CN206869283U - A kind of robot circular weld automated system based on PLC controls - Google Patents

Abstract

The utility model relates to a PLC-controlled robot annular welding seam automation system, which belongs to the field of welding technology. Including welding robot, welding torch and other components. The welding torch is connected to the arm of the welding robot. The distance sensor and seam tracker are installed at the torch head of the welding torch. The machine is installed in the base of the positioner, the mobile platform is installed on the sliding track, the hand-operated device is connected with the mobile platform and controls the mobile platform to slide on the sliding track, the XY direction adjuster is welded with the mobile platform, and the three-jaw chuck is welded On the bearing at the end of the XY direction adjuster, the receiving end of the horizontal light sensor is installed on the bearing at the end of the XY direction adjuster, and the distance sensor, positioner, seam tracker, and level light sensor are all connected to the PLC controller . The utility model is controlled by a PLC control system to realize fixed-point spot welding, fixed-distance intermittent welding and continuous welding of annular welds.

Description

A Robot Circumferential Welding Automation System Based on PLC Control

technical field

The utility model relates to a robot annular welding seam automation system based on PLC control, which belongs to the field of welding technology.

Background technique

In welding production, linear welds and circular welds occupy a high proportion. In boilers and nuclear power equipment, circular welds account for more than 70% of the total welds. Traditional welding methods are labor-intensive and production low efficiency. And although submerged arc welding and roller frame combination equipment on the market have a way to solve this problem, the structure is complicated and the cost is higher.

Contents of the invention

The technical problem to be solved by the utility model is to provide a robot annular weld automation system based on PLC control. By reforming the CO2 gas shielded welding equipment and using PLC to control the welding equipment and the rotating device, the problem of dead angle of the welding robot can be solved and realized. CO2 gas shielded welding ring spot welding, intermittent welding, continuous welding control problems, and make the structure simple and cost reduction.

The technical scheme adopted by the utility model is: a robot annular weld automation system based on PLC control, including a welding robot 1, a welding torch 2, a distance sensor 3, a workbench 4, an XY direction regulator 5, a hand-operated device 6, three Jaw chuck 7, mobile table 8, positioner 9, PLC placement table 10, PLC controller 11, horizontal light sensor 12, seam tracker 13;

The welding torch 2 is connected to the arm of the welding robot 1, the distance sensor 3 and the seam tracker 13 are installed at the torch head of the welding torch 2, and the workbench 4 is provided with a sliding track and a positioner base connected together to change The positioner 9 is installed in the base of the positioner, the mobile platform 8 is installed on the sliding track, the hand-operated device 6 is connected to the mobile platform 8 and controls the mobile platform 8 to slide on the sliding track, and the XY direction regulator 5 is welded to the mobile platform 8 Together, the three-jaw chuck 7 is welded on the bearing at the end of the XY direction adjuster 5, one workpiece is clamped on the positioner 9 and rotates with the positioner 9360°, and the other workpiece is clamped on the three-jaw chuck 7 Above, the transmitting end of the horizontal light sensor 12 is installed on the positioner 9, the receiving end of the horizontal light sensor 12 is installed on the bearing at the end of the XY direction regulator 5, the distance sensor 3, the positioner 9, the seam tracking Device 13, horizontal light sensor 12 are all connected with PLC controller 11.

Specifically, the mobile platform 8 includes a mobile platform body and a mobile platform base, and the hand-operated device 6 is respectively connected to the mobile platform body and the mobile platform base. A rack is provided, and the hand-operated device 6 is connected to the mobile platform body through the gear and the rack. The left and right sides of the base of the mobile platform are respectively provided with bearings. One bearing and clearance fit with two bearings to achieve 360-degree rotation.

Preferably, the workbench 4 is provided with a PLC placing platform 10 , and the PLC controller 11 is installed on the top of the PLC placing platform 10 .

The working principle of the utility model is: program the welding robot 1, connect the PLC controller 11 with an external computer, and the PLC controller 11 has a storage function, so after inputting the program compiled by the computer into the PLC controller 11, the The computer can be taken away, the power supply of each electrical equipment can be connected, the two workpieces to be welded can be selected, and then the workpieces can be clamped. One workpiece can be clamped on the positioner 9, and the other workpiece can be clamped on the mobile platform. On the three-jaw chuck 7 in 8, the coaxiality of the two workpieces is ensured by adjusting the XY direction regulator 5 and observing the horizontal photosensor 12. When the signal light of the horizontal photosensor 12 goes out, it means that the coaxiality of the workpiece has been adjusted. Well, at this time, the mobile device 6 can be used to move the mobile platform 8 close to the positioner 9, so that the gap between the two workpieces is 3-5 mm. After the workpiece is prepared, start the program of the welding robot 1, and the welding robot 1 The arm will be close to the workpiece, and the welding torch 2, distance sensor 3 and seam tracker 13 fixed on the arm of the welding robot 1 will start to work. At first, the seam tracker 13 scans the workpiece to find the weld. When the weld of the workpiece is found Afterwards, the welding robot 1 arm will move to the welding seam position, at this moment the distance sensor 3 feeds back the signal to the PLC controller 11 placed on the PLC placement table 10, and the PLC controller 11 controls the welding torch 2 and the positioner 9 after processing Start working until the weld is complete.

The utility model has the following beneficial effects:

1. Solved the problem of dead angle of welding robot (many positions are difficult to weld);

2. Fixed-point spot welding, fixed-distance intermittent welding and continuous welding of circular welds can be realized;

3. When continuous girth welding is carried out, there is only one joint, which reduces the welding defects caused by joints in the weld;

4. One-time programming, mass production, high efficiency, easy and convenient operation;

5. When welding heavy-smelling or toxic metals, it can be placed in a confined space for control, reducing the degree of harm to the human body;

6. The cost of maintenance and production is low, and it has wider practicability for boilers and pipelines.

Description of drawings

Fig. 1 is the welding work flowchart of the present utility model;

Fig. 2 is the overall structural representation of the utility model;

Figure 3 is a partially enlarged view of part A in Figure 2;

Fig. 4 is the side view of Fig. 2;

Fig. 5 is the structural representation of PLC placement platform 10;

FIG. 6 is a schematic structural view of FIG. 2 after the positioner 9 is removed.

The labels in the figure are: 1-welding robot; 2-welding torch; 3-distance sensor; 4-worktable; 5-XY direction regulator; 6-hand device; 9-positioner; 10-PLC placement table; 11-PLC controller; 12-horizontal light sensor; 13-weld tracker.

detailed description

Below in conjunction with accompanying drawing and embodiment, the utility model is further described.

Embodiment 1: As shown in Figure 1-6, a robot circular welding seam automation system based on PLC control includes a welding robot 1, a welding torch 2, a distance sensor 3, a workbench 4, an XY direction regulator 5, and a hand-operated device 6. Three-jaw chuck 7, mobile table 8, positioner 9, PLC placement table 10, PLC controller 11, horizontal light sensor 12, seam tracker 13;

The welding torch 2 is connected to the arm of the welding robot 1, the distance sensor 3 and the seam tracker 13 are installed at the torch head of the welding torch 2, and the workbench 4 is provided with a sliding track and a positioner base connected together to change The positioner 9 is installed in the base of the positioner, the mobile platform 8 is installed on the sliding track, the hand-operated device 6 is connected to the mobile platform 8 and controls the mobile platform 8 to slide on the sliding track, and the XY direction regulator 5 is welded to the mobile platform 8 Together, the three-jaw chuck 7 is welded on the bearing at the end of the XY direction adjuster 5, one workpiece is clamped on the positioner 9 and rotates with the positioner 9360°, and the other workpiece is clamped on the three-jaw chuck 7 Above, the transmitting end of the horizontal light sensor 12 is installed on the positioner 9, the receiving end of the horizontal light sensor 12 is installed on the bearing at the end of the XY direction regulator 5, the distance sensor 3, the positioner 9, the seam tracking Device 13, horizontal light sensor 12 are all connected with PLC controller 11.

Further, the mobile platform 8 includes a mobile platform body and a mobile platform base, and the hand-operated device 6 is respectively connected to the mobile platform body and the mobile platform base. A rack is provided, and the hand-operated device 6 is connected to the mobile platform body through the gear and the rack. The left and right sides of the base of the mobile platform are respectively provided with bearings. One bearing and clearance fit with two bearings to achieve 360-degree rotation.

Further, the described workbench 4 is provided with a PLC placement platform 10, and the PLC controller 11 is installed on the top of the PLC placement platform 10, and the PLC controller 11 can be protected by the specially designed PLC placement platform 10. The controller 11 is installed on the top of the PLC placement platform 10, which can be more conducive to signal transmission.

During actual work: program the welding robot 1, connect the PLC controller 11 with an external computer, and the PLC controller 11 has a storage function, so after inputting the program compiled by the computer into the PLC controller 11, the computer can be taken Go, connect the power supply of each electrical equipment, select two workpieces to be welded, and then clamp the workpieces, clamp one workpiece on the positioner 9, and clamp the other workpiece on the three On the jaw chuck 7, the coaxiality of the two workpieces is ensured by adjusting the XY direction regulator 5 and observing the horizontal photosensor 12. When the signal light of the horizontal photosensor 12 goes out, it means that the coaxiality of the workpiece has been adjusted. The mobile device 6 can be used to move the mobile table 8 close to the positioner 9, so that the gap between the two workpieces is 3-5 mm. After the workpiece is prepared, click Run to start the program of the welding robot 1, and the welding robot 1 The arm will be close to the workpiece, and the welding torch 2, distance sensor 3 and seam tracker 13 fixed on the arm of the welding robot 1 will start to work. At first, the seam tracker 13 scans the workpiece to find the weld. After the weld of the workpiece is found , the arm of the welding robot 1 will move to the position of the weld seam. At this time, the distance sensor 3 feeds back the signal to the PLC controller 11 placed on the PLC placement table 10. After the PLC controller 11 is processed, it controls the welding torch 2 and the positioner 9 to start Work, when the welding is completed, the welding robot 1 returns to the position, and the distance sensor 3 transmits the signal to the PLC controller 11, and the PLC controller 11 controls the positioner 9, so that the positioner 9 stops rotating, and the workpiece of the same specification is welded again For welding, it is only necessary to run the last program of the welding robot 1 and the PLC controller 11 until the entire welding work is completed.

When the arm of the welding robot 1 approaches the workpiece to be welded, the weld seam tracker 13 emits infrared rays to scan and sense the surface of the workpiece. When the weld seam is scanned, it responds to the difference in sensitivity, and feeds the signal back to the PLC controller 11. The PLC controller 11 records the position of the welding torch at this time and sends a welding signal to the arc welding power source in the next second, and the weld seam is tracked. The device continues to scan, and continuously sends the signal of the groove position to the PLC controller 11, so that the welding torch 2 will always weld at the groove of the workpiece, so it has the ability to automatically find the weld seam and automatically adjust the error.

During specific welding, first start the program on the welding robot 1, and the welding robot 1 moves to make the welding torch 2 approach the weld seam. When the welding torch 2 reaches the welding seam welding position, the distance sensor 3 on the welding torch 2 sends the signal to the plc device, and the PLC Controller 11 starts to work;

In order to prevent the deformation of the workpiece during the welding process, first spot welding (as shown in Figure 1):

a. Welding torch 2 starts spot welding at point 1 (the welding time is t);

b. The welding robot 1 moves 120° counterclockwise along the pipe wall, and the welding torch 2 starts spot welding at point 2 (welding time t);

c. Welding robot 1 moves 240° clockwise along the pipe wall, welding torch 2 starts welding at point 3 (always welding), and positioner 9 starts to rotate at the same time, after positioner 9 rotates 360°, PLC controller 11 After the program runs, the positioner 9 stops rotating, the welding robot 1 returns to its original position, the welding robot 1 program ends, and the whole process is completed.

Due to the limitation of the length of the robot arm, the robot cannot weld around the pipe for a long time, but the utility model can solve this problem. The utility model solves the 0-degree position loop of the pipeline that the welding robot cannot do. weld.

The specific implementation of the utility model has been described in detail above in conjunction with the accompanying drawings, but the utility model is not limited to the above-mentioned implementation. Various changes are made.

Claims (3)

1. A robot circular welding seam automation system based on PLC control, characterized in that it includes a welding robot (1), a welding torch (2), a distance sensor (3), a workbench (4), and an XY direction regulator (5) , hand-operated device (6), three-jaw chuck (7), mobile table (8), positioner (9), PLC controller (11), horizontal light sensor (12), seam tracker (13 ); The welding torch (2) is connected to the arm of the welding robot (1), the distance sensor (3) and the seam tracker (13) are installed at the tip of the welding torch (2), and the workbench (4) is provided with a connection The sliding track and the positioner base together, the positioner (9) is installed in the positioner base, the mobile platform (8) is installed on the sliding track, the hand-operated device (6) is connected with the mobile platform (8) and Control the mobile table (8) to slide on the sliding track, the XY adjuster (5) is welded together with the movable table (8), and the three-jaw chuck (7) is welded on the bearing at the end of the XY adjuster (5), One workpiece is clamped on the positioner (9) and rotates 360° with the positioner (9), the other workpiece is clamped on the three-jaw chuck (7), and the launch end of the horizontal light sensor (12) is installed On the positioner (9), the receiving end of the horizontal light sensor (12) is installed on the bearing at the end of the XY direction adjuster (5), the distance sensor (3), the positioner (9), and the seam tracker (13), horizontal light sensor (12) are all connected with PLC controller (11). 2. According to claim 1, the PLC-based robot annular welding automation system is characterized in that: the mobile platform (8) includes a mobile platform body and a mobile platform base, and the hand-operated device (6) is connected to the mobile platform respectively. The table body is connected to the base of the mobile table. The hand rocker of the hand-operated device (6) is provided with a gear, and the lower part of the mobile table body is provided with a rack. The hand-operated device (6) is connected with the mobile table body through the gear and the rack. The left and right sides of the platform base are respectively provided with bearings, and the hand rocker of the hand-operated device (6) respectively passes through the two bearings on the left and right sides of the mobile platform base and cooperates with the two bearings to achieve 360-degree rotation. 3. The robot circular welding seam automation system based on PLC control according to claim 1, characterized in that: said workbench (4) is provided with a PLC placement table (10), and the PLC controller (11) is installed on The PLC is placed on the top of the platform (10).