CN203426617U - Control system used for automatic welding production line - Google Patents
Control system used for automatic welding production line Download PDFInfo
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- CN203426617U CN203426617U CN201320484569.0U CN201320484569U CN203426617U CN 203426617 U CN203426617 U CN 203426617U CN 201320484569 U CN201320484569 U CN 201320484569U CN 203426617 U CN203426617 U CN 203426617U
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Abstract
The utility model discloses a control system used for an automatic welding production line in the field of welding machines. The control system comprises a Motoman welding robot connected onto a master control PLC (programmable logic controller). The signal input end of the master control PLC is connected with the signal output end of an operation platform; the signal output end of the master control PLC is connected with the signal input end of a multi-axis motion controller; data transmission is also performed between the master control PLC and a positioner; the signal input end of the multi-axis motion controller is also connected with an operation screen; the multi-axis motion controller is used for driving a five-axis machine tool-type manipulator to move; the multi-axis motion controller is also used for driving a seam tracking sensor to work through a welder power supply; the seam tracking sensor and the multi-axis motion controller are in a feedback connection. According to the control system disclosed by the utility model, the efficiency and the degree of automation of welding production are improved, and the processing cost of a to-be-welded workpiece is reduced. The control system can be used for automatic welding.
Description
Technical field
The utility model relates to a kind of welding production line, particularly a kind of welding production line control system.
Background technology
Along with production scale and scientific and technical development, Automation of Welding control system also has very fast development.The time-consuming effort of existing welding process, welds inhomogeneously, and there will be rosin joint.Due to cost of labor rising in the recent period, the manual welding that welding is produced is progressively replaced by robot, thereby has further met the welding production automation, increases substantially the requirements such as productive temp, the quality of production.Traditional welding technique weld seam melts deeply inhomogeneous, does not also reach requirement, so we are in the urgent need to a kind of Automation of Welding production line welding press fuselage, boosts productivity.In welding procedure, realize Automation of Manufacturing Process and control, the transformation by modern control device for conventional industries technology, to promote the progress of engineering, reaches the automatization level that improves machinery production field.
Utility model content
The purpose of this utility model is to provide a kind of automatic welding production line control system, solves the problems of the prior art, improves efficiency and automaticity that welding is produced, reduces the processing cost of welding work pieces.
The purpose of this utility model is achieved in that a kind of automatic welding production line control system, comprise the Motoman welding robot being connected on master control PLC, the signal input part of described master control PLC is connected with the signal output part of operating desk, the signal output part of described master control PLC is connected with the signal input part of multi-axis motion controller, described master control PLC also carries out data communication with positioner, the signal input part of described multi-axis motion controller is also connected with operation screen, described multi-axis motion controller drives five-axis machine tool formula manipulator behavior, described multi-axis motion controller also drives weld seam tracking sensor work through welding machine electric power, described weld seam tracking sensor and multi-axis motion controller feedback link.
During the utility model work, Motoman welding robot and five-axis machine tool formula manipulator can connect by automatic tracking welding, after having planned welding work pieces weld seam, because other welding work pieces weld seams and setting value have deviation, when just requiring automatic welding, this must coincide with actual welds, during programming, advanced start of line point and end point detect, and detect in real time position while welding afterwards by be connected in series weld seam tracking sensor before the output cathode of welding machine electric power, reach automatic tracking welding and connect.Compared with prior art, the beneficial effects of the utility model are, the utility model is used weld seam tracking sensor to gather in time corresponding data, and by master control PLC, control five-axis machine tool formula manipulator and make corresponding shift action, thereby guarantee the precision of welding, the utility model has improved automaticity and the welding production efficiency of welding simultaneously, and has reduced the manufacturing cost of welding work pieces.The utility model can be used in automatic welding.
In order to improve welding production line welding precision, described five-axis machine tool formula manipulator comprises two shaft transmissions and manipulator mobile control unit, described multi-axis motion controller is through the action of diaxon transmission mechanism control welding gun, and described multi-axis motion controller is controlled manipulator behavior through manipulator mobile control unit; Described two shaft transmissions comprise electric rotating machine driver and oscillating motor driver, the signal input part of described electric rotating machine driver is connected with the signal output part of multi-axis motion controller, the signal output part of described electric rotating machine driver is connected with welding gun rotating shaft servomotor signal input part, the signal output part of described welding gun rotating shaft servomotor is connected with manipulator A shaft transmission, and described welding gun rotating shaft servomotor is through A axle encoder for servo motor and electric rotating machine driver feedback link; The signal input part of described oscillating motor driver is connected with the signal output part of multi-axis motion controller, the signal output part of described oscillating motor driver is connected with torch swinging axle servomotor signal input part, the signal output part of described torch swinging axle servomotor is connected with manipulator B shaft transmission, described torch swinging axle servomotor is through B axle encoder for servo motor and oscillating motor driver feedback link, and described welding gun rotating shaft servomotor and torch swinging axle driven by servomotor welding gun move; Described manipulator mobile control unit comprises and moves left and right motor driver, moves forward and backward motor driver and move up and down motor driver, the described signal output part that moves left and right motor driver is connected with the signal input part that moves left and right servomotor, described signal output part and the manipulator X-axis transmission mechanism that moves left and right servomotor, described in move left and right servomotor through X-axis encoder for servo motor with move left and right motor driver feedback link; The described signal output part that moves forward and backward motor driver is connected with the signal input part that moves forward and backward servomotor, described signal output part and the manipulator Y-axis transmission mechanism that moves forward and backward servomotor, described in move forward and backward servomotor through Y-axis encoder for servo motor with move forward and backward motor driver feedback link; The described signal output part that moves up and down motor driver is connected with the signal input part that moves up and down servomotor, described signal output part and the manipulator Z-axis transmission mechanism that moves up and down servomotor, described in move up and down servomotor through Z axis encoder for servo motor with move up and down motor driver feedback link.
Accompanying drawing explanation
Fig. 1 is the utility model control principle block diagram.
The specific embodiment
A kind of automatic welding production line control system as shown in Figure 1, comprise Motoman welding robot, comprise the Motoman welding robot being connected on master control PLC, the signal input part of master control PLC is connected with the signal output part of operating desk, the signal output part of master control PLC is connected with the signal input part of multi-axis motion controller, master control PLC also carries out data communication with positioner, the signal input part of multi-axis motion controller is also connected with operation screen, multi-axis motion controller drives five-axis machine tool formula manipulator behavior, multi-axis motion controller also drives weld seam tracking sensor work through welding machine electric power, weld seam tracking sensor and multi-axis motion controller feedback link,
Five-axis machine tool formula manipulator comprises two shaft transmissions and manipulator mobile control unit, and multi-axis motion controller is through the action of diaxon transmission mechanism control welding gun, and multi-axis motion controller is controlled manipulator behavior through manipulator mobile control unit;
Two shaft transmissions comprise electric rotating machine driver and oscillating motor driver, the signal input part of electric rotating machine driver is connected with the signal output part of multi-axis motion controller, the signal output part of electric rotating machine driver is connected with welding gun rotating shaft servomotor signal input part, the signal output part of welding gun rotating shaft servomotor is connected with manipulator A shaft transmission, and welding gun rotating shaft servomotor is through A axle encoder for servo motor and electric rotating machine driver feedback link; The signal input part of oscillating motor driver is connected with the signal output part of multi-axis motion controller, the signal output part of oscillating motor driver is connected with torch swinging axle servomotor signal input part, the signal output part of torch swinging axle servomotor is connected with manipulator B shaft transmission, torch swinging axle servomotor is through B axle encoder for servo motor and oscillating motor driver feedback link, and welding gun rotating shaft servomotor and torch swinging axle driven by servomotor welding gun move;
Manipulator mobile control unit comprises and moves left and right motor driver, moves forward and backward motor driver and move up and down motor driver, the signal output part that moves left and right motor driver is connected with the signal input part that moves left and right servomotor, move left and right signal output part and the manipulator X-axis transmission mechanism of servomotor, move left and right servomotor through X-axis encoder for servo motor and move left and right motor driver feedback link; The signal output part that moves forward and backward motor driver is connected with the signal input part that moves forward and backward servomotor, move forward and backward signal output part and the manipulator Y-axis transmission mechanism of servomotor, move forward and backward servomotor through Y-axis encoder for servo motor and move forward and backward motor driver feedback link; The signal output part that moves up and down motor driver is connected with the signal input part that moves up and down servomotor, move up and down signal output part and the manipulator Z-axis transmission mechanism of servomotor, move up and down servomotor through Z axis encoder for servo motor and move up and down motor driver feedback link.
During the utility model work, automatic welding button when start-up operation platform, master control PLC responds this input signal, output signal to Motoman welding robot and multi-axis motion controller, by multi-axis motion controller, drive five-axis machine tool formula manipulator, now Motoman welding robot, five-axis machine tool formula manipulator and positioner, in interlocking state, prevent interference; Motoman welding robot starts to detect initial solder joint welding press fuselage according to the weld joint tracking program of previously having write, Deng Motoman welding robot, output signal to master control PLC after completing the welding of this station, Motoman welding robot revert to initial point, master control PLC outputs signal to positioner, make positioner displacement 90 degree, press frame is in another station, and five-axis machine tool formula manipulator is started working.
After positioner displacement completes, output signal is to master control PLC input, after PLC response, output signal to multi-axis motion controller, multi-axis motion controller is sent to X-axis left and right actuating signal to move left and right motor driver and drive and to move left and right servomotor running, left and right servomotor completes X-axis left and right rectilinear translation by manipulator X-axis rack and pinion drive mechanism and moves, X-axis encoder for servo motor is given servomotor actual displacement amount Real-time Feedback to move left and right motor driver, and then be transferred to multi-axis motion controller, thereby reach high accuracy, accurately locate.
Multi-axis motion controller is sent to actuating signal before and after Y-axis to move forward and backward motor driver and drive and move forward and backward servomotor running, moving forward and backward servomotor completes rectilinear translation before and after Y-axis by manipulator Y-axis transmission mechanism and moves, Y-axis encoder for servo motor is given servomotor actual displacement amount Real-time Feedback to move forward and backward motor driver, and then be transferred to multi-axis motion controller, thereby reach high accuracy, accurately locate.
Multi-axis motion controller is sent to Z axis knee-action signal to move up and down motor driver and drive to watch to move up and down and take motor rotation, moving up and down servomotor completes the upper and lower rectilinear translation of Z axis by manipulator Z-axis transmission mechanism and moves, Z axis encoder for servo motor is given servomotor actual displacement amount Real-time Feedback to move up and down motor driver, and then be transferred to multi-axis motion controller, thereby reach high accuracy, accurately locate.
Multi-axis motion controller is sent to the running of electric rotating machine driver drives welding gun rotating shaft servomotor by A axle spinning movement signal, welding gun rotating shaft servomotor completes the spinning movement of A axle by manipulator A shaft transmission, A axle encoder for servo motor by servomotor actual displacement amount Real-time Feedback to electric rotating machine driver, and then be transferred to multi-axis motion controller, thereby reach high accuracy, accurately locate.
Multi-axis motion controller is sent to the running of oscillating motor driver drives torch swinging axle servomotor by B axle wobbling action signal, torch swinging axle servomotor completes B axle wobbling action by manipulator B shaft transmission, B axle encoder for servo motor by servomotor actual displacement amount Real-time Feedback to oscillating motor driver, and then be transferred to multi-axis motion controller, thereby reach high accuracy, accurately locate.
When five-axis machine tool formula manipulator completes after welding signal, and manipulator returns in origin position, send a signal to master control PLC, PLC detects MOTOMAN welding robot and five-axis machine tool formula manipulator after initial point signal, and output signal is controlled positioner executing agency and transformed to another station.
The utility model is not limited to above-described embodiment; on the basis of the disclosed technical scheme of the utility model; those skilled in the art is according to disclosed technology contents; do not need performing creative labour just can make some replacements and distortion to some technical characterictics wherein, these replacements and distortion are all in protection domain of the present utility model.
Claims (4)
1. an automatic welding production line control system, it is characterized in that, comprise the Motoman welding robot being connected on master control PLC, the signal input part of described master control PLC is connected with the signal output part of operating desk, the signal output part of described master control PLC is connected with the signal input part of multi-axis motion controller, described master control PLC also carries out data communication with positioner, the signal input part of described multi-axis motion controller is also connected with operation screen, described multi-axis motion controller drives five-axis machine tool formula manipulator behavior, described multi-axis motion controller also drives weld seam tracking sensor work through welding machine electric power, described weld seam tracking sensor and multi-axis motion controller feedback link.
2. a kind of automatic welding production line control system according to claim 1, it is characterized in that, described five-axis machine tool formula manipulator comprises two shaft transmissions and manipulator mobile control unit, described multi-axis motion controller is through the action of diaxon transmission mechanism control welding gun, and described multi-axis motion controller is controlled manipulator behavior through manipulator mobile control unit.
3. a kind of automatic welding production line control system according to claim 2, it is characterized in that, described two shaft transmissions comprise electric rotating machine driver and oscillating motor driver, the signal input part of described electric rotating machine driver is connected with the signal output part of multi-axis motion controller, the signal output part of described electric rotating machine driver is connected with welding gun rotating shaft servomotor signal input part, the signal output part of described welding gun rotating shaft servomotor is connected with manipulator A shaft transmission, described welding gun rotating shaft servomotor is through A axle encoder for servo motor and electric rotating machine driver feedback link, the signal input part of described oscillating motor driver is connected with the signal output part of multi-axis motion controller, the signal output part of described oscillating motor driver is connected with torch swinging axle servomotor signal input part, the signal output part of described torch swinging axle servomotor is connected with manipulator B shaft transmission, described torch swinging axle servomotor is through B axle encoder for servo motor and oscillating motor driver feedback link, and described welding gun rotating shaft servomotor and torch swinging axle driven by servomotor welding gun move.
4. a kind of automatic welding production line control system according to claim 2, it is characterized in that, described manipulator mobile control unit comprises and moves left and right motor driver, moves forward and backward motor driver and move up and down motor driver, the described signal output part that moves left and right motor driver is connected with the signal input part that moves left and right servomotor, described signal output part and the manipulator X-axis transmission mechanism that moves left and right servomotor, described in move left and right servomotor through X-axis encoder for servo motor with move left and right motor driver feedback link; The described signal output part that moves forward and backward motor driver is connected with the signal input part that moves forward and backward servomotor, described signal output part and the manipulator Y-axis transmission mechanism that moves forward and backward servomotor, described in move forward and backward servomotor through Y-axis encoder for servo motor with move forward and backward motor driver feedback link; The described signal output part that moves up and down motor driver is connected with the signal input part that moves up and down servomotor, described signal output part and the manipulator Z-axis transmission mechanism that moves up and down servomotor, described in move up and down servomotor through Z axis encoder for servo motor with move up and down motor driver feedback link.
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| CN201320484569.0U CN203426617U (en) | 2013-08-09 | 2013-08-09 | Control system used for automatic welding production line |
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| CN201320484569.0U CN203426617U (en) | 2013-08-09 | 2013-08-09 | Control system used for automatic welding production line |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104084728A (en) * | 2014-06-09 | 2014-10-08 | 焦作市浩丰金属制品有限公司 | Automatic welder of wheel buckle type scaffold vertical rods |
| CN105414818A (en) * | 2015-12-25 | 2016-03-23 | 新兴铸管股份有限公司 | Automatic control device of steel grating plate press welder |
| CN105499744A (en) * | 2016-02-02 | 2016-04-20 | 安徽工程大学 | Automatic welder control system of four-position auto radiator and welding point adjusting method |
| CN105665880A (en) * | 2014-12-05 | 2016-06-15 | 林肯环球股份有限公司 | Welding component for high bandwidth data communication |
| CN106735956A (en) * | 2016-12-13 | 2017-05-31 | 江苏盘古机器人科技有限公司 | The control device and control method of two-way laser weldering system |
| CN106736116A (en) * | 2016-12-29 | 2017-05-31 | 南京臻铭信机电科技有限公司 | Robot automatic welding production line based on central computer Automatic Control |
| CN106768797A (en) * | 2016-11-24 | 2017-05-31 | 中国空气动力研究与发展中心高速空气动力研究所 | A kind of linkage frequency plot sync control device of wind-tunnel dynamic multiple degrees of freedom test mechanism |
| CN108857154A (en) * | 2018-07-05 | 2018-11-23 | 四川广正科技有限公司 | A kind of more device and methods shield machine cutter wearing layer of automation built-up welding |
| US10543554B2 (en) | 2014-12-05 | 2020-01-28 | Lincoln Global, Inc. | Welding assembly for high-bandwidth data communication |
| CN111069824A (en) * | 2020-01-15 | 2020-04-28 | 上海卓然工程技术股份有限公司 | Intelligent automatic pipeline welding control system |
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- 2013-08-09 CN CN201320484569.0U patent/CN203426617U/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104084728B (en) * | 2014-06-09 | 2017-08-18 | 焦作市浩丰金属制品有限公司 | Pulley-clip scaffold vertical rod automatic welder |
| CN104084728A (en) * | 2014-06-09 | 2014-10-08 | 焦作市浩丰金属制品有限公司 | Automatic welder of wheel buckle type scaffold vertical rods |
| CN105665880A (en) * | 2014-12-05 | 2016-06-15 | 林肯环球股份有限公司 | Welding component for high bandwidth data communication |
| US10543554B2 (en) | 2014-12-05 | 2020-01-28 | Lincoln Global, Inc. | Welding assembly for high-bandwidth data communication |
| CN105414818A (en) * | 2015-12-25 | 2016-03-23 | 新兴铸管股份有限公司 | Automatic control device of steel grating plate press welder |
| CN105499744A (en) * | 2016-02-02 | 2016-04-20 | 安徽工程大学 | Automatic welder control system of four-position auto radiator and welding point adjusting method |
| CN105499744B (en) * | 2016-02-02 | 2017-11-21 | 安徽工程大学 | Four station automobile radiators automatic welding machine control systems and solder joint method of adjustment |
| CN106768797A (en) * | 2016-11-24 | 2017-05-31 | 中国空气动力研究与发展中心高速空气动力研究所 | A kind of linkage frequency plot sync control device of wind-tunnel dynamic multiple degrees of freedom test mechanism |
| CN106735956B (en) * | 2016-12-13 | 2018-08-17 | 江苏盘古机器人科技有限公司 | Two-way laser welds the control device and control method of system |
| CN106735956A (en) * | 2016-12-13 | 2017-05-31 | 江苏盘古机器人科技有限公司 | The control device and control method of two-way laser weldering system |
| CN106736116A (en) * | 2016-12-29 | 2017-05-31 | 南京臻铭信机电科技有限公司 | Robot automatic welding production line based on central computer Automatic Control |
| CN106736116B (en) * | 2016-12-29 | 2019-04-23 | 南京臻铭信自动化装备有限公司 | Robot automatic welding production line based on central computer Automatic Control |
| CN108857154A (en) * | 2018-07-05 | 2018-11-23 | 四川广正科技有限公司 | A kind of more device and methods shield machine cutter wearing layer of automation built-up welding |
| CN111069824A (en) * | 2020-01-15 | 2020-04-28 | 上海卓然工程技术股份有限公司 | Intelligent automatic pipeline welding control system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: No. 99, Yangli Road, Hanjiang District, Yangzhou City, Jiangsu Province Patentee after: YANGLI GROUP Corp.,Ltd. Address before: No. 99, Yangli Road, Hanjiang District, Yangzhou City, Jiangsu Province Patentee before: JIANGSU YANGLI GROUP Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140212 |
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| CX01 | Expiry of patent term |