CN1270869A - Knuckle type arc welding robot - Google Patents
Knuckle type arc welding robot Download PDFInfo
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- CN1270869A CN1270869A CN 99115114 CN99115114A CN1270869A CN 1270869 A CN1270869 A CN 1270869A CN 99115114 CN99115114 CN 99115114 CN 99115114 A CN99115114 A CN 99115114A CN 1270869 A CN1270869 A CN 1270869A
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Abstract
A knuckle type arc welding robot is open-loop controlled by a monochip computer to match with are welding power source and to perform automatic working position changing welding and automatic pipeline welding. The welding robot consists of welding tool, knuckle type arm, automatic material feeder, walking mechanism, robot controller and controlled power supply. The welding tool, knuckle type arm, automatic material feeder and walking mechanism are controlled by the robot controller via welding software to carry out automatic welding harmoniously.
Description
The present invention relates to a kind of electromechanical integrated product, exactly, relate to a kind of arc welding automatic welding device.This machine not only can be used as portable automatic welding head and uses, and in electric power, oil, chemical enterprise pipe-line system installing engineering welding, substantial use value is arranged.
At present, in the welding of factory and enterprise is produced,, all adopt welding gun to fix, the automatic welding manner and the automatic welding device of workpiece rotation to the automatic welding of workpiece ring weld seam.But install in the welding in electric power, oil, chemical enterprise pipe-line system, because pipeline can't rotate, the mode that can only adopt welding gun to center on the pipeline rotation is welded automatically.Obviously, adopt existing welding gun to fix, the automatic welding manner and the automatic welding device of workpiece rotation can not weld automatically to pipeline girth weld.
Equipment to pipe welding seam welds automatically mainly contains " welding handbook first volume welding method and equipment " described " all-position automatic welder " and " application of microcomputer in welding " literary composition described " the full-automatic tig arc welding machine of fixed-piping ".Its structure is made up of welding head, the belt guide rail of walking, control system.Realizations such as welding torch position signal, logic control template, welding gun revolution template, wire feed control template, arc voltage control template, magnetic control arc swing template, mechanical electric arc swing template are adopted in the control of Butt welding gun position.Control system comprises microcomputer and switch board, and microcomputer is made up of main frame, keyboard, display, input equipment, input/output interface etc.; Switch board is made up of the various templates of input/output interface circuit, power driving circuit and welding torch position control.Automatically welding software is according to welding procedure, programmes in advance and is stored on floppy disk or the hard disk.During welding, under the support of microcomputer system software, call in the calculator memory execution from floppy disk or hard disk.The control signal of microcomputer output is transported to switch board by output interface, through each executive component of power amplification rear drive, welds automatically.
In addition, also have " arc welding robot " described in " welding handbook first volume welding method and equipment ", " industrial robot ", " Robot Control Technology " literary composition, its structure is made up of mechanical system, control system, drive system.Wherein mechanical system comprises fuselage, joint type arm, soldering appliance.For the movement locus of teaching being changed into the data of corresponding joint shaft, be provided with detecting element at each joint shaft of fuselage, joint type arm, the data of detection deposit the master control microcomputer in.
The microcomputer of control system is divided into two parts, and a part is the master control microcomputer, and another part is from microcomputer or one chip microcomputer.
Drive system is generally hydraulic-driven or motorized motions, and control section is often placed separately with the form of power station.
To the programming of arc welding robot, all be under the support of microcomputer system software, to carry out.Several modes are specifically arranged: teach programming, off-line programing, robot language programming.Teach programming is the most general method of using at present, it is to carry out in robot site that this method programs, operating personnel can move by given movement locus by hand steered robot, or the button driven machine people of operation teach box is by given movement locus motion, each is decided the angle information that movement locus is converted into each joint shaft of robot, and record advances the built-in storage of master control microcomputer; During the reproduction motion, the master control microcomputer is read corresponding information from internal memory, adopt interpolation algorithm and robot inverse kinematics algorithm, position and attitude with the movement locus intermediate point, change the angle information that corresponding joint shaft should rotate into, and to sending control command, drive each joint shaft, reproduction teaching campaign in certain accuracy rating from microcomputer or one chip microcomputer.In teaching and reproduction stage, all must utilize the master control microcomputer.
Above-mentioned automatic welding device, its mechanical system, control system, drive system all are to have a style of one's own separately, especially based on the control system of microcomputer, except that switch board, microcomputer generally all is made up of main frame, keyboard, display, input equipment, input/output interface.The method of such structure and programming mode and reproduction motion has caused not only system complex of automatic welding device, cost an arm and a leg, and volume is big, Heavy Weight, is not easy to carry, and is not easy to frequently move in the welding production scene.Welding manner all adopts shielded arc welding of tungsten electrode gas, and it is lower not only to weld production efficiency, and during welding, the protective gas of the gaseous mixture that needs argon gas, helium or these gases during as welding, buy gas, the transportation gas cylinder causes welding production cost and rises; As the welding wire of conductive electrode and filling metal, use for welding automatically with the form of coiling, gas cylinder, welding wire also are not easy in the welding production scene frequently mobile.Adopt the automatic welding device of above-mentioned prior art, be applicable in fixing welding production scene and use, or fixedly station operation on production-lines.
Install in the welding in electric power, oil, chemical enterprise pipe-line system, the welding mode of production is: after a pipe welding seam had welded, mobile welding equipment welded to next pipe welding seam place again, and it is numerous mobile that welding equipment need now be produced field frequency in welding.Because welding production scene majority is areas such as Plain, desert, hills away from the city, adopt the automatic welding device of above-mentioned prior art, carry out pipe welding seam to weld automatically, be subjected to the restriction of following several aspects:
1. be not easy to carry automatic welding device and welding the frequent mobile automatic welding device in production scene;
2. can not or be not easy to the can argon gas, be not easy to carry the argon gas gas cylinder;
3. newly-increased argon gas, the round transport expense bought increased the welding production cost;
4. welding production efficiency is lower, has prolonged the construction period of pipe-line system installing engineering.
Above-mentioned reason has limited the automatic welding device that adopts above-mentioned prior art, in electric power, oil, chemical enterprise pipe-line system the use in the welding is installed.So, in decades, in pipeline welding is produced, all be to adopt the manual electric arc welding welding.Employing manual electric arc welding welding, not only production welding condition is poor, and labor strength is big, and the welding quality fluctuation is big, is subject to the influence of workman's technology status, mental emotion.Along with the development and the application of microcomputer, one chip microcomputer, Robotics, in pipeline welding is produced, implement automatic welding technique and possessed the necessary technology basis.
The present invention be directed to the automatic welding device that adopts prior art, in electric power, oil, chemical enterprise pipe-line system the deficiency that exists in the welding is installed, with the needs of implementing to weld automatically, provide a kind of and be easy to carry, be convenient at the frequently mobile knuckle type arc welding robot in welding production scene, its main purpose is: realize welding automatically in pipeline welding is produced, improve welding production efficiency, reduce the welding production cost.
Another object of the present invention is: a kind of off-line programing mode of developing knuckle type arc welding robot welding control software is provided.
Another object of the present invention is: adopt high parts and the element of cost performance, reduce the price of knuckle type arc welding robot, this is had than the project of high-tech content can be widely used and promote at factory and enterprise.
Above-mentioned purpose of the present invention is achieved in that at first forms the revolute robot by joint type arm, fuselage, walking mechanism, robot controller, control power supply.Wherein, joint type arm, walking mechanism, robot controller are modular structure.Can select the modular unit assembling of each specification according to the diameter of welding manner, welded pipe line, the number of plies of weld seam welding.Concrete structure is: walking mechanism is directly installed on the production operation scene, or has a style of one's own on the production operation object; Fuselage is installed on the walking mechanism, the joint type arm is installed on the fuselage, mounting robot controller on the shoulder of joint type arm, more than three be combined into one; The control power supply is an one separately, is installed on the walking mechanism, is connected with robot controller by cable.The revolute robot is divided into three splits, and split is in light weight, be easy to carry, and after the assembling, compact conformation is convenient to on-the-spot frequent the moving of production operation.Be matrix with revolute robot again, on the joint type arm soldering appliance be installed, automatic feeding funnel is installed in the fuselage position, constitutes special-purpose knuckle type arc welding robot.In the selection of welding manner,, can adopt with covered electrode and weld whole welding bead according to the viewpoint of Technological Economy; Or with argon tungsten-arc welding welding bottom, the welding manner of covered electrode welding middle level and capping.During the welding production operation, knuckle type arc welding robot is installed on the welded pipe line, start knuckle type arc welding robot, under the control software control that robot controller solidifies, knuckle type arc welding robot is realized the welding action of walking and imitation staff and arm, cooperates Arc Welding Power, or the argon tungsten-arc welding power supply, weld automatically.The welding of welding bead finishes or argon tungsten-arc welding welding bottom finishes, and linear joint type arc welding robot welds automatically to next weld seam, carries out pipe welding seam in the mode of similar streamline production operation and welds automatically.
Adopt above-mentioned knuckle type arc welding robot that pipe welding seam is welded automatically, be based on following technical foundation.Knuckle type arc welding robot is a kind of electromechanical integrated product, to the control of the space motion path of soldering appliance, is to realize the key of welding automatically.Soldering appliance is the result of each joint shaft joint rotation of joint type arm in spatial movement, and the rotation of each joint shaft all influences position and the attitude of soldering appliance in the space.Have only the employing computer control system, each joint shaft of continuous control joint type arm makes each joint shaft make the method for controlled rotation simultaneously, just can make the joint type arm realize imitating the welding action of staff and arm and pressing given orbiting motion.
Described in " industrial robot ", " microcomputer control basis " literary composition, stepper motor is a kind ofly the defeated human connection red switch of numeral can be changed to the electromagnetic actuator that rotatablely moves, advantages such as the peculiar high accuracy of itself, nothing drift, no cumulative errors, it is become in the present motor integration product, unique servo and executive component that can use open-loop control technology.At present, High Precision Open-loop stepper motor actuation techniques is very ripe, and single-chip microcomputer is used for step motor control, adopt open-loop control system, its repeatable position precision has reached 0.1 millimeter, is enough to satisfy the needs of welding automatically, and has simple in structure, reliable operation, advantage with low cost.Based on such reason, knuckle type arc welding robot adopts stepper motor to drive each joint shaft of joint type arm:
1. open-loop control technology is adopted in the control of each joint shaft of knuckle type arc welding robot, has simplified the frame for movement of joint type arm, dwindled knuckle type arc welding robot volume, alleviated the weight of knuckle type arc welding robot.
2. to the control of knuckle type arc welding robot, do not continue to use the mode of master and slave microcomputer control teaching arc welding robot.Adopt the PC microcomputer as master control microcomputer exploitation control software, with the control software solidification of exploitation in robot controller.Automatically weld with the control software control knuckle type arc welding robot that solidifies, do not need the PC microcomputer to control.This control mode has fundamentally been simplified the microcomputer control system of knuckle type arc welding robot, has dwindled the volume of microcomputer control system, has alleviated the weight of microcomputer control system.
3. exploitation control software, calculated data have utilized PC microcomputer speed fast, the characteristics that man-machine interface is good on upper PC microcomputer; One chip microcomputer is adopted in control in real time, has utilized the characteristics that the one chip microcomputer volume is little, the control function is strong, antijamming capability is strong, and two machines complement one another, and have given full play to the advantage of two machines.
4. adopt monolithic processor controlled, SCM Based full software open-loop control technology, further dwindled robot controller volume, alleviated the weight of robot controller.
5. use covered electrode in the welding automatically, or mainly use covered electrode and welding wire, improved welding production efficiency, reduced the welding production cost.
6. adopt the PC microcomputer, with the hardware and the technology of exploitation one chip microcomputer, the control software of off-line programing exploitation knuckle type arc welding robot.
Above-mentioned technology is that the technical program is achieved and the key technology that adopts.
Adopt above-mentioned technology, reduced the price of knuckle type arc welding robot.Do briefly bright to each parts below:
The Welder has two types: soldering turret and welding torch.
The joint type arm is made up of shoulder, big arm, forearm, wrist, and shoulder, big arm, forearm, wrist are modular structure.Connect by the shoulder joint pivot hinge between shoulder and the big arm, connect by the elbow joint pivot hinge between big arm and the forearm, connect by the wrist joint pivot hinge between forearm and the wrist.Soldering turret or welding torch and wire feeder can be installed on the wrist, have three functions: the soldering turret pincers that can operate installation refer to open and close; Soldering turret or welding torch that operation is installed are made minor rotation; Soldering turret or wire feeder that operation is installed are done small reciprocating motion.
Place covered electrode or welding wire in the automatic feeding funnel, in welding automatically, cooperate the joint type arm to send covered electrode or welding wire.After treating that covered electrode or welding wire use, can change the outfit fast.
The guide rail of walking mechanism is installed on the pipeline of welding, and walking mechanism is installed in the guide rail.Walking mechanism is limited in the guide rail and walks, and has guaranteed that the position of knuckle type arc welding robot is not offset at the volley.
The shoulder mounting robot controller of joint type arm, the control power supply is placed on the walking mechanism, is connected with robot controller by cable.Robot controller comprises SCM system and input interface circuit, power output drive circuit.The control scheme is based on the full software open-loop control system of single-chip microcomputer, and the control scheme of this full software has been dwindled the volume of robot controller.
The control power supply is made up of two group storage batteries.
Automatically in the welding process, it is to realize the key of welding automatically that the welding movement locus is followed the tracks of weld seam all the time, be to realize like this following the tracks of weld seam in the technical program: walking mechanism is directly installed on the welded pipe line, automatic feeding funnel is installed on the walking mechanism, the joint type arm is installed on the automatic feeding funnel, on the joint type arm soldering appliance is installed.Do simple the adjustment during assembling, make the movement locus of soldering appliance aim at welding bead indirectly.With mechanical assembly precision, guaranteed the accurate location of soldering appliance when static.During automatic the welding, each joint shaft of robot controller continuous control joint type arm makes each joint shaft do controlled rotation simultaneously, coordinates mutually to rotate, and the assurance soldering appliance is followed the tracks of weld seam at the volley all the time.
Adopt the knuckle type arc welding robot of technique scheme, split is in light weight, be easy to carry, and after the assembling, compact conformation is convenient to frequently move in the welding production scene; Can change the composition of knuckle type arc welding robot according to the diameter of welding manner, welded pipe line, the number of plies of weld seam welding, welding be produced have flexibility; Automatically use covered electrode in the welding, or mainly use covered electrode and welding wire, improved welding production efficiency, reduced the welding production cost; Pipeline welding production is carried out in the mode of similar streamline production operation, realized the pipeline welding production automation, help improving welding productive labor condition, the workman is freed from onerous toil, reduce working strength of workers; Help improving the welding quality of production, raise labour productivity, reduce the dependence of the welding quality of production workman's technology; Hardware and technology with the exploitation one chip microcomputer, the welding software of off-line programing exploitation knuckle type arc welding robot, to be solidificated in the control software in the robot controller, the control knuckle type arc welding robot welds automatically, has reduced the price of knuckle type arc welding robot.This is had than the project of high-tech content can be widely used and promote at factory and enterprise.
Below in conjunction with accompanying drawing embodiments of the invention are specifically described, wherein:
Fig. 1 is revolute robot's a front view.
Revolute robot shown in Figure 1 is the modular construction revolute robot, is made up of joint type arm 3, fuselage 4, walking mechanism 5, robot controller 6,7 five parts of control power supply.Wherein joint type arm 3, walking mechanism 5, robot controller 6 are modular structure, can select the module assembling of each specification according to the mode of production operation.Concrete structure is: walking mechanism is directly installed on the production operation scene, or has a style of one's own on the production operation object; Fuselage is installed on the walking mechanism, the joint type arm is installed on the fuselage, mounting robot controller on the shoulder of joint type arm, more than three be combined into one; Control power supply be one separately, be installed in walking mechanism on, be connected with robot controller by cable.The revolute robot is divided into three splits, and split is in light weight, be easy to carry, and after the assembling, compact conformation, is convenient to frequent moving.
The described shoulder 10 of Fig. 1 is assembled into by boxboard, support column, screw, protective cover, and shoulder also is the casing of shoulder decelerator, protective cover be contained in casing around.Interior dress shoulder stepper motor, shoulder decelerator, shoulder photoelectric coupling detector.Shoulder stepper motor and the engagement of shoulder decelerator, the output shaft of shoulder decelerator promptly is the shoulder joint nodal axisn.Radial ball bearing is installed at the gear shaft place, radial ball bearing supporting shoulder joint nodal axisn.Reduction gearing adopts biserial gear, the fastening back lash method that disappears of screw.The other shoulder photoelectric coupling detector of installing of final reduction gear, two millimeters apertures on the mate gear, the rotational angle of detection shoulder joint nodal axisn.
Forearm 30 shown in Figure 1 is assembled into by boxboard, support column, screw, protective cover, and forearm also is the casing of forearm decelerator, protective cover be contained in casing around.Interior dress forearm stepper motor, forearm decelerator, forearm photoelectric coupling detector.Forearm stepper motor and the engagement of forearm decelerator, the output shaft of forearm decelerator promptly is the wrist joint axle.Radial ball bearing is installed at the gear shaft place, radial ball bearing supporting wrist joint axle.Reduction gearing adopts biserial gear, the fastening back lash method that disappears of screw.The other forearm photoelectric coupling detector of installing of final reduction gear, two millimeters apertures on the mate gear, the rotational angle of detection wrist joint axle.
The making of robot controller hardware is described in " MCS-51/96 series one chip microcomputer and application thereof ", " Fundamentals of Mono-Chip Computers and making ", " scm application system designs and puts into practice ", " microcomputer control basis " literary composition.Behind selected singlechip chip, EingangsAusgangsSchnittstelle, address latch, address decoder, memory under program, address bus, data/address bus, control bus, chip selection signal can connect in accordance with regulations, its concrete grammar, the professional and technical personnel is quite familiar to this, repeats no more.Only address assignment and the power output driver element circuit board to input/output interface 8255 explains.8255 each road input, output port are all isolated through photoelectric coupling and are connected with peripheral circuit.8255 PA0, PA1 mouth connect the material toggling stepper motor, and PA2, PA3 mouth are picked the material stepper motor, and PA4, PA5 mouth connect pincers and refer to direct current generator, and PA6, PA71 connect the walking direct current generator.PB0, PB1 mouth connect the shoulder stepper motor, and PB2, PB3 mouth connect big arm stepper motor, and PB4, PB5 mouth connect the forearm stepper motor, and PB6, PB7 mouth connect pincers and refer to stepper motor.The PC0 mouth inserts the shoulder stepper motor and clamps the driving power loop that refers to stepper motor, does switch control; The PC1 mouth inserts big arm stepper motor, and switch control is done in the driving power loop of forearm stepper motor; The control of PC2 mouth switch inserts pusher electromagnet or welding torch switch, the PC4 mouth inserts shoulder photoelectric coupling detector, the PC5 mouth inserts big arm photoelectric coupling detector, the PC6 mouth inserts the rotational angle that forearm photoelectric coupling detector detects each joint shaft respectively, the PC7 mouth inserts arc voltage photoelectric coupling detector and detects arc voltage, and Arc Welding Power control is reserved in 8255 PC3 mouth switch control.In another embodiment, the P1.0 of single-chip microcomputer, P1.1 mouth connect the shoulder stepper motor, and P1.2, P1.3 mouth connect big arm stepper motor, and P1.4, P1.5 mouth connect the forearm stepper motor.The part port of the P1.6 of single-chip microcomputer, P1.7 mouth and P3 mouth gives over to further exploitation and uses.Power output driver element circuit board all has identical structure.With control shoulder stepper motor is example: the signal of 8255 PB0 mouth output meets photoelectric coupling 4N25, and the signal after isolating connects the unit of integrated driving 74LS06 and the unit of 74LS07.The signal of PB1 mouth output meets another photoelectric coupling 4N25, and the signal after isolating connects another unit of integrated driving 74LS06 and another unit of 74LS07.The output signal of four unit promotes four power amplifier tube TIP126 respectively, and the electric current after the amplification directly drives the shoulder stepper motor and rotates.The signal of PC0 mouth output meets photoelectric coupling 4N25, base NE555 when the signal after isolating connects, and the output of NE555 connects the unit of integrated driving 74LS06, its output signal pull switch control valve TIP127, the control step motor inserts high voltage.During the control direct current generator, the 74LS06 in the power output driver element circuit board is changed to 74LS07 gets final product.The two-way that two groups of switches are controlled in the optional power output driver element circuit board gets final product.
On the PC microcomputer, according to the structural parameters of joint type arm and the requirement of production operation technology, coding dynamic simulation joint type arm motion, the angular movement data of each joint shaft of calculating joint type arm.According to the data of emulation and calculating, write control program.The cross assembly control program, assembled control program, communication interface by the PC microcomputer is input to the microcomputer development device, the microcomputer development device connects input interface and the power output drive circuit carries out actual debugging, debug correct control program, be solidificated in the robot controller, finish the exploitation that the revolute robot controls software.After the structural parameters change of joint type arm and production operation technology make improvements, can revise control program, after compilation, debugging correctly, be solidificated in again in the robot controller, finish the exploitation once more that the revolute robot controls software.During production operation,, realize the action of revolute robot's walking and imitation staff and arm, carry out production operation by the control software control that robot controller solidifies.
Fig. 2 is the front view that adopts knuckle type arc welding robot of the present invention.
In pipeline and Pipeline butt connect, the welding bead track was perpendicular to the annular of conduit axis. The revolute robot's Walking mechanism 5 is installed on the welded pipe line, and the revolute robot is rotation along guide rail around pipeline, forms annular welding bead rail Mark. Take the revolute robot as matrix, at joint type arm 3 soldering turret 2 is installed, automatic feeding funnel is installed in the fuselage position 4, form and use covered electrode as the knuckle type arc welding robot of conductive electrode and filling metal. Concrete structure is: OK Walk the guide rail of mechanism 5, be directly installed on the welded pipe line and have a style of one's own; On the vehicle frame of walking mechanism 5 automatic charging is installed Bucket 4 is installed joint type arm 3 on the automatic feeding funnel 4, soldering turret 2, joint type arm 3 are installed on the joint type arm 3 Shoulder 10 on mounting robot controller 6, more than four be combined into one; Control power supply 7 is integrated separately, installs On the vehicle frame of walking mechanism 5, are connected connection with robot controller by cable. Knuckle type arc welding robot is divided into three Split, split is in light weight, be easy to carry, after the assembling, compact conformation, be convenient in the welding production scene frequently mobile. Dress Timing need be done simple adjustment: the center of guide rail from the pitch of weld from adjustment, it adjusts numerical value is a constant, relatively Range error is not more than five millimeters; Automatic feeding funnel 4 is installed in the position on the vehicle frame, can be by the micromatic setting adjustment. By In the reset self check of joint type arm 3 before welding, the relative position between big arm 20, forearm 30, the soldering turret 2 divides Do not reset to predetermined angular, soldering turret 2 is a constant from the distance of shoulder joint nodal axisn. Therefore, above-mentioned adjustment is in fact letter Single numerical value adjustment. By adjusting, indirectly make the movement locus of soldering turret 2 aim at weld seam.
Soldering turret 2 shown in Figure 2 is referred to form by soldering turret frame, pincers. Pincers refer to be processed into pincer, and there is a V-shaped groove front portion that pincers refer to Mouthful, there is a pan at the middle part, and there is a pan at the rear portion. Add man-hour, the distance between two pans be the middle part pan with The twice of distance between the V-shaped groove mouth. Soldering turret 2 can be installed on the lead ring of wrist easily, is passed through by the wrist stepper motor Connect with drive screw, connect through transmission nut with the brace of transmission nut hinge, the brace other end and pincers refer to Hinge, handling tongs refers to open and close; Refer to clamp under the situation of covered electrode at pincers, drive screw becomes stationary fit with transmission nut, By guide ring, rotating ring supporting transmission nut and guiding, stop ring slipper path and guiding, operation soldering turret 2 is done small rotation; Wrist stepper motor and tooth bar connect, wrist direct current generator and gear couplings, and the wheel and rack engagement makes through rack-driving The wrist stepper motor is done small reciprocating motion in guide ring, drive soldering turret 2 and do too small reciprocating motion.
The material toggling decelerator is assembled into by boxboard, support column, screw, train of reduction gears, and boxboard is circular. Gear shaft place peace The dress radial ball bearing, reduction gearing adopts the back lash method that disappears of biserial gear, screw fastening.
The feeding decelerator is assembled into by boxboard, support column, screw, train of reduction gears, and casing is rectangle. Gear shaft place peace The dress radial ball bearing. Reduction gearing adopts the back lash method that disappears of biserial gear, screw fastening.
In the percutaneous electrode operation of getting it filled: before the welding, dress is held frame and is filled in advance covered electrode, puts into bulk tank. In the shoulder 10 The shoulder stepper motor of installing drives the shoulder joint nodal axisn through the shoulder decelerator; The big arm stepper motor of big arm 20 interior installations is through big The arm decelerator drives the elbow joint axle; The forearm stepper motor of forearm 30 interior installations drives the wrist joint axle through the forearm decelerator, All rotate by separately predetermined angle value, between the shoulder 10 that makes joint type arm 3 and the big arm 20, big arm 20 and forearm 30 Between, the mutual alignment between forearm 30 and the soldering turret 2, reset to respectively predetermined angular, make pincers refer to accurately stop at get it filled The percutaneous electrode position. Immediately, wrist stepper motor forward rotation is through drive screw, nut, brace transmission, and handling tongs refers to Open. The material toggling stepper motor drives turning cylinder, the rotation of material toggling dish through the material toggling decelerator, makes covered electrode to the quasi-circular material The discharging opening in storehouse. The action of pusher electromagnet and charging ram is released covered electrode in the bulk tank and is made it expose 20 millimeters. The feeding stepper motor drives bulk tank to the motion of joint type arm 3 directions, coating through the final-stage gear of feeding decelerator Welding rod is sent in pincers on the joint type arm 3 refer to. Wrist stepper motor backward rotation is through drive screw, nut, connection The sheet transmission, handling tongs refers to closure, clamps covered electrode. Feeding stepper motor backward rotation is through the end of feeding gear decelerator The level gear drives bulk tank to the direction motion that resets, and covered electrode is drawn out of bulk tank.
At welding sequence: the shoulder stepper motor of shoulder 10 interior installations drives the shoulder joint nodal axisn through the shoulder decelerator; Big arm 20 The big arm stepper motor of interior installation drives the elbow joint axle through big arm decelerator; The forearm stepper motor warp of forearm 30 interior installations The forearm decelerator drives the wrist joint axle, all cooperatively interacts by separately predetermined rotating angle, coordinates to rotate. Make joint type Arm 3 at the volley, between shoulder 10 and the big arm 20, between big arm 20 and the forearm 30, between forearm 30 and the soldering turret 2 The mutual alignment keeps respectively the angle of being scheduled to, and guarantees that pincers refer to that the covered electrode of clamping follows the tracks of weld seam; At this moment, according to the Welder Skill, wrist stepper motor handling tongs refers to do small rotation; Wrist direct current generator handling tongs refers to do small reciprocating motion; More than The needed welding action of automatic welding has been synthesized in described three motions.
Control program is based on the full software open-loop control system of single-chip microcomputer. Soft by the knuckle type arc welding robot control of solidifying Part control, robot controller has two kinds of functions: make Programmable Logic Controller automatic Arc Welding is done sequential control, comply with Inferior to joint type arm self check return, automatic feeding funnel feeding, joint type arm extraction covered electrode, the weldering of joint type arm Front return, joint type arm ignite, and electric arc, joint type arm automatic welding, joint type arm are received arc, the joint type arm puts out Arc, joint type arm are got bar return operation and are done sequential control; In each operation, executive component is done small-signal output control System is done acceleration, deceleration, commutation, phase sequence distribution, forward, the counter-rotating control of stepper motor; Direct current generator forward, counter-rotating Control; The energising of pusher electromagnet, outage control. Robot controller also has another kind of function: input signal is through input Interface circuit input SCM system, the control signal of SCM system output directly drives through the power output drive circuit Stepper motor; Or drive with alignment circuit through power output and directly to drive direct current generator; Or straight through the power output drive circuit Connect control pusher electromagnet. Make soldering turret, joint type arm, automatic feeding funnel, walking mechanism, cooperatively interact, by given Automatic welding is carried out in the welding procedure action.
The programming mode of knuckle type arc welding robot is not continued to use master and slave microcomputer control teaching arc welding robot Programming mode. But adopt such as " industrial robot ", " Robot Control Technology ", " microcomputer control basis " Principle described in the literary composition, on the PC microcomputer, according to the structural parameters of joint type arm and given welding movement locus, Set up Mathematical Modeling. Coding dynamic simulation joint type arm motion, the angle of each joint shaft of calculating joint type arm Exercise data. According to the data of emulation and calculating and the technological requirement of welded pipe line weld seam, write the welding control program, Its program is as follows:
1. robot controller electrification reset, initialization;
2. the joint type arm resets to the percutaneous electrode position self check of getting it filled, and accurately stops at the percutaneous electrode position of getting it filled, and arranges soft Part detects;
3. the material toggling stepper motor is stirred the material toggling dish, and covered electrode is aimed at the bulk tank discharging opening;
4. pusher electromagnet action is released circular hopper with covered electrode, makes it expose 20 millimeters;
5. pincers refer to the stepper motor forward rotation, and handling tongs refers to open;
6. feeding stepper motor forward rotation is delivered to the finger place with bulk tank, and covered electrode enters in the finger;
7. pincers refer to the stepper motor backward rotation, and handling tongs refers to closure, clamp covered electrode;
8. feeding stepper motor backward rotation, bulk tank is got back to original position, and covered electrode is extracted out from bulk tank;
9. each joint shaft of joint type arm is done the return rotation, and covered electrode is in place in vertical position, waits to be welded;
10. each joint shaft of joint type arm is pressed welding procedure and is done the welding rotation, and covered electrode at the uniform velocity descends, and prepares striking;
11. the pincers of joint type arm refer to, do small scratching swing, electric arc ignites;
12. each joint shaft of joint type arm is made controlled rotation simultaneously, keeps covered electrode at the uniform velocity to descend, and follows the tracks of the welding bead center all the time, pincers refer to that the direct current generator handling tongs refers to do small reciprocating motion simultaneously;
13. walking direct current generator forward rotation, walking mechanism is walked in guide rail, realizes that electric arc moves;
14. the detection arc voltage is done small compensation after the judgement;
Rotate 15. each joint shaft of joint type arm is made return, covered electrode leaves welding bead, and extinguish arcs is finished the welding of a covered electrode automatically;
16. the walking direct current generator stops operating, walking mechanism stops walking;
17. the joint type arm is repositioned to the percutaneous electrode position of getting it filled, and waits for and extracts covered electrode, and software detection is set.
18. finish the welding of a covered electrode, promptly finish the one action circulation.Repeat above-mentioned circulation continuously, automatic welding is carried out continuously.
On the PC microcomputer, cross assembly welding control program, assembled welding control program, communication interface by the PC microcomputer is input to the microcomputer development device, the microcomputer development device connects input interface and the power output drive circuit carries out actual debugging, debug correct welding control program, be solidificated in the robot controller, finish the exploitation of knuckle type arc welding robot control software.After the structural parameters change of joint type arm and welding procedure make improvements, can revise the welding control program, after compilation, debugging correctly, be solidificated in again in the robot controller, finish the exploitation once more of knuckle type arc welding robot control software.
When welding automatically, welding software control by robot controller curing, extracting ignite electric arc, walking mechanism motion and the continuous welding of joint type arm, joint type arm of return before covered electrode, the weldering of joint type arm, joint type arm by joint type arm self check return, automatic feeding funnel feeding, joint type arm successively receives arc, the blow-out of joint type arm, joint type arm and gets bar return process sequence and carry out, cooperate Arc Welding Power, weld automatically.Automatically in the welding, use covered electrode, do not need carbon dioxide or argon gas to make protection gas, when realizing welding automatically, reduced the welding production cost.
Among another embodiment, pipeline docks welding with pipeline, because the importance in the pipeline use, requirement according to the welding quality standard, pipe welding seam adopts argon tungsten-arc welding welded seam weldering bottom, and the welding manner of covered electrode welding middle level and capping is to reduce the welding production cost.With the knuckle type arc welding robot is matrix, and the soldering turret of installing on the joint type arm 32 is changed the outfit is welding torch 2, increases a joint type arm 8, and wire feeder 9 is installed on the joint type arm 8, forms the knuckle type arc welding robot that adopts the argon tungsten-arc welding welding.
Wire feeder 9 by feeding stepper motor, reduction gearing, wire pushing roller, lead mouth and form.The feeding stepper motor drives the wire pushing roller wire feed through reduction gearing, causes welding bead through leading mouth.
Getting the welding wire operation: the material toggling stepper motor drives dress and holds the frame rotation, sends welding wire and causes wire feeder 9.Dress in the automatic feeding funnel 4 is held and is loaded onto welding wire on the frame in advance, puts into bulk tank.In the welding, treat that welding wire has extracted after, can change the outfit fast.
At welding sequence: by the knuckle type arc welding robot control software control of solidifying, the welding torch 2 on the joint type arm 3, the wire feeder 9 on the joint type arm 8 all arrives weld seam.According to welding procedure, the welding torch of installing on the joint type arm 32, by the wrist stepper motor by connecting with drive screw, through transmission nut, connect with the brace with the transmission nut hinge, the brace other end is connected with the lead ring hinge, screws under the situation at drive screw and transmission nut, by guide ring, rotating ring supporting transmission nut and guiding, stop ring slipper path and guiding, operation welding torch 2 is done small rotation; The wire feeder of installing on the joint type arm 89, connected by wrist stepper motor and tooth bar, the wrist direct current generator connects with gear, the wheel and rack engagement, make the wrist stepper motor in guide ring, do small reciprocating motion through the tooth bar transmission, drive wire feeder 9 and do small reciprocating motion too.The above two kinds of motion has been synthesized argon tungsten-arc welding and has been welded needed welding action.
According to the technological requirement of the automatic welded pipe line weld seam of argon tungsten-arc welding, on the PC microcomputer, write the welding control program, its program is as follows:
1. robot controller electrification reset, initialization;
2. the self check of joint type arm resets, and software detection is set;
3. the material toggling stepper motor is stirred the material toggling dish, sends welding wire;
4. each joint shaft of joint type arm is done welding and is rotated the wire feeder arrival welding bead on the joint type arm;
5. each joint shaft of joint type arm is done welding and is rotated the welding torch arrival welding bead on the joint type arm, preparation striking;
6. welding torch switch closure send argon gas, electric arc ignites;
7. walking direct current generator forward rotation, the walking mechanism walking realizes that electric arc moves;
8. the wrist direct current generator rotates, and welding wire is swung as small wire feed;
9. the detection arc voltage is done small compensation after the judgement;
10. the welding torch switch cuts out, and stops to send argon gas, extinguish arcs;
11. the walking direct current generator stops operating, walking mechanism stops walking;
Debug correct welding control program, be solidificated in the robot controller.When welding automatically, by the control software control of solidifying, successively by put in place before joint type arm self check return, automatic feeding funnel feeding, the weldering of joint type arm, the joint type arm ignites electric arc, walking mechanism motion and the continuous welding of joint type arm, joint type arm are received arc, joint type arm blow-out process sequence carries out, cooperate argon arc welding power source, weld automatically.Automatically in the welding, use welding wire, argon gas is as welding protection gas.Other relevant parts have been made detailed description, are not giving unnecessary details at this.
In the arc welding, follow arc light that electric arc sends, heat, sound, etc. phenomenon, production welding condition is quite abominable.In the present invention, Anti-Jamming Technique has been taked following measure:
Robot controller is put into shielding box, the shielding box good earth;
Employing photoelectricity is isolated, two group storage batteries are powered respectively, one group of battery confession SCM system that voltage is 6V, one group of battery confession input interface circuit, power output drive circuit that voltage is 18V is separated SCM system and input interface circuit, power output drive circuit from circuit;
Control software setting " trap ".
Above-described only is to adopt the principle of the invention, realizes the optimization embodiment of the pipeline welding production automation.Should be pointed out that for a person skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also make some modification and improvement,, also should be considered as belonging to protection scope of the present invention so that develop other electromechanical integrated product.
Claims (10)
1. revolute robot, described revolute robot comprises joint type arm, fuselage, it is characterized in that having walking mechanism, control power supply, robot controller, has solidified the robot control software; Joint type arm, walking mechanism, robot controller are respectively modular structure, can change revolute robot's composition according to the needs of production operation; At the joint type arm special-purpose end-effector is installed, the special-purpose control of exploitation software can be finished special production operation; Concrete structure is: walking mechanism is installed in the production operation scene, or on the production operation object one, fuselage is installed on the walking mechanism, the joint type arm is installed on the fuselage, the shoulder mounting robot controller of joint type arm, more than three be combined into one, control power supply be installed on the walking mechanism for one separately, complete machine is divided into three splits, and split is in light weight, be convenient to take machine; The central processing unit of robot controller adopts single-chip microcomputer, and control system is SCM Based full software open-loop control system, is main control computer with the microcomputer, and off-line programing exploitation revolute robot controls software, is solidificated in the robot controller; Under robot control software's control that robot controller solidifies, joint type arm, walking mechanism cooperatively interact, and coordination realizes the action of walking and imitation staff and arm, carries out production operation.
2. revolute robot according to claim 1, it is characterized in that the joint type arm is by shoulder, big arm; forearm; wrist is formed; concrete structure is: between shoulder and the big arm by the shoulder joint pivot hinge; between big arm and the forearm by the elbow joint pivot hinge; between forearm and the wrist by the wrist joint pivot hinge; under the control software control that robot controller solidifies; the stepper motor of shoulder drives the shoulder joint nodal axisn; the stepper motor of big arm drives the elbow joint axle; the stepper motor of forearm drives the wrist joint axle; the anglec of rotation given by each joint shaft cooperatively interacts; coordinate to rotate; realize the action of imitation staff and arm and by given movement locus motion.
3. revolute robot according to claim 1 and 2, it is characterized in that shoulder, big arm; forearm is a modular structure; have identical frame for movement; by boxboard; support column; screw; protective cover is assembled into; each body also is a reduction case separately; shoulder; big arm; forearm is box shape; its cross section is a rectangle; protective cover be installed in casing around; dress stepper motor all; decelerator; photoelectric coupling detector; stepper motor and decelerator connect; the output shaft of decelerator promptly is a joint shaft, and the output shaft of each decelerator is the shoulder joint nodal axisn successively; the elbow joint axle; wrist joint axle, decelerator have adopted the back lash method that disappears; on the gear of decelerator, it is two millimeters hole that diameter is arranged.
4. revolute robot according to claim 1 and 2 is characterized in that wrist is made up of wrist stepper motor, drive screw, transmission nut, brace, guide ring, rotating ring, lead ring, stop ring, wrist direct current generator, gear, tooth bar, casing; On the excircle of transmission nut, two planes have been processed symmetrically, two pans on each plane, have been processed, under adding on another symmetrical excircle vertical, the guiding keyway is arranged with this plane, be symmetrily processed with the guiding keyway on the inner periphery of rotating ring, transmission nut screws in drive screw, be sleeved in the rotating ring, be slidingly connected by slide key, rotating ring is sleeved in the guide ring again, lead ring is sleeved in the stop ring, and guide ring and stop ring are coaxial to be assemblied on the casing, and special-purpose soldering appliance can be installed on the lead ring; Have a motion, two frees degree: the wrist stepper motor is through drive screw, transmission nut and connect lead ring with the brace of transmission nut hinge, and the operation lead ring is reciprocating; Under drive screw and the tight state of drving sprial, by guide ring, rotating ring supporting transmission nut and guiding, stop ring slipper path and guiding, wrist stepper motor operation lead ring is made minor rotation; The wrist direct current generator connects with gear, and the wheel and rack engagement is connected with the wrist stepper motor through tooth bar, and wrist direct current generator operation lead ring is done small reciprocating motion.
5. revolute robot according to claim 1 is characterized in that walking mechanism is made up of active magnet-wheel, vehicle frame, walking direct current generator, walking decelerator, auxiliary wheel, guide rail; Guide rail is two parts in split punishment, and bolt connects, Yi Bian the transverse shape at split place is the square shape of not sealing fully, is protruding V font with the shape of not sealing relative limit, limit fully; Vehicle frame is installed in the guide rail, two active magnet-wheels are installed in parallel in the two ends of vehicle frame, auxiliary wheel and the initiatively coaxial installation of magnet-wheel, the walking decelerator is contained in two initiatively ends of magnet-wheel, and with initiatively magnet-wheel is vertical, the output shaft at two ends and active magnet-wheel connect respectively, the walking direct current generator is installed in the middle part of vehicle frame, its longitudinal axis is with initiatively magnet-wheel is parallel, connect with the input gear at walking decelerator middle part, drive initiatively magnet-wheel in the same way, the walking direct current generator drives that vehicle frame is spacing to move in guide rail, guaranteed that revolute robot's position is not offset at the volley.
6. revolute robot according to claim 1 is characterized in that robot controller is made up of SCM system, input interface circuit, power output drive circuit, has solidified control software; Control software control by solidifying has two kinds of functions: make Programmable Logic Controller the production operation process is done sequential control, in each operation, each executive component is done small-signal output control; Also have another kind of function: input signal is imported SCM system through input interface circuit, and the control signal of SCM system output directly drives each executive component through the power output drive circuit; The input interface circuit of SCM system and four groups of photoelectric coupling detectors is produced on the main circuit board, two groups of direct current generators, with two groups of switch controls, and the power output drive circuit of nine groups of stepper motors, independent production unit module board can assemble according to the needs of production operation, install respectively.
7. revolute robot according to claim 1, it is characterized in that controlling power supply and comprise that one group of voltage is the battery of 6V, with one group of voltage battery that is 18V, two group storage batteries do not connect on circuit, voltage is that the battery of 6V is connected with SCM system by a cable, voltage is that the battery of 18V is connected with the power output drive circuit with input interface by another cable, and SCM system and input interface and power output drive circuit are separated on circuit.
8. knuckle type arc welding robot, described knuckle type arc welding robot comprises soldering appliance, automatic feeding funnel, it is characterized in that with revolute robot as claimed in claim 1 be matrix, soldering appliance, fuselage position installation automatic feeding funnel composition are installed on revolute robot's joint type arm; Can special-purpose soldering appliance be installed in wrist, exploitation special welding software welds automatically with different welding manners; Main covered electrode and the welding wire of using is as conductive electrode and filling metal; Concrete structure is: walking mechanism is installed in and is one on the welded pipe line, automatic feeding funnel is installed on the walking mechanism, the joint type arm is installed on the automatic feeding funnel, and the shoulder mounting robot controller of joint type arm more than is combined into one, the control power supply is installed on the walking mechanism for one separately, complete machine is divided into three splits, and split is in light weight, be easy to carry, after the assembling, compact conformation is convenient to frequently move in the welding production scene; It with the microcomputer main control computer, off-line programing exploitation welding control software, be solidificated in the robot controller, under the control of robot controller solidification software, soldering appliance, joint type arm, automatic feeding funnel, walking mechanism cooperatively interact, and coordination realizes the welding action of walking and imitation staff and arm, cooperate Arc Welding Power, weld automatically.
9. knuckle type arc welding robot according to claim 8 is characterized in that automatic feeding funnel is made up of bulk tank, material toggling decelerator, material toggling stepper motor, pusher electromagnet, charging ram, feeding stepper motor, feeding decelerator, tooth bar; One end of bulk tank is installed the material toggling decelerator, the material toggling stepper motor is installed on the casing of material toggling decelerator, pusher electromagnet and charging ram, material toggling stepper motor and material toggling decelerator connect, the spline of the final reduction gear center processing of material toggling decelerator, the turning cylinder slip of holding frame with dress connects, the end cap of the other end of bulk tank is connected with bulk tank with the form of hinge, along the feeding stepper motor is arranged on the axis of bulk tank, the feeding decelerator, feeding stepper motor and the connection of feeding decelerator are installed on the walking mechanism, the driving rack of installing on the bulk tank is with the final reduction gear engagement of feeding decelerator; The material toggling stepper motor drives dress and holds the frame rotation, send welding wire or make covered electrode aim at the discharging opening of bulk tank, pusher electromagnet and charging ram action, releasing covered electrode in the bulk tank exposes it, the feeding stepper motor only moves to the joint type orientation arm to the rotating drive bulk tank, in drug delivery percutaneous electrode to pincers refer to, after treating that pincers refer to clamp covered electrode, feeding stepper motor backward rotation, drive bulk tank to the direction motion that resets, covered electrode is extracted from bulk tank by the joint type arm.
10. develop the programming mode that knuckle type arc welding robot is controlled software for one kind, it is characterized in that having following characteristics:
A. on the PC microcomputer,, set up Mathematical Modeling according to the structural parameters of joint type arm and given welding movement locus;
B. on the PC microcomputer, the angular movement data of each joint shaft of joint type arm are calculated in the motion of coding dynamic simulation joint type arm;
C. on the PC microcomputer,, write the welding control program according to the data of emulation and calculating and the technological requirement of welded pipe line weld seam;
D. on the PC microcomputer, cross assembly welds control program;
E. on the PC microcomputer,,, be input to the microcomputer development device with assembled control program by communication interface;
F. the microcomputer development device connects input interface and power output drive circuit, actual debugging welding control program;
G. on the PC microcomputer, the welding control program that debugging is correct is solidificated in the robot controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB991151143A CN1157270C (en) | 1999-09-02 | 1999-09-02 | Knuckle type arc welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB991151143A CN1157270C (en) | 1999-09-02 | 1999-09-02 | Knuckle type arc welding robot |
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| Publication Number | Publication Date |
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| CN1270869A true CN1270869A (en) | 2000-10-25 |
| CN1157270C CN1157270C (en) | 2004-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB991151143A Expired - Fee Related CN1157270C (en) | 1999-09-02 | 1999-09-02 | Knuckle type arc welding robot |
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| CN (1) | CN1157270C (en) |
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| CN101743524B (en) * | 2007-07-18 | 2013-05-29 | Abb股份公司 | Method for machining a contour on at least one workpiece by means of a robot |
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| CN104416305A (en) * | 2013-08-30 | 2015-03-18 | 中国石油天然气集团公司 | Multi-point synchronous automatic pre-welding scanning type laser tracking method and device for welded joint of pipeline |
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