CN215968757U - Soft-sensing welding robot - Google Patents
Soft-sensing welding robot Download PDFInfo
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- CN215968757U CN215968757U CN202121831429.7U CN202121831429U CN215968757U CN 215968757 U CN215968757 U CN 215968757U CN 202121831429 U CN202121831429 U CN 202121831429U CN 215968757 U CN215968757 U CN 215968757U
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Abstract
The utility model discloses a soft-sensing welding robot which comprises a first mechanical arm, a second mechanical arm, a soft-sensing joint, a telescopic holder and a welding gun, wherein the first mechanical arm is connected with the second mechanical arm through the flexible joint; the second mechanical arm is rotatably connected with the first mechanical arm through a soft-sensing joint; the soft-sense joint comprises a first flexible functional part, a first clutch functional part and a rotary encoder; the flexible functional piece I is used for controlling the rotation and the limiting of the mechanical arm II; the clutch function piece I is used for controlling the mechanical arm II to move relative to the mechanical arm I; the rotary encoder measures the rotation angle of the second mechanical arm; the telescopic holder is arranged at the tail end of the second mechanical arm and can stretch along the two axial directions of the second mechanical arm; the welding gun is arranged at the tail end of the telescopic holder. On the basis of the original robot numerical control function, the flexibility and the perception are increased, so that a welding gun held by the robot can automatically track a welding seam.
Description
Technical Field
The utility model relates to the technical field of welding equipment, in particular to a soft-sensing welding robot.
Background
Multi-axis industrial robots have found numerous applications in the welding field, and many industries benefit from the use of them for high production efficiency and stable quality. But the largest welding application scenes such as large steel structures of shipbuilding class are difficult to be used. The robot belongs to numerical control equipment, a welding gun moves according to a preset program track when the robot works, and the installation error of a large-size steel structure is often larger than the welding allowable range and irregular, so that the robot often does not weld a welding line during welding, and the welding quality requirement cannot be met. Therefore, the welding is implemented by measures such as increasing the seam tracking and the like.
The current measures mainly include laser tracking, arc tracking, photography and the like. But these approaches have significant limitations. For example: the laser tracking device is added, so that the complexity and the price are high, and when a non-open welding seam is welded, the welding seam with a longer section at two ends cannot be tracked and welded. The arc tracking has more influencing factors, and the swing welding mode of the arc tracking also reduces the welding efficiency. The complex camera system requires high stability in the field. Therefore, a simple and easy automatic weld joint tracking method is needed for the large-scale welding production scale of the large-scale steel structure.
Industrial robot- -mainly refers to six-axis robot, has been introduced in China for over ten years, and has made great progress through digestion, absorption and imitation. However, the vast majority of the billion welding robot market still occupies foreign brands, and domestic products can only change in size and shape without bright spots of functional breakthrough, and are competitive with low price. The domestic robot needs to be innovated. The existing welding robots all adopt a teaching or off-line programming mode in advance to plan the running track of a welding gun, and are not easy to adapt to welding seam welding with large deviation error of a single production type of a large-scale steel structure. With the improvement of the living standard of China, the labor and the labor cost are increased, the welding of the labor and the labor with poor conditions is more and more difficult, the industrial advantages of shipbuilding and the like are gradually transferred to southeast Asia, and the robot has to be grasped to change people. Therefore, a large amount of inexpensive and high-quality special welding robots are required for upgrading the manufacturing industry of large steel structures.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is to provide a soft-sensing welding robot aiming at the defects of the prior art, and the soft-sensing welding robot can increase flexibility and sensing on the basis of the original robot numerical control function, so that a welding gun held by the robot can automatically track a welding seam.
In order to solve the technical problems, the utility model adopts the technical scheme that:
a soft-feel welding robot, characterized in that: comprises a first mechanical arm, a second mechanical arm, a soft-sensing joint, a telescopic holder and a welding gun;
the second mechanical arm is rotatably connected to the first mechanical arm through a numerical control shaft and a soft-sensing joint, and the tail end of the second mechanical arm is connected with a turntable through the numerical control shaft;
the soft-sense joint comprises a first flexible functional part, a first clutch functional part and a rotary encoder;
the flexible functional piece I is used for controlling the rotation and the limiting of the mechanical arm II;
the clutch function piece I is used for controlling the mechanical arm II to move relative to the mechanical arm I;
the rotary encoder measures the rotation angle of the second mechanical arm;
the telescopic holder is arranged on the turntable and can axially extend and retract along the turntable;
the welding gun is arranged at the tail end of the telescopic holder.
Furthermore, the telescopic holder comprises a second flexible functional part, a second clutch functional part and an electronic ruler;
the flexible functional part is used for controlling the axial expansion and the limit of the telescopic holder;
the clutch function part is used for controlling the relative movement of the telescopic holder and the mechanical arm II;
the electronic ruler is used for detecting the telescopic displacement of the telescopic holder.
Further, the second flexible functional part is a pressure spring.
Furthermore, the first clutch function piece and the second clutch function piece are both electromagnetic clutches.
Further, the first flexible functional part is a torsion spring.
Further, the welding gun comprises a clamping part and a welding part, and the tail end of the welding part is provided with a fillet; wherein the included angle between the clamping part and the welding part is a welding gun angle theta, and the value range of the theta is 0-30 degrees; the included angle between the welding part and the horizontal plane is a welding angle alpha, and the value range of the alpha is 45 +/-5 degrees.
Compared with the prior art, the utility model has the beneficial effects that:
1. the utility model provides a continuous cycle mode of sensing, judging and running adherent deformation to realize the functions of finding and tracking weld joints.
2. On the basis of the original robot numerical control function, the flexibility and the perception are increased, so that a welding gun held by the robot can automatically track a welding seam.
3. The utility model can enable the welding seams at the corners of the cabin to be uniformly welded and tracked without secondary manual welding when welding non-open welding seams, particularly when more cabin spaces exist, thereby greatly improving the welding efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a soft-feel welding robot according to the present invention.
Fig. 2 is a schematic structural view of a soft joint of a soft welding robot according to the present invention.
Fig. 3 is a schematic structural diagram of a holder of a soft-feel welding robot according to the present invention.
Fig. 4 is a schematic view of the robot moving laterally close to the wall.
FIG. 5 is a schematic view of a flexible joint rotation.
Fig. 6 is a schematic view of the vertical motion of the robot.
Figure 7 is a schematic view of the retraction of the telescopic holder.
FIG. 8 is a schematic illustration of robotic weld tracking.
Fig. 9 is a force analysis diagram of the welding gun.
Fig. 10 is a hooke model of the telescopic force F of the telescopic holder.
Fig. 11 is a hooke model of torsion spring torque M.
Fig. 12 is a perspective view of the soft welding robot of the present invention after assembly.
Among them are:
10. a first mechanical arm;
20. a second mechanical arm;
21. an electromagnetic clutch; 22. a torsion spring; 24. a rotary encoder;
30. a turntable;
40. a holder;
41. an electronic ruler; 42. a pressure spring;
50. and (4) welding the welding gun.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.
In the description of the present invention, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and that "first", "second", etc., do not represent an important degree of the component parts, and thus are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the scope of protection of the present invention.
As shown in fig. 1 to 3, 1. a soft-feel welding robot, characterized in that: comprises a first mechanical arm 10, a second mechanical arm 20, a flexible joint, a telescopic holder 40 and a welding gun 50.
The second mechanical arm 20 is rotatably connected to the first mechanical arm 10 through a numerical control shaft and a soft-sensing joint, and the tail end of the second mechanical arm 20 is connected with a turntable 30 through the numerical control shaft.
The soft-feel joint includes a first flexible feature, a first clutch feature, and a rotary encoder 24.
The flexible functional piece I is used for controlling the rotation and the limiting of the second mechanical arm 20.
The first clutch function is used for controlling the relative movement of the second mechanical arm 20 and the first mechanical arm 10.
The rotary encoder 24 measures the rotation angle of the second mechanical arm 20.
The telescopic holder 40 is installed on the turntable 30, and the telescopic holder 40 can be axially telescopic along the turntable 30.
The welding gun 50 is mounted on the end of the telescopic holder 40.
The telescopic holder 40 comprises a second flexible functional part, a second clutch functional part and an electronic ruler 41.
The flexible functional part is used for controlling the axial extension and the limit of the telescopic holder.
The clutch function part is used for controlling the relative movement of the telescopic holder and the mechanical arm II.
The electronic ruler 41 is used for detecting the telescopic displacement of the telescopic holder.
The second flexible functional element is a compression spring 42.
The first clutch function member and the second clutch function member are both electromagnetic clutches 41.
The first flexible feature is a torsion spring 22.
The welding gun 50 comprises a clamping part and a welding part, and the tail end of the welding part is provided with a fillet; wherein the included angle between the clamping part and the welding part is a welding gun angle theta, and the value range of the theta is 0-30 degrees; the included angle between the welding part and the horizontal plane is a welding angle alpha, and the value range of the alpha is 45 +/-5 degrees.
The first embodiment is as follows:
in the embodiment, a welding gun with a welding gun angle theta of 22 degrees is adopted, the diameter of a welding gun protective sleeve is 25mm, the outer edge of the welding gun protective sleeve is rounded R1, the distance L from a flexible joint to the bottom end of a welding part is 450mm, the deformation range of the flexible joint is set to be 40 degrees, the torque is 1.2-1.8Nm, the deformation range of a telescopic holder is 40mm, and the force F is 8-12N.
A welding seam tracking method of a soft-sensing welding robot comprises the following steps:
step 1, finding a welding line, which specifically comprises the following steps:
step 11, before the flexible joint is pre-tightened, deformation parameters of the flexible joint and the deformation range of the telescopic holder are set, wherein the deformation parameters of the flexible joint comprise the deformation range alpha of the torsion spring0～αmax，αmaxThe maximum value of the rotation angle of the torsion spring and the torque range of the torsion spring are M0～Mmax(1.2 to 1.8Nm in this example), MmaxIs the torque maximum; the deformation range of the telescopic holder is 0-xmax(0 to 20mm in this embodiment), xmaxThe maximum elongation of the telescopic holder; the deformation force of the telescopic holder is F0～Fmax(8-12N in this embodiment), FmaxThe maximum value of the deformation force of the telescopic holder; soft feelWhen the part works stably, the resultant force P of the welding gun tip and the welding seam of the workpiece needs to satisfy P0～Pmax(5-15N in this embodiment), PmaxThe maximum value of the resultant force of the welding gun tip and the welding seam of the workpiece; in step 12 and step 13, the resultant force P between the welding gun tip and the welding seam of the workpiece needs to satisfy the condition that P is less than P in real timemax。
Step 12, finding the side wall of the welding seam: the robot drives the welding gun to move transversely until the bottom end of the welding part of the welding gun touches the side wall of the welding part to be welded; the robot continues to drive the welding gun to move transversely, at the moment, the flexible joint rotates anticlockwise to a set angle, the rotation change amounts of the flexible joint and the welding gun are both delta alpha, preferably 23 degrees, the welding angle is changed from theta to alpha, and alpha is 22 degrees +23 degrees is 45 degrees.
After the flexible joint rotates to a set angle, the component force f of the side wall of the welding seam to the bottom end of the welding part in the horizontal direction1Comprises the following steps:
f1＜F0＝8N，
in the formula, θ is a torch angle.
Step 13, finding a welding seam bottom plate: the robot drives the welding gun to vertically move downwards until the bottom end of the welding part of the welding gun touches a bottom plate to be welded; the robot continues to drive the welding gun to vertically move downwards, at the moment, the flexible functional part axially contracts, the vertical downward movement is stopped after a set contraction amount lambda (preferably, the value is 0.4mm), and at the moment, the bottom end of the welding gun is over against the initial point of a welding line; the variable quantity of the distance L from the flexible joint to the bottom end of the welding part is x-20 mm, the welding angle alpha is 45 degrees, the tail end of the welding part of the welding gun is also provided with an elastic welding sheath, and when the welding part stops moving vertically downwards after reaching the set shrinkage lambda, the welding gun generates the springback alpha' 1 degrees.
A. When the welding part of the welding gun is provided with the welding sheath, the springback angle alpha' of the welding gun is 1 degrees, and the resultant force P of the welding gun tip and the welding seam of the workpiece is calculated by adopting the following formula:
k2＝(Fmax-F0)/λ
F＝F0+x*k2＝F0+x*(Fmax-F0)/λ＝8+20*(12-8)/0.4＝10N
k1＝(Mmax-M0)/β
M＝M0+x*k1＝M0+x*(Mmax-M0)/β＝1.2+20*(1.8-1.2)/34.78＝1.545Nm
f2＝F*sin((Δα-α′)+θ)＝10sin66°≈9.135N
f′1＝F*cos((Δα-α′)+θ)＝10cos66°≈4.067N
f1＝f′1+f″1＝4.067+3.758＝7.83N
P＝12N
P＜15N
of formula (II) to'1Is the extension pressure, f ″, of the compression spring in the horizontal direction1Is the horizontal torsion of the torsion spring, f2Is the expansion pressure, k, of the compression spring in the vertical direction2Is the elastic coefficient of a compression spring, k1F is the deformation force of the telescopic holder, M is the torsion spring torque, λ is the compression spring working stroke, and the unit is M, where λ is x in this embodimentmax0, beta is the working stroke of the torsion spring.
B. When the welding part of the welding gun is not provided with the welding sheath, the welding gun has no springback, and the resultant force P of the welding gun tip and the workpiece welding seam is calculated by substituting alpha' into the formula.
In summary, in this embodiment, the deformation range of the soft joint is 40 ° and the moment is 1.2-1.8Nm, and the deformation range of the telescopic holder is 40mm and the force is 8-12N, which are suitable.
The preferred embodiments of the present invention have been described in detail, however, the present invention is not limited to the details of the above embodiments, and various equivalent changes may be made to the technical solution of the present invention within the technical spirit of the present invention, and these equivalent changes are all within the protective scope of the present invention.
Claims (6)
1. A soft-feel welding robot, characterized in that: comprises a first mechanical arm (10), a second mechanical arm (20), a soft-sense joint, a telescopic holder (40) and a welding gun (50);
the second mechanical arm (20) is rotatably connected to the first mechanical arm (10) through a numerical control shaft and a soft-sensing joint, and the tail end of the second mechanical arm (20) is connected with a turntable (30) through the numerical control shaft;
the soft-sense joint comprises a first flexible functional part, a first clutch functional part and a rotary encoder (24);
the flexible functional piece I is used for controlling the rotation and the limit of the mechanical arm II (20);
the clutch function piece I is used for controlling the relative movement of the mechanical arm II (20) and the mechanical arm I (10);
the rotary encoder (24) measures the rotation angle of the second mechanical arm (20);
the telescopic holder (40) is arranged on the turntable (30), and the telescopic holder (40) can axially extend and retract along the turntable (30);
the welding gun (50) is arranged at the tail end of the telescopic holder (40).
2. The soft welding robot of claim 1, wherein: the telescopic holder (40) comprises a second flexible functional part, a second clutch functional part and an electronic ruler (41);
the flexible functional part is used for controlling the axial expansion and the limit of the telescopic holder;
the clutch function part is used for controlling the relative movement of the telescopic holder and the mechanical arm II;
the electronic ruler (41) is used for detecting the telescopic displacement of the telescopic holder.
3. The soft welding robot of claim 2, wherein: the second flexible functional part is a pressure spring (42).
4. The soft welding robot of claim 2, wherein: the first clutch function piece and the second clutch function piece are both electromagnetic clutches (41).
5. The soft welding robot of claim 1, wherein: the first flexible functional part is a torsion spring (22).
6. The soft welding robot of claim 1, wherein: the welding gun (50) comprises a clamping part and a welding part, and the tail end of the welding part is provided with a fillet; wherein,
the included angle between the clamping part and the welding part is a welding gun angle theta, and the value range of the theta is 0-30 degrees;
the included angle between the welding part and the horizontal plane is a welding angle alpha, and the value range of the alpha is 45 +/-5 degrees.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681555A (en) * | 2021-08-06 | 2021-11-23 | 郭宇 | Soft-sensing welding robot and welding seam tracking method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681555A (en) * | 2021-08-06 | 2021-11-23 | 郭宇 | Soft-sensing welding robot and welding seam tracking method thereof |
| CN113681555B (en) * | 2021-08-06 | 2022-12-02 | 郭宇 | Soft-sensing welding robot and welding seam tracking method thereof |
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