CN216398495U

CN216398495U - Welding robot workstation

Info

Publication number: CN216398495U
Application number: CN202122815314.5U
Authority: CN
Inventors: 廖灿伦
Original assignee: Andritz China Ltd
Current assignee: Andritz China Ltd
Priority date: 2021-11-17
Filing date: 2021-11-17
Publication date: 2022-04-29
Anticipated expiration: 2031-11-17

Abstract

The utility model relates to a welding robot workstation, comprising: the welding robot, the positioner, the wire feeder, the controller and the display device; the display equipment is electrically connected with the controller; when the welding is started, the wire feeder conveys welding wires for the positioner, the positioner rotates, and the welding robot performs welding operation on a workpiece to be welded on the positioner; the positioner is provided with an encoder, the positioner and the encoder form a linkage structure, the encoder is electrically connected with the controller, when the positioner rotates, the encoder is driven to rotate, and the controller acquires the actual rotating speed of the positioner according to an incremental pulse signal generated when the encoder rotates; and the controller displays the actual rotating speed of the positioner through the display equipment. The welding robot workstation can accurately adjust the appropriate rotating speed for workpieces to be welded with different sizes, so that the welding quality is improved.

Description

Welding robot workstation

Technical Field

The utility model relates to the technical field of welding, in particular to a welding robot workstation.

Background

Welding robotic workstations typically include a welding robot and other welding aids such as a positioner and a wire feeder. The application of the welding robot workstation can avoid the dangers of burning, electric shock, visual damage, toxic gas inhalation, excessive ultraviolet irradiation and the like brought to an operator in the welding process.

The welding robot workstation mainly welds the annular reinforcing ring to cylindrical barrel, because the product work piece size difference is very big, and the product of the interval of diameter is all producing from 200mm to 1500 mm. During welding production, the turning speed of the positioner is adjusted each time according to products with different diameters.

In the existing adjusting mode, workers judge whether the overturning speed of the positioner is suitable for the current product or not according to experience and observation, and adjust the overturning speed. The mode has high subjectivity, often has misjudgment, and cannot realize accurate adjustment, so that the quality of workpieces produced by welding is unstable.

SUMMERY OF THE UTILITY MODEL

Based on this, there is a need to provide a welding robot workstation that enables accurate adjustment.

A welding robotic workstation comprising: the welding robot, the positioner, the wire feeder, the controller and the display device; the display device is electrically connected with the controller; when welding is started, the wire feeder conveys welding wires for the positioner, the positioner rotates, and the welding robot performs welding operation on a workpiece to be welded on the positioner;

the positioner is provided with an encoder, the positioner and the encoder form a linkage structure, the encoder is electrically connected with the controller, the encoder is driven to rotate when the positioner rotates, and the controller acquires the actual rotating speed of the positioner according to an incremental pulse signal generated when the encoder rotates; and the controller displays the actual rotating speed of the positioner through the display equipment.

In one embodiment, the positioner comprises an output motor and a circular component connected with the output motor, the output motor drives the circular component to rotate, the encoder comprises a rotating wheel, and the circular component and the rotating wheel form a linkage structure.

In one embodiment, the positioner comprises: at least one carousel formula machine of shifting, the circular part includes the carousel, the carousel is used for placing the work piece of waiting to weld.

In one embodiment, the positioner comprises: at least one roller frame type position changing machine; the circular part comprises a roller for placing a workpiece to be welded.

In one embodiment, the welding robot workstation comprises a first positioner, a second positioner and a third positioner; the first positioner and the second positioner are respectively a rotating disc type positioner, and the first positioner and the second positioner are different in size; the third positioner is a roller frame type positioner.

In one embodiment, the wire feeding device further comprises a wire feeding adjusting device, wherein the wire feeding adjusting device is electrically connected with the controller;

the wire feeder comprises a wire reel and a wire feeding wheel mechanism, wherein a transmission motor of the wire feeding wheel mechanism is a stepping motor, the stepping motor is connected with the controller, the controller is connected with the wire feeding wheel mechanism, the wire feeding wheel mechanism is used for acquiring input wire feeding speed through a wire feeding adjusting device, determining pulse frequency according to the input wire feeding speed and sending a control signal to the stepping motor, and the wire feeding wheel mechanism responds to the control signal to drive the wire reel to rotate by the pulse frequency.

In another embodiment, the display device has a wire feed speed display area where the input wire feed speed and the current wire feed speed are displayed.

In one embodiment, the wire reel further comprises a connector through which the stepper motor is connected to the wire reel.

In one embodiment, the wire feeder further comprises a heat dissipation fan, the heat dissipation fan comprises a base, the base of the heat dissipation fan is bonded to the stepper motor, and the stepper motor and the heat dissipation fan are fastened by a fastener.

In one embodiment, the wire feed adjustment device comprises: speed-up button, speed-down button, wire feeding button and wire withdrawing button.

According to the welding robot workstation, the encoder is arranged on the positioner, the positioner is driven to rotate when rotating, the controller obtains the actual rotating speed of the positioner according to the incremental pulse signals generated when the encoder rotates, and the actual rotating speed of the positioner is displayed through the display device. Therefore, the working personnel can visually acquire the actual rotating speed of the positioner through the display equipment, and the rotating speed which is suitable for accurately adjusting the workpieces to be welded with different sizes is convenient, so that the welding quality is improved, the repair rework is reduced, and the processing efficiency is improved.

Drawings

FIG. 1 is a schematic diagram of a welding robot workstation of an embodiment;

FIG. 2 is a schematic view of an embodiment of an encoder and positioner installation;

FIG. 3 is a schematic diagram of an encoder base according to an embodiment;

FIG. 4 is a schematic structural diagram of a rotary table type positioner according to an embodiment;

FIG. 5 is a schematic structural diagram of a turntable positioner according to another embodiment;

FIG. 6 is a schematic view of a display interface of a display device of an embodiment;

FIG. 7 is a schematic structural diagram of a roller frame type positioner according to an embodiment;

FIG. 8 is a schematic view of an embodiment of an encoder mounted on a roller frame positioner;

FIG. 9 is a schematic structural diagram of another embodiment of a welding robot workstation;

FIG. 10 is a schematic view showing the assembly of the connecting member and the shaft converting member of the stepping motor in one embodiment;

fig. 11 is a schematic structural view of a rotating shaft converting member of the stepping motor in one embodiment.

Detailed Description

A welding robot workstation is shown in figure 1 and comprises a welding robot 100, a positioner 101, a wire feeder 102, a controller 103 and a display device 104, wherein the display device 104 is electrically connected with the controller 103, when welding is started, the wire feeder 102 feeds welding wires for the positioner 101, the positioner 101 rotates, and the welding robot 100 performs welding operation on a workpiece to be welded on the positioner 101.

Among them, the welding robot 100 includes welding guns, a driver, a transmission mechanism connected to the starter, at least one robot arm connected to the transmission mechanism, etc., and the welding guns are disposed at the ends of the robot arm, and the number of the welding guns is usually one or two. The controller 103 controls the welding robot to perform welding by controlling the movement of the robot arm to control the welding gun to perform welding in a desired position, posture and movement trajectory.

The positioner 101 is arranged at a position corresponding to the welding gun and used for placing a workpiece to be welded and driving the workpiece to be welded to perform rotary motion or inclined motion and the like, and the position of the workpiece to be welded is changed to enable the welding gun to weld different positions of the workpiece to be welded so as to complete an automatic welding task. In this embodiment, the positioner 101 may be a rotary-disk positioner or a roller-rack positioner, and may turn over the workpiece to be welded to an ideal welding position for welding, or drive the workpiece to be welded to rotate at a welding speed. When the welding robot starts to work, the controller 103 controls the positioner to rotate, controls the positioner 101 to start to rotate and controls at least one welding gun to work, and when the welding robot stops welding, the controller 103 controls the positioner 101 to stop rotating and controls at least one welding gun to stop working.

The controller 103 controls the wire feeder 102 to feed wire, and the wire feeder 102 responds to the control of the controller 103 to continuously and stably feed the welding wire to the positioner according to the set parameters.

In practical application, the mode of adjusting the overturning and rotating speed of the positioner is adjusted by adjusting the current of the driving motor, the controller displays the current instead of the speed, and workers can only judge whether the overturning speed is suitable by checking the work.

In this embodiment, be provided with encoder 105 on machine 101 of shifting, machine 101 of shifting with encoder 105 forms linkage, encoder 101 with controller 103 electricity is connected, works as when the machine of shifting rotates, drives the encoder rotates, controller 103 is according to the increment pulse signal that the encoder produced when rotating acquires the actual rotational speed of machine of shifting.

An encoder is a device that compiles, converts, and formats signals (e.g., bitstreams) or data into a form of signals that can be communicated, transmitted, and stored. The encoder converts angular or linear displacement into an electrical signal.

Specifically, the controller can adopt a logic programming controller (PLC), a high-speed counter is arranged in the logic programming controller (PLC), the high-speed counter corresponds to an encoder of a position changing machine, the high-speed counter is enabled to respectively pick the pulse number before 1 second and the pulse number after 1 second from the corresponding encoder in an oscillating circuit with the period of 2 seconds, and the pulse numbers are converted by the following conversion formula:

linear velocity scale factor (pulse number after 1 second-pulse number before 1 second)/pulse number of 1 revolution of the circular turntable of the positioner.

The proportional factors of the linear speed of the circular parts (turntables or rollers) of the positioner are respectively converted, namely the percentage of the number of pulses rotated per second to the number of pulses of the circular parts rotating one circle.

The linear velocity per second can be calculated from the linear velocity scale factor. And then the real rotating speed of the welding bead of the cylindrical workpiece on the positioner can be converted according to the linear velocity per second. The controller 103 displays the actual rotation speed of the positioner 101 through the display device 104.

In another embodiment, as shown in fig. 2, the positioner comprises an output motor (not shown) and a circular member 210 connected to the output motor, wherein the output motor drives the circular member 210 to rotate. The encoder includes a rotary wheel 510, and the circular part 210 of the positioner and the rotary wheel 510 of the encoder form a linkage structure. When the circular part 210 of the positioner rotates, the rotating wheel 510 of the encoder rotates together with the circular part 510 under the driving of the circular part 210. In the present embodiment, when the circular member 210 rotates forward (i.e., rotates counterclockwise), the rotary wheel 510 rotates clockwise, and when the circular member 210 rotates backward (i.e., rotates clockwise), the rotary wheel 510 rotates counterclockwise.

Further, the positioner further comprises a first base 220, and the circular component 210 is mounted on the first base 220 and rotates relative to the first base 220. The encoder includes a second base 520, and the second base 520 is fixedly installed on the first base 220. The second base 520 is further provided with a pressing structure, and the pressing structure is used for adjusting the pressure of a contact surface between the rotating wheel 510 of the encoder and the turntable 210 of the positioner 200, so that the rotating wheel 510 and the turntable 210 are pressed to form a linkage structure.

Specifically, as shown in fig. 3, the second base 520 includes a bottom 521, a top plate 522, and two support plates 522 connecting the bottom 521 and the bottom plate 522. The bottom plate 521 may be provided with screw holes, the first base 220 may be provided with screw holes corresponding to the screw holes of the bottom plate 521, and the second base 520 may be fixedly mounted on the first base 220 by bolts, of course, the second base 520 may also be fixed to the first base 220 by other methods, such as welding, clamping, etc., which is not limited in this embodiment.

In another embodiment, the positioner includes: at least one carousel formula machine of shifting, the circular part includes the carousel, the carousel is used for placing the work piece of waiting to weld.

Wherein, a type machine of shifting is the carousel formula machine of shifting as shown in fig. 4, and this machine of shifting is small-size machine of shifting, and circular component 210 is the carousel, and carousel 210 forms the interlock structure with the turning wheel 510 of encoder, and carousel 210 is used for placing the work piece 107 of waiting to weld. When the rotating wheel 510 of the positioner rotates, the rotating wheel 510 of the encoder can rotate simultaneously with the turntable under the driving of the turntable. The installation mode of the encoder and the positioner is the same as that of fig. 2, and the details are not repeated here.

The positioner of one type is a rotating disc type positioner shown in fig. 4, the positioner is a large positioner, the positioner shown in fig. 5 is larger than the positioner shown in fig. 4, and the rotating disc is larger in size, so that workpieces to be welded with larger sizes can be placed. The circular component 210 is a turntable, the turntable 210 and the rotating wheel 510 of the encoder form an interlocking structure, and the turntable 210 is used for placing the workpiece 107 to be welded. When the rotating wheel 510 of the positioner rotates, the rotating wheel 510 of the encoder can rotate simultaneously with the turntable under the driving of the turntable. The installation mode of the encoder and the positioner is the same as that of fig. 2, and the details are not repeated here.

In the two displacement machines, the cylindrical workpiece and the chuck turntable clamped on the two displacement machines rotate coaxially, so that the linear velocity scale factor on the circumference of the cylindrical workpiece is the same as that of the circular turntable. Therefore, by the following conversion equation:

linear velocity per second is circumference rate and diameter of circular bead of cylindrical workpiece.

The real rotating speed of the welding bead of the cylindrical workpiece on the large-turntable positioner and the small-turntable positioner can be converted by using the upper mode, and the diameter of the circular welding bead of the cylindrical workpiece needs to be set every time the cylindrical workpiece is used because the size difference of the clamped cylindrical workpiece is large. Specifically, the display device may be a touch screen display device, as shown in fig. 6, on which a product bead diameter setting is provided, and a cylindrical workpiece circular bead diameter may be set. Meanwhile, the actual rotating speeds of the different types of position changing machines are displayed.

In one embodiment, the positioner includes: at least one roller frame type position changing machine; the circular part comprises a roller for placing a workpiece to be welded.

Wherein, a roller frame type positioner is shown in fig. 7, and the installation local schematic diagram of the positioner is shown in fig. 8. The positioner is a roller frame type positioner, the round part of the positioner is a roller 210, the roller 210 and a rotating wheel 510 of the encoder form a linkage structure, and a workpiece to be welded is placed on the roller frame. When the roller 210 of the positioner rotates, the rotating wheel 510 of the encoder can rotate simultaneously with the roller under the driving of the roller. The installation mode of the encoder and the positioner is the same as that of fig. 2, and the details are not repeated here.

Because the cylindrical workpiece loaded on the roller frame type positioner is in surface contact with the roller thereof, the linear speed of the roller contact surface rotation is the same as the linear speed on the circumference of the cylindrical workpiece, and the conversion formula is as follows:

linear velocity per second is the circumference rate, the diameter of the roller, the linear velocity scale factor.

The real rotating speed of the welding bead of the cylindrical workpiece on the roller frame can be converted according to the formula. Since the linear velocity per second is only related to the roller diameter, the diameter of the weld bead filling the cylindrical workpiece is not required, as shown in fig. 6.

In one embodiment, the welding robotic workstation comprises a first positioner, a second positioner, and a third positioner; the first positioner and the second positioner are respectively a rotating disc type positioner, and the first positioner and the second positioner are different in size; the third positioner is a roller frame type positioner.

Correspondingly, 3 high-speed counters are arranged in a logic programming controller (PLC), each high-speed counter corresponds to an encoder of one positioner, the high-speed counters pick the pulse number before 1 second and the pulse number after 1 second from the corresponding encoders in an oscillating circuit with the period of 2 seconds respectively, and then the actual running speed of each positioner is calculated respectively.

This welding robot workstation through disposing the machine of shifting of three kinds of differences, can satisfy the welding demand of different products.

In another embodiment, the wire feeder is responsible for feeding the welding wire during the welding process. The traditional wire feeder accelerates and decelerates the rotation speed of a wire feeder motor by adjusting the input current value of a controller so as to obtain the wire feeding speed suitable for welding, and in addition, the wire feeder can be programmed to withdraw wires by wire feeding operation by changing the direction of the current. However, the operation gears on the wire feeder controller are fuzzy, and even if the wire feeder controller is adjusted to the same position, the obtained wire feeding speed also needs a worker to judge whether the turning speed of the positioner can be matched or not through experience.

In the embodiment, the transmission motor of the wire feeding wheel mechanism is changed from a direct current motor (model: EPOWER 24V 75W1700RPM direct current motor) into a stepping motor under the condition of not changing the installation structure of the wire feeder, and the power of the replaced motor can reach or exceed 75W (the power of the EPOWER direct current motor).

Specifically, as shown in fig. 9, the wire feeder includes a wire reel 1021 and a wire feeding wheel mechanism 1022, a transmission motor of the wire feeding wheel mechanism is a stepping motor, and the stepping motor is electrically connected to the controller 103.

The welding robot workstation further comprises a wire feed adjustment device 106 electrically connected to the controller 103 for adjusting the wire feed speed. Wherein, send a adjusting device to include speed increasing button, speed reducing button, send a button and move back a silk button. The speed increasing, speed reducing, wire feeding and wire withdrawing of the wire feeder are controlled by the buttons.

Specifically, the controller 103 obtains an input wire feeding speed through the wire feeding adjusting device 106, determines a pulse frequency according to the input wire feeding speed, and sends a control signal to the stepping motor, and the wire feeding mechanism responds to the control signal to drive the wire reel to rotate at the pulse frequency.

The display device 104 has a wire feed speed display area where the input wire feed speed and the actual wire feed speed are displayed. As shown in FIG. 6, the wire feed speed display area provides wire feed speed settings, displaying the current wire feed speed and an alternate speed, which is the input speed.

As shown in fig. 6, the logic programming controller (PLC) reads the wire feeding speed inputted by the worker on the touch screen, and then calculates and determines the input pulse frequency of the logic programming controller per second through the following conversion formula, and performs control through the pulse frequency, thereby obtaining the desired wire feeding speed. The formula is as follows:

the logic programming controller inputs the pulse frequency per second, namely the input wire feeding speed and the pulse number of 1 turn of the stepping motor/the wire feeding length of 1 turn of the stepping motor.

Specifically, in the aspect of motor model selection, a rashcel technology 86HS45 stepping motor is selected, as shown in fig. 10, a suitable mounting connector 1001 and a rotating shaft converter 1002 are designed, and the structure of the rotating shaft converter 1002 is shown in fig. 11. The stepping motor of the type is 10mm shorter than the rotating shaft of the original motor of the wire feeder, so that a rotating shaft conversion piece 1001 of the stepping motor is arranged, the conversion piece is arranged on the rotating shaft of the stepping motor, and then a gear on the original motor is arranged. The assembly structure of the connecting piece and the rotating shaft conversion piece is shown in fig. 10, the shape and size of the connecting piece 1001 are matched with those of the stepping motor, the connecting piece 1001 is provided with a mounting hole which is matched with the mounting size of the original motor of the wire feeder, the connecting piece and the rotating shaft conversion piece are identical in length and the mounting hole is identical in position and size in terms of mounting size. And the connecting piece is fixed on the wire reel, so that the replacement of the motor of the wire feeder is realized.

After the wire feeder is controlled by the stepping motor, the power of the wire feeder is 100.8W, which is superior to 75W of the original motor.

Furthermore, the temperature reaches more than 70 ℃ after the stepping motor simulates continuous wire feeding for two hours. And the motor mounting location on the wire feeder is plastic. In order to avoid that the strength of the plastic is weakened and the wire feeder is damaged due to long-term large thermal contact, a radiating fan of a computer CPU is also arranged for the lightning plug stepping motor. Specifically, send a quick-witted still includes radiator fan, radiator fan has included the base, will radiator fan's base bonding is in on the step motor, and with the fastener will step motor with radiator fan fastens, radiator fan is used for the step motor heat dissipation, avoids the high temperature.

Wherein, the fastener can be the stainless steel ribbon, and the fan base directly bonds to step motor on with the silicone grease to tighten it on step motor with the stainless steel ribbon. The heat dissipating fan may be CPU heat dissipating fan, i.e. air cooled efficient heat sink, comprising pedestal, heat conducting copper pipe, heat dissipating fin area and fan.

In the embodiment, the working motor of the wire feeder is changed into the stepping motor, so that the wire feeding speed of the wire feeder can be accurately controlled.

In the embodiment, the encoder is used for acquiring the real overturning linear speed of the workpiece on the positioner, and the stepping motor is used for replacing the direct current motor on the wire feeder, so that the wire feeder can feed wires at the real wire feeding speed, and the stability of the wire feeding speed is improved. That is to say, utilize encoder and step motor, can acquire the actual rotational speed of machine of shifting and send the wire feed speed of silk machine to show through display device, the workman can audio-visually know the machine of shifting upset speed through display device, and send the wire feed speed of silk machine. Therefore, the intelligent manufacturing of production equipment is realized, the one-time success rate of the product during welding is improved, more stable welding quality is provided, repair welding rework is reduced, and the manufacturing time is reduced.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A welding robot workstation, comprising: the welding robot, the positioner, the wire feeder, the controller and the display device; the display device is electrically connected with the controller; when welding is started, the wire feeder conveys welding wires for the positioner, the positioner rotates, and the welding robot performs welding operation on a workpiece to be welded on the positioner;

2. The welding robot workstation of claim 1, wherein the positioner comprises an output motor and a circular component connected with the output motor, the output motor drives the circular component to rotate, the encoder comprises a rotating wheel, and the circular component and the rotating wheel form a linkage structure.

3. The welding robotic workstation of claim 2, wherein the positioner comprises: at least one carousel formula machine of shifting, the circular part includes the carousel, the carousel is used for placing the work piece of waiting to weld.

4. The welding robotic workstation of claim 2, wherein the positioner comprises: at least one roller frame type position changing machine; the circular part comprises a roller for placing a workpiece to be welded.

5. The welding robotic workstation of any of claims 1 to 4, wherein the welding robotic workstation comprises a first positioner, a second positioner, and a third positioner; the first positioner and the second positioner are respectively a rotating disc type positioner, and the first positioner and the second positioner are different in size; the third positioner is a roller frame type positioner.

6. The welding robotic workstation of claim 1, further comprising a wire feed adjustment device electrically connected to the controller;

7. The welding robotic workstation of claim 6, wherein the display device has a wire feed speed display area in which an input wire feed speed and a current wire feed speed are displayed.

8. The welding robot workstation of claim 6, further comprising a connector by which the stepper motor is connected to the wire reel.

9. The welding robot workstation of claim 6, wherein the wire feeder further comprises a heat sink fan comprising a base, the base of the heat sink fan being bonded to the stepper motor, the stepper motor and the heat sink fan being fastened with a fastener.

10. The welding robotic workstation of claim 6, wherein the wire feed adjustment device comprises: speed-up button, speed-down button, wire feeding button and wire withdrawing button.