturing system is shut down when the current measured by the current sensor exceeds a preset value.
CN202210725965.1A 2022-06-24 2022-06-24 Robot multilayer multi-pass welding manufacturing system and control method and system thereof Pending CN115178833A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210725965.1A CN115178833A (en) 2022-06-24 2022-06-24 Robot multilayer multi-pass welding manufacturing system and control method and system thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210725965.1A CN115178833A (en) 2022-06-24 2022-06-24 Robot multilayer multi-pass welding manufacturing system and control method and system thereof

Publications (1)

Publication Number Publication Date
CN115178833A true CN115178833A (en) 2022-10-14

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Application Number Title Priority Date Filing Date
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Country Status (1)

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CN (1) CN115178833A (en)

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