CN115716160A - Integrated swing laser welding robot control system and control method - Google Patents
Integrated swing laser welding robot control system and control method Download PDFInfo
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- CN115716160A CN115716160A CN202211424705.7A CN202211424705A CN115716160A CN 115716160 A CN115716160 A CN 115716160A CN 202211424705 A CN202211424705 A CN 202211424705A CN 115716160 A CN115716160 A CN 115716160A
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- 238000003466 welding Methods 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 36
- 238000012545 processing Methods 0.000 claims abstract description 10
- 238000003754 machining Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 238000009941 weaving Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000013072 incoming material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses an integrated swing laser welding robot control system and a control method, wherein the integrated swing laser welding robot control system comprises a demonstrator, a robot controller, a swing welding head controller, a robot driving motor set, a swing motor set controlled by the swing welding head controller and a galvanometer driven by the swing motor set to move to realize laser swing; the demonstrator is in communication connection with the robot controller through a first communication line; the robot controller is connected with the swing motor set through an XY2-100 communication line, and a swing pattern setting module and an inserted swing pattern module are arranged in the demonstrator; the swing pattern setting module generates different swing pattern files; and inserting the swing pattern module into the swing pattern file to the processing control program. The invention enables the robot to directly control the movement of the galvanometer in the swinging laser welding head, realizes the adjustment of the swinging shape and speed, can realize the automatic adjustment of different swinging patterns in the processing process, reduces the programming difficulty and improves the swinging welding flexibility.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of laser welding robots, and particularly relates to an integrated swing laser welding robot control system and a control method.
[ background of the invention ]
With the wider application of laser welding, the laser welding requirements of six-joint arms are also gradually increased. Because laser welding needs to process products with thinner thickness and wider welding seams, the welding effect needs to be more uniform, the incoming material error of a workpiece needs to be dealt with, and the appearance of the requirements prompts the appearance of laser swing welding.
At present, a welding head is generally arranged at the movable tail end of a multi-axis robot for laser welding, and the multi-axis robot cannot realize high-frequency swing motion, so that laser swing welding can be realized only by a driving motor independently arranged in the welding head. Swing laser welding is through in laser welding head, adds a mirror module that shakes (mainly by two voice coil motor with shake the lens and constitute), drives through voice coil motor and shakes the lens fast revolution, with the skew of laser light path, finally realizes the wobbling effect of laser facula.
At present, the vibration lens of the swing head is controlled by a swing welding head manufacturer, the vibration lens and a multi-axis robot are mutually independent control systems, and the robot generally cannot directly control the swing action of the swing head.
However, in practical applications, some weld seam variations are often encountered, for example, two weld seams with different widths exist on the same workpiece and need to be welded, and at this time, the swing shape and size of the swing welding head need to be changed to perform welding operations on the two weld seams respectively. However, since the robot cannot directly control the swing head, most of the six-joint robots cannot adjust the swing pattern in the machining process.
In the prior art, patent publication No. CN114952869A discloses a swing path planning method, device and electronic device, which mainly arranges a swing path planning device at a welding head in a robot control system to realize the swing of welding laser, and although the method realizes the design and planning of a swing path, because a multi-axis robot cannot realize the swing drive of high frequency, if the swing frequency exceeds a certain value, the robot shakes very seriously, which causes very poor welding effect, and thus cannot realize the swing welding in a real sense.
Also there are a small part in the market through IO signal control, let robot and laser swing soldered connection communication, through the different signal combination of robot output, laser swing soldered connection calls inside different swing figures according to different signals, but this scheme has three defect: 1) Only a built-in graphic program of the laser swing welding head can be called, graphic parameters cannot be flexibly designed and adjusted according to actual requirements, and graphic contents are limited; 2) The robot demonstrator end cannot show the built-in graph of the laser swing welding head, and the picture display is not visual; 3) IO communication has certain time delay, is unfavorable for realizing accurate welding.
Therefore, an additional design of an integrated swing laser welding robot control system and method is required to solve the above technical problems.
[ summary of the invention ]
The invention mainly aims to provide an integrated swing laser welding robot control system, which enables a robot to directly control the movement of a galvanometer in a swing laser welding head, realizes the adjustment of swing shape and speed, can realize the automatic adjustment of different swing patterns in the machining process, reduces the programming difficulty and improves the flexibility of swing welding.
The invention realizes the purpose through the following technical scheme: an integrated swing laser welding robot control system is used for controlling a welding robot to carry out swing welding processing, the welding robot comprises a multi-axis robot and a laser welding head arranged at the movable tail end of the multi-axis robot, a laser swing module is arranged in the laser welding head, and the control system comprises a demonstrator, a robot controller, a swing welding head controller, a robot driving motor set controlled by the robot controller, a swing motor set controlled by the swing welding head controller and forming the laser swing module, and a galvanometer driven by the swing motor set to move so as to realize laser swing; the demonstrator is in communication connection with the robot controller through a first communication line; the robot controller is in communication connection with the swing motor set through a second communication line, the second communication line is an XY2-100 communication line, and a swing pattern setting module and an inserted swing pattern module are arranged in the demonstrator; the swing pattern setting module is configured to produce different swing pattern files in a pattern dialogue mode; the insert wobble pattern module is configured to insert the wobble pattern file into a machining control program.
Another object of the present invention is to provide an integrated swing laser welding robot control method, which is based on the above control system to realize control, and includes the following steps:
s1, setting all needed swing graphs in a swing graph setting module of the demonstrator to form a plurality of different swing graph files;
s2, starting robot teaching programming, and inserting the corresponding swing graphic file in the step S1 at different positions according to process requirements in the teaching process;
s3, starting to perform swing welding processing after all the teaching is completed;
and S4, finishing welding.
Compared with the prior art, the integrated control system and the control method for the swing laser welding robot have the beneficial effects that: the robot controller and the swing welding head controller are directly integrated through an XY2-100 communication line and are combined into a whole, so that the communication problem between the two controllers is solved; the swing graphic setting module is configured in the demonstrator, the graphic type of laser swing, the central position, the length and the width of a swing graphic, the swing speed and the swing direction are directly designed in a graphic conversation mode, a swing graphic file is formed for direct calling during programming of a processing program, and for workpieces containing welding seams with different widths, automatic adjustment of laser swing processing parameters in the welding process is realized, so that the laser swing graphic setting module is suitable for welding seams with different widths, and the welding quality is improved; a swing graphic inserting module is configured in the demonstrator, and a swing graphic change instruction is directly inserted, so that programming is simplified, and the flexibility and the applicability of laser swing welding are improved.
[ description of the drawings ]
FIG. 1 is a block diagram of a control system according to an embodiment of the present invention;
FIG. 2 is a schematic interface diagram illustrating a situation where a circular pattern is set in the wobble pattern setting module according to an embodiment of the present invention;
FIG. 3 is a schematic interface diagram illustrating a situation where a rectangular pattern is set in the wobbling pattern setting module according to an embodiment of the present invention;
FIG. 4 is a flow chart of a control method in an embodiment of the present invention;
the figures in the drawings represent:
100-an integrated swing laser welding robot control system; 200-a multi-axis robot; 300-laser welding head;
1-demonstrator, 11-swing pattern setting module, 111-parameter setting unit, 112-pattern display unit, 12-insertion swing pattern module; 2-robot controller, 21-XY2-100 output module; 3-a swing weld head controller; 4-a robot drive motor set; 5-a swing motor group; 6-a galvanometer; 7-a first communication line; 8-second communication line.
[ detailed description ] embodiments
The first embodiment is as follows:
referring to fig. 1 to 3, the present embodiment is an integrated swing laser welding robot control system 100 for controlling a welding robot to perform a swing welding process, the welding robot includes a multi-axis robot 200, a laser welding head 300 disposed at a movable end of the multi-axis robot 200, a laser swing module is disposed in the laser welding head, and the control system includes a teach pendant 1, a robot controller 2, a swing welding head controller 3, a robot driving motor set 4 controlled by the robot controller 2, a swing motor set 5 controlled by the swing welding head controller 3 and constituting the laser swing module, and a galvanometer 6 driven by the swing motor set 5 to swing at a high frequency; the demonstrator 1 is in communication connection with the robot controller 2 through a first communication line 7; the robot controller 2 is in communication connection with the swing motor group 5 through a second communication line 8, the second communication line 8 is an XY2-100 communication line, and an XY2-100 output module 21 is configured on the robot controller 2.
The swing motor set 5 and the vibrating mirror 6 jointly form the laser swing module.
In the embodiment, an XY2-100 output module 21 is arranged on a multi-joint robot controller 2, the XY2-100 output module 21 is provided with a control interface of an XY2-100 communication line, and the robot controller 2 directly controls the swing motor set 5 through the XY2-100 communication line. The XY2-100 communication line is an international general galvanometer control protocol and can output galvanometer control signals to a swing motor set 5 in the swing welding head, so that the swing welding head can swing according to instructions sent by a robot controller.
A wobble pattern setting module 11 is arranged in the teach pendant 1, said wobble pattern setting module 11 being arranged to produce different wobble pattern files in a graphical dialogue. The swing pattern setting module 11 includes a parameter setting unit 111 and a pattern display unit 112; the parameter setting unit 111 includes a graphic type setting unit, a geometric parameter setting unit, and a motion parameter setting unit. The primitive type setting unit is used for setting the graphics type of the swing, and the graphics type includes, but is not limited to, circle and rectangle. The geometric parameter setting unit is used for setting relevant parameters of the swing pattern, wherein the relevant parameters comprise a pattern center coordinate, a pattern rotation angle, a pattern length and a pattern width. The motion parameter setting unit is used for setting the speed and the direction of laser swing, and the direction comprises a reverse direction and a forward direction. The graphics set by the parameter setting unit 111 can be displayed in the graphics display unit 112, so that the designed graphics can be displayed more intuitively.
An insertion wobble pattern module 12 is further disposed in the teach pendant 1, and the insertion wobble pattern module 12 is disposed to insert the wobble pattern file generated by the wobble pattern setting module 11 into a machining control program. Different swing pattern files are inserted, so that the welding robot can control the laser swing module to swing with different patterns and different parameters at different positions.
By configuring the swing pattern setting module 11 in the demonstrator 1, swing patterns with different parameters can be flexibly designed according to requirements, and corresponding swing pattern files are formed so as to flexibly call the swing pattern files in the actual processing process to realize swing welding with different weld seam sizes.
Referring to fig. 1 to 4, the present embodiment further provides an integrated swing laser welding robot control method, which includes the following steps:
s1, setting all needed swing graphs in a swing graph setting module 11 of a demonstrator 1 to form a plurality of different swing graph files;
s2, starting robot teaching programming, and inserting the corresponding swing graphic file in the step S1 at different positions according to process requirements in the teaching process;
s3, starting to perform swing welding processing after all the teaching is completed;
and S4, finishing welding.
The embodiment solves the problem of process requirements when the welding seam of the large-sized workpiece changes, facilitates the operation of programmers, does not need to process two systems, namely a robot control system and a swing welding head control system, and simplifies the programming difficulty; various swing shapes and swing speeds can be designed in the graphic swing setting module, so that graphic processing contents are enriched; the XY2-100 communication line is adopted to directly control the swing motor set to realize the deflection control of the vibrating mirror, the communication efficiency is high, and the problem of signal delay of the original IO signal communication is solved; the designed swing pattern is directly displayed through the pattern display unit, so that the method is more visual and convenient.
In the control system and the control method for the integrated swing laser welding robot, the robot controller and the swing welding head controller are directly integrated through XY2-100 communication lines, and are combined into a whole, so that the communication problem between the two controllers is solved; the swing graphic setting module is configured in the demonstrator, the graphic type of laser swing, the central position, the length and the width of a swing graphic, the swing speed and the swing direction are directly designed in a graphic dialogue mode, a swing graphic file is formed for direct calling during programming of a processing program, and for workpieces containing welding seams with different widths, automatic adjustment of laser swing processing parameters in the welding process is realized, so that the laser swing graphic setting module is suitable for the welding seams with different widths, and the welding quality is improved; a swing pattern inserting module is configured in the demonstrator, and a swing pattern change instruction is directly inserted, so that programming is simplified, and the flexibility and the applicability of laser swing welding are improved.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (7)
1. The utility model provides an integrated form swing laser welding robot control system, its is used for controlling the welding robot and carries out swing welding process, the welding robot includes the multiaxis robot, sets up the terminal laser welder head of multiaxis robot activity, the laser welder head is interior to be configured with laser swing module, its characterized in that: the control system comprises a demonstrator, a robot controller, a swinging welding head controller, a robot driving motor set controlled by the robot controller, a swinging motor set controlled by the swinging welding head controller and forming the laser swinging module, and a galvanometer driven by the swinging motor set to move to realize laser swinging; the demonstrator is in communication connection with the robot controller through a first communication line; the robot controller is in communication connection with the swing motor set through a second communication line, the second communication line is an XY2-100 communication line, and a swing pattern setting module and an inserted swing pattern module are arranged in the demonstrator; the swing pattern setting module is configured to produce different swing pattern files in a pattern dialogue mode; the insert wobble pattern module is configured to insert the wobble pattern file into a machining control program.
2. The integrated oscillating laser welding robot control system of claim 1, wherein: and an XY2-100 output module in signal connection with the XY2-100 communication line is configured on the robot controller.
3. The integrated weaving laser welding robot control system of claim 1 wherein: the swing pattern setting module comprises a parameter setting unit and a pattern display unit.
4. The integrated oscillating laser welding robot control system of claim 3, wherein: the parameter setting unit comprises
A pattern type setting unit for setting a pattern type of the wobble;
a geometric parameter setting unit for setting corresponding parameters of the wobble pattern; and
and the motion parameter setting unit is used for setting the speed and the direction of laser swing.
5. The integrated oscillating laser welding robot control system of claim 4, wherein: the graphic types include circles and rectangles.
6. The integrated oscillating laser welding robot control system of claim 4, wherein: the corresponding parameters comprise the center coordinate of the graph, the rotation angle of the graph, the length and the width of the graph.
7. The control method of the integrated swing laser welding robot is characterized by comprising the following steps: which is based on a control system according to claim 1 and comprises the following steps:
s1, setting all needed swing graphs in a swing graph setting module of the demonstrator to form a plurality of different swing graph files;
s2, starting robot teaching programming, and inserting the corresponding swing graphic file in the step S1 at different positions according to process requirements in the teaching process;
s3, starting to perform swing welding processing after all the teaching is completed;
and S4, finishing welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211424705.7A CN115716160A (en) | 2022-11-14 | 2022-11-14 | Integrated swing laser welding robot control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211424705.7A CN115716160A (en) | 2022-11-14 | 2022-11-14 | Integrated swing laser welding robot control system and control method |
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| CN115716160A true CN115716160A (en) | 2023-02-28 |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60184474A (en) * | 1984-03-02 | 1985-09-19 | Shin Meiwa Ind Co Ltd | Welding robot |
| KR20080093683A (en) * | 2007-04-18 | 2008-10-22 | 현대중공업 주식회사 | Digital weaving motion controller for welding torches |
| CN102207733A (en) * | 2010-03-29 | 2011-10-05 | 深圳市先阳软件技术有限公司 | General laser processing device controller and control method thereof |
| CN102728953A (en) * | 2011-04-08 | 2012-10-17 | 株式会社安川电机 | Robot system |
| CN107225342A (en) * | 2016-03-23 | 2017-10-03 | 株式会社神户制钢所 | Welding condition set supporting device in multiple-bead deposit |
| CN108698152A (en) * | 2016-02-17 | 2018-10-23 | 株式会社神户制钢所 | The control method of welder and welder |
| CN109014677A (en) * | 2018-08-23 | 2018-12-18 | 苏州新代数控设备有限公司 | Welding robot bond pad locations teaching method based on laser ranging |
| CN109834367A (en) * | 2017-11-29 | 2019-06-04 | 林肯环球股份有限公司 | System and method for torch oscillation |
| CN110362010A (en) * | 2019-07-17 | 2019-10-22 | 江苏金陵智造研究院有限公司 | A kind of modularized multi-axis laser galvanometer motion controller |
-
2022
- 2022-11-14 CN CN202211424705.7A patent/CN115716160A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60184474A (en) * | 1984-03-02 | 1985-09-19 | Shin Meiwa Ind Co Ltd | Welding robot |
| KR20080093683A (en) * | 2007-04-18 | 2008-10-22 | 현대중공업 주식회사 | Digital weaving motion controller for welding torches |
| CN102207733A (en) * | 2010-03-29 | 2011-10-05 | 深圳市先阳软件技术有限公司 | General laser processing device controller and control method thereof |
| CN102728953A (en) * | 2011-04-08 | 2012-10-17 | 株式会社安川电机 | Robot system |
| CN108698152A (en) * | 2016-02-17 | 2018-10-23 | 株式会社神户制钢所 | The control method of welder and welder |
| CN107225342A (en) * | 2016-03-23 | 2017-10-03 | 株式会社神户制钢所 | Welding condition set supporting device in multiple-bead deposit |
| CN109834367A (en) * | 2017-11-29 | 2019-06-04 | 林肯环球股份有限公司 | System and method for torch oscillation |
| CN109014677A (en) * | 2018-08-23 | 2018-12-18 | 苏州新代数控设备有限公司 | Welding robot bond pad locations teaching method based on laser ranging |
| CN110362010A (en) * | 2019-07-17 | 2019-10-22 | 江苏金陵智造研究院有限公司 | A kind of modularized multi-axis laser galvanometer motion controller |
Non-Patent Citations (1)
| Title |
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| 陈志强: "弧焊机器人机械精度的测试方法", 组合机床与自动化加工技术, no. 09, 30 September 1988 (1988-09-30) * |
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