CN216607568U - Weld joint tracking system - Google Patents
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- CN216607568U CN216607568U CN202123268584.5U CN202123268584U CN216607568U CN 216607568 U CN216607568 U CN 216607568U CN 202123268584 U CN202123268584 U CN 202123268584U CN 216607568 U CN216607568 U CN 216607568U
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Abstract
The utility model belongs to the technical field of the automatic weld technique and specifically relates to a welding seam tracking system is related to, including welder, welding robot and laser range finding sensor, welder with welding robot connects, welding robot is used for driving the welder swing is advanced, so that welder welds the work piece, laser range finding sensor install in welder, laser range finding sensor is located welder's the place ahead of advancing direction, under quiescent condition, the end of the laser of laser range finding sensor transmission with the end of the welding wire that welder sent out all is located the welding seam of waiting to weld. When the welding robot is used, the welding robot drives the welding gun to swing and move forward along a welding seam to be welded to weld a workpiece, the laser ranging sensor can swing and move forward synchronously with the welding gun, the laser ranging sensor measures the distance between the transmitting point and the workpiece, the degree of the position of the welding wire in contact with the workpiece deviating from the welding seam is reflected through the distance, and the result is accurate.
Description
Technical Field
The disclosure relates to the technical field of automatic welding, in particular to a welding seam tracking system.
Background
With the development of science and technology, the welding field gradually gets rid of the situation of completely depending on manual work, and enterprises adopt more automatic welding technologies such as special welding machines, welding robots and the like in order to improve the welding efficiency and the welding quality. Automatic welding often needs to be programmed in advance, and in the automatic operation process, the path taken by a welding gun carried by automatic welding equipment is fixed and unchanged. If workpieces are large in batch and poor in consistency, deformation is caused due to heat in the welding process, so that deviation occurs between an actual welding seam and a taught welding track, and the phenomenon of welding deviation occurs. Therefore, weld tracking technology is an essential factor in the field of welders. Taking the arc sensing technology as an example, the position of a welding gun is continuously corrected in the welding process, so that the purpose of real-time tracking is achieved. The arc sensing depends on the position of the welding wire in the welding seam as the change of the arc length reflects, and the change condition of the arc length is influenced by factors such as the control of the welding machine, the state of a molten pool and the like, so that the arc length is not stable. Therefore, the existing welding seam tracking equipment cannot accurately obtain the deviation degree of the welding gun from the welding seam under the working condition of welding a large number of workpieces with poor consistency.
SUMMERY OF THE UTILITY MODEL
The purpose of the present disclosure is to provide a weld seam tracking system to alleviate the technical problem that the degree of deviation of a welding gun from a weld seam cannot be accurately obtained under the working condition that the existing weld seam tracking equipment in the prior art welds large-batch workpieces with poor consistency.
Based on the above-mentioned purpose, this disclosure provides a welding seam tracking system, including welder, welding robot and laser range finding sensor, welder with welding robot connects, welding robot is used for driving welder swing gos forward, so that welder welds the work piece, laser range finding sensor install in welder, laser range finding sensor is located welder's the place ahead of the direction of advance of welder, under quiescent condition, the end of the laser of laser range finding sensor transmission with the end of the welding wire that welder sent out all is located the welding seam of waiting to weld.
In one embodiment of the present disclosure, the laser ranging sensor is movably connected to the welding gun, so that an angle of the laser emitted by the laser ranging sensor is adjustable.
In one embodiment of the disclosure, the number of sampling times of the laser ranging sensor in the swing period of the welding gun is n, and n is T1/f, wherein, T1And f is the swing period and the sampling frequency of the laser ranging sensor.
In one embodiment of the present disclosure, the average value of the distances measured by the laser ranging sensor in the first half of the wobble period is
Wherein S isiThe distance measured by the laser ranging sensor for the ith time; in the second half period of the swing period, the average value of the distances measured by the laser ranging sensor is
Wherein S isjThe distance measured by the laser ranging sensor for the jth time.
In one embodiment of the present disclosure, the welding torch is configured to be positionally adjustable to enable the welding torch to approach the weld joint when an actual position of the welding torch deviates from the weld joint, wherein,
when the actual position of the welding gun deviates to the right relative to the welding line in a reference plane,
and when the welding gun is in the working state, the actual position of the welding gun deviates to the left relative to the welding line in the reference plane, wherein the reference plane is a plane perpendicular to the advancing direction.
In one embodiment of the present disclosure, the average value of the distances measured by the laser ranging sensor in the first half of the reference sampling period is
In the second half period of the reference sampling period, the average value of the distances measured by the laser ranging sensor is
The welding gun is configured to be positionally adjustable to enable the welding gun to approach the weld seam when the welding gun deviates in a length direction of the welding wire relative to the weld seam, wherein,
and is
When in use, the welding gun deviates downwards relative to the welding line in the length direction of the welding wire,
and is
In the meantime, the welding gun is biased upward with respect to the welding line in the length direction of the welding wire.
In an embodiment of the present disclosure, the welding seam tracking system further includes an industrial personal computer, the laser ranging sensor and the welding robot are respectively connected with the industrial personal computer, the industrial personal computer is configured to receive the data measured by the laser ranging sensor and transmit the offset data to the welding robot, so that the welding robot drives the welding gun to approach the welding seam.
In one embodiment of the present disclosure, the offset data in the reference plane is P1，
The data of the deviation in the length direction of the welding wire is P2，
Wherein α and β are adjustment coefficients.
In one embodiment of the disclosure, the distance between the laser emitted by the laser ranging sensor and the welding wire sent by the welding gun is 3-8 mm.
In one embodiment of the present disclosure, the weld to be welded is a fillet weld.
Compared with the prior art, this disclosed beneficial effect mainly lies in:
the utility model provides a welding seam tracking system, including welder, welding robot and laser range finding sensor, welder with welding robot connects, welding robot is used for driving welder swing gos forward, so that welder welds the work piece, laser range finding sensor install in welder, laser range finding sensor is located welder's the place ahead of the direction of advance, under quiescent condition, the end of the laser of laser range finding sensor transmission with the end of the welding wire that welder sent out all is located the welding seam of waiting to weld.
Based on this structure, the welding seam tracking system that this disclosure provided, when using, welding robot drives welder along the welding seam swing of waiting to weld and gos forward, weld the work piece, because laser range sensor is located welder's the direction of advance the place ahead, and under static state, the end of the laser that laser range sensor launched and the end of the welding wire that welder sent are all located the welding seam of waiting to weld, laser range sensor can swing with welder synchronous and go forward, laser range sensor surveys the distance between launch point and the work piece, reflect the degree that the position that welding wire and work piece contacted deviates the welding seam through the distance, the result is comparatively accurate, wherein, the shorter the distance, the more the actual position of welder deviates for the welding seam, the longer the distance, the less the actual position of welder deviates for the welding seam.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a weld tracking system provided by an embodiment of the present disclosure;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
fig. 3 is a schematic view (in a view along the forward direction) of a positional relationship between a welding gun and a workpiece in the seam tracking system according to the embodiment of the disclosure;
FIG. 4 is a schematic diagram illustrating a positional relationship between a welding gun and a workpiece in a weld tracking system according to an embodiment of the present disclosure;
fig. 5 is a distance-time relationship curve of a weld tracking system provided by an embodiment of the present disclosure during a welding process.
Icon: 100-welding seams; 101-a welding gun; 102-a welding robot; 103-laser ranging sensor; 104-a workpiece; 105-a welding wire; 106-a first scaffold; 107-a second support; 108-articulated shaft; 109-a conditioning aperture; 110-a fastener; 111-industrial personal computer; 112-workbench.
Detailed Description
The technical solutions of the present disclosure will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
In the description of the present disclosure, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, their indicated orientations or positional relationships are based on those shown in the drawings only for the convenience of describing the present disclosure and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present disclosure, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art.
Referring to fig. 1 to 5, the present embodiment provides a seam tracking system, which includes a welding gun 101, a welding robot 102, and a laser distance measuring sensor 103, where the welding gun 101 is connected to the welding robot 102, the welding robot 102 is configured to drive the welding gun 101 to swing forward, so that the welding gun 101 welds a workpiece 104, the laser distance measuring sensor 103 is installed on the welding gun 101, the laser distance measuring sensor 103 is located in front of the forward direction of the welding gun 101, and in a static state, the tail end of laser emitted by the laser distance measuring sensor 103 and the tail end of a welding wire 105 sent by the welding gun 101 are both located on a seam 100 to be welded.
Based on the structure, the seam tracking system provided by the embodiment, when in use, the welding robot 102 drives the welding gun 101 to swing and advance along the seam to be welded, when the workpiece 104 is welded, since the laser distance measuring sensor 103 is located in front of the advancing direction M of the welding torch 101, in a static state, the tail end of the laser emitted by the laser ranging sensor 103 and the tail end of a welding wire 105 sent by the welding gun 101 are both positioned on the welding seam 100 to be welded, the laser ranging sensor 103 can synchronously swing and advance with the welding gun 101, the laser ranging sensor 103 measures the distance between an emitting point and a workpiece 104, by reflecting the extent to which the position of the welding wire 105 in contact with the workpiece 104 deviates from the weld seam 100, the results are more accurate, here, the shorter the distance, the more the actual position of the welding torch 101 is deviated from the weld 100, and the longer the distance, the less the actual position of the welding torch 101 is deviated from the weld 100.
In one embodiment, referring to FIG. 1, the weld tracking system further includes a table 112, and in use, the workpiece 104 is fixedly positioned on the table 112.
The laser range sensor 103 is prior art.
In one embodiment, the weld 100 to be welded is a fillet weld. The workpiece 104 may be two plate-like structures arranged at a predetermined angle, and the welding robot 102 drives the welding gun 101 to swing along the welding seam to be welded, so as to weld the two plate-like structures together.
If the distance between the laser emitted by the laser distance measuring sensor 103 and the welding wire 105 sent by the welding gun 101 is too large, the actual position of the welding wire 105 cannot be accurately reflected, and if the distance between the laser emitted by the laser distance measuring sensor 103 and the welding wire 105 sent by the welding gun 101 is too small, the laser can irradiate on a welding pool and cannot irradiate on a weld seam, so that the condition of the weld seam cannot be reflected, and the tracking is inaccurate.
Therefore, the distance between the laser beam emitted from the laser range sensor 103 and the welding wire 105 fed from the welding torch 101 in this embodiment is 3 to 8 mm. Therefore, the actual position of the welding wire 105 can be accurately reflected, and the welding seam can be accurately tracked.
It should be noted that the distance between the laser emitted by the laser distance measuring sensor 103 and the welding wire 105 fed by the welding gun 101 may be, but is not limited to, 3mm, 4mm, 5mm, 6mm, 7mm, or 8 mm.
In one embodiment, laser range sensor 103 is movably coupled to torch 101 such that the angle of the laser light emitted by laser range sensor 103 is adjustable.
Referring to fig. 2, the laser distance measuring sensor 103 is connected to the welding gun 101 through a rotating frame, the rotating frame includes a first support 106 and a second support 107, one end of the first support 106 is fixedly connected to the welding gun 101, the second support 107 is hinged to the first support 106 through a hinge shaft 108, and the laser distance measuring sensor 103 is fixedly mounted on the second support 107. The adjusting hole 109 is an arc-shaped hole, and the center of the arc-shaped hole is a hinge point between the second support 107 and the first support 106. When the position of the laser ranging sensor 103 needs to be adjusted, the second bracket 107 and the laser ranging sensor 103 are rotated together around the hinge shaft 108, and after the second bracket is rotated to the position, the second bracket is fixed by the fastener 110. The fastener 110 may be a bolt and nut.
It should be noted that the hinge shaft 108 may be a damping rotation shaft, and the second bracket 107 is connected to the first bracket 106 through the damping rotation shaft, in this case, the adjusting hole 109 may not be provided.
It should be noted that only the adjusting hole 109 may be provided, and the second bracket 107 may be adjusted to a proper position along the adjusting hole 109 and fastened by bolts and nuts.
In one embodiment, the laser range sensor 103 samples n, T, within the oscillation period of the torch 1011/f, wherein, T1For the wobble period, f is the sampling frequency of the laser range sensor 103.
In this embodiment, the welding short-circuit period is T2Referring to fig. 5, the time period between two dotted lines is a sampling period T, and the length of T is smaller than T2Length of (d). The sampling frequency f of the laser range sensor 103 may be 100 Hz.
Note that T is1And T2Can be selected according to the actual production situation and is not described in detail herein.
In one embodiment, during the wobble period T1The average value of the distances measured by the laser ranging sensor 103 in the first half period of (1) is
Wherein S isiFor the laser ranging sensor 103 thi measured distances; in the period of oscillation T1In the latter half period, the average value of the distances measured by the laser range sensor 103 is
Wherein S isjThe distance measured by the laser ranging sensor 103 at the jth time.
In a wobble period T1If the set welding track is consistent with the actual welding seam, the swing period T is within the swing period1The position of the welding torch 101 is on the left side of the weld bead 100 in the first half cycle of (1), and in the swing cycle T1The position of torch 101 is to the right of weld bead 100 during the second half of the cycle. Then, in an ideal state,
should be equal to
In this embodiment, the welding gun 101 is configured to be adjustable in position, so that the welding gun 101 can approach the welding seam when the actual position of the welding gun 101 deviates from the welding seam, thereby ensuring the welding quality; wherein the content of the first and second substances,
in the meantime, the actual position of the welding torch 101 is deviated to the right with respect to the weld in the reference plane,
at this time, the actual position of the welding torch 101 is deviated to the left with respect to the weld bead in the reference plane, which is a plane perpendicular to the advancing direction. Referring to fig. 3, the paper is the reference plane.
Specifically, the distance measured by the laser range sensor 103 is the largest when the actual position of the torch 101 is aligned with the weld 100, and the distance is the largest when the actual position of the torch 101 is relative to the weldThe more the 100 deviates, the smaller the distance measured by the laser range sensor 103, when
When the actual position of the welding gun 101 deviates to the right relative to the welding seam 100 in the reference plane, the position of the welding gun 101 needs to be adjusted to the left along the arrow direction V + so that the welding gun 101 approaches to the welding seam 100; when in use
In the above description, the actual position of the welding torch 101 is deviated to the left with respect to the weld 100 in the reference plane, and at this time, the position of the welding torch 101 needs to be adjusted to the right-left direction in the arrow direction V so that the welding torch 101 approaches the weld 100.
In one embodiment, referring to fig. 5, the time period between the dotted line on the left side and the vertical axis is the reference sampling period T0At a reference sampling period T0The average value of the distances measured by the laser ranging sensor 103 in the first half period of (1) is
At a reference sampling period T0In the latter half period, the average value of the distances measured by the laser range sensor 103 is
Torch 101 is configured to be positionally adjustable to enable torch 101 to approach a weld when torch 101 is misaligned relative to the weld in a length direction of wire 105, wherein when torch 101 is misaligned relative to the weld, welding torch 101 is moved closer to the weld
And is
When the welding gun 101 deviates downward relative to the weld joint in the length direction of the welding wire 105, the position of the welding gun 101 needs to be adjusted upward along the arrow direction H + so that the welding gun 101 approaches the weld joint; when in use
And is
At this time, the position of welding torch 101 needs to be adjusted downward in the arrow direction H-so that welding torch 101 approaches the weld bead, because welding torch 101 is displaced upward relative to the weld bead in the longitudinal direction of welding wire 105.
In one embodiment, the welding seam tracking system further includes an industrial personal computer 111, the laser ranging sensor 103 and the welding robot 102 are respectively connected to the industrial personal computer 111, and the industrial personal computer 111 is configured to receive data measured by the laser ranging sensor 103 and transmit the offset data to the welding robot 102, so that the welding robot 102 drives the welding gun 101 to approach the welding seam.
Specifically, the industrial personal computer 111 receives data measured by the laser ranging sensor 103, calculates an offset to be adjusted in each period according to the data measured by the laser ranging sensor 103, transmits the offset to the welding robot 102 as offset data, and the welding robot 102 drives the welding gun 101 to offset according to the received offset data to track a weld.
In the embodiment, the industrial personal computer 111 is PPC-3150-RE4 BE.
In one embodiment, the offset data in the reference plane is P1，
The data of the shift in the longitudinal direction of the wire 105 is P2，
Wherein α and β are adjustment coefficients.
Specifically, the industrial personal computer 111 sends P1And P2Transmitted to welding robot 102, welding robot 102 is operated according to P1The position of the welding gun 101 is adjusted in the reference plane according to P2The position of the welding torch 101 in the longitudinal direction of the welding wire 105 is adjusted to more accurately track the weld.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications or substitutions do not depart from the scope of the embodiments of the present disclosure by the essence of the corresponding technical solutions.
Claims (10)
1. The utility model provides a welding seam tracking system, its characterized in that, includes welder, welding robot and laser range finding sensor, welder with welding robot connects, welding robot is used for driving welder swing advances, so that welder welds the work piece, laser range finding sensor install in welder, laser range finding sensor is located welder's the place ahead of the direction of advance, under quiescent condition, the end of the laser of laser range finding sensor transmission with the end of the welding wire that welder sent out all is located the welding seam of waiting to weld.
2. The weld tracking system of claim 1, wherein the laser ranging sensor is movably coupled to the welding gun such that an angle of the laser emitted by the laser ranging sensor is adjustable.
3. The weld tracking system of claim 1, wherein the laser ranging sensor is sampled for n, n-T, samples during the oscillation cycle of the welding torch1/f, wherein, T1And f is the swing period and the sampling frequency of the laser ranging sensor.
4. The weld tracking system of claim 3, wherein the average of the distances measured by the laser ranging sensor over the first half of the weaving cycle is
Wherein S isiThe distance measured by the laser ranging sensor for the ith time; in the second half period of the swing period, the average value of the distances measured by the laser ranging sensor is
Wherein S isjThe distance measured by the laser ranging sensor for the jth time.
5. The weld tracking system of claim 4, wherein the weld gun is configured to be positionally adjustable to enable the weld gun to approach the weld bead when an actual position of the weld gun deviates relative to the weld bead, wherein,
when the actual position of the welding gun deviates to the right relative to the welding line in a reference plane,
and when the welding gun is in the working state, the actual position of the welding gun deviates to the left relative to the welding line in the reference plane, wherein the reference plane is a plane perpendicular to the advancing direction.
6. The weld tracking system of claim 5, wherein the average of the distances measured by the laser ranging sensors over the first half of the baseline sampling period is
In the second half period of the reference sampling period, the average value of the distances measured by the laser ranging sensor is
The welding gun is configured to be positionally adjustable to enable the welding gun to approach the weld seam when the welding gun deviates in a length direction of the welding wire relative to the weld seam, wherein,
and is
When in use, the welding gun deviates downwards relative to the welding line in the length direction of the welding wire,
and is
In this case, the welding torch is biased upward with respect to the weld line in the longitudinal direction of the welding wire.
7. The weld tracking system according to claim 6, further comprising an industrial personal computer, wherein the laser ranging sensor and the welding robot are respectively connected with the industrial personal computer, and the industrial personal computer is configured to receive data measured by the laser ranging sensor and transmit offset data to the welding robot so that the welding robot drives the welding gun to approach the weld.
8. The weld tracking system of claim 7, wherein the offset data in the reference plane is P1，
Number of shifts in length of welding wireIs as P2，
Wherein α and β are adjustment coefficients.
9. The weld tracking system according to any one of claims 1 to 8, wherein the distance between the laser emitted by the laser ranging sensor and the welding wire fed out by the welding gun is 3 to 8 mm.
10. The weld tracking system according to any one of claims 1 to 8, wherein the weld to be welded is a fillet weld.
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| CN202123268584.5U CN216607568U (en) | 2021-12-23 | 2021-12-23 | Weld joint tracking system |
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| CN202123268584.5U CN216607568U (en) | 2021-12-23 | 2021-12-23 | Weld joint tracking system |
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