SU1199516A1 - Apparatus for automatic guiding of welding head along joint - Google Patents

Abstract

DEVICE FOR AUTOMATIC DIRECTION OF WELDING HEAD ON JOINT, containing program control unit, position feedback unit, drive of longitudinal movement slide, drive of transverse movement carriage and drive of rotation of welding head unit around axis, perpendicular to directions of movement, and welding head unit contains a joint sensor and a welding head, placed in a plane, perpendicular to the axis of rotation, on opposite sides of it, characterized in that, in order to improve accuracy after the curvature of the junction, the output of the program control unit is connected to the inputs of the position feedback unit, the welding head assembly is equipped with two actuators moving the welding head in a plane perpendicular to the rotation axis of this node, the position feedback unit contains two calculation units, the switch , two comparators, three operational memories, two incremental numeric code generators, an OR scheme and ten key elements, d--. -. the first output of the first computing unit and the output of the interface sensor are connected with the input of the first key element and through two identical circuits containing the second and third key elements, respectively, the first and second random access memory, the fourth and fifth key elements with inputs the OR circuit, the output of which is associated with the input of the fifth key element and the first input of the first comparator, the output of which is connected with the control input of the sixth key element, the output of the first key Lemept through the third (L operative memory device is connected with the first input of the second comparator, the output of which is connected with the switch input, the second output of the first computing unit is connected with the second inputs of the comparators, the output of the first increasing generator: about cf of the numeric code through the seventh and eighth the key elements and the output of the second generator of the incremental numerical code are connected via the ninth and tenth key elements respectively to the address inputs of the first and second operational memories of the first and second devices The second output of the switch is connected to the control inputs of the third, fourth, eighth, and ninth key elements, the second output of the switch is connected to the guides of input No. 1 of the second, fifth, seventh and tenth key elements, the input of the first computing unit and the first the input of the second computing unit is connected with the output of the software unit

Description

In this case, the second input of the second computing unit is connected with the input of the computing connected with the output of the sixth movement drives of the welding key element, the output of the second button.

1199516

The invention relates to mechanical engineering, in particular to automatic welding machines, and can be used in welding with the help of a computerized numerical control system. The purpose of the invention is to improve the accuracy of tracking the joint when welding seams of increased curvature. The essence of the invention is to correct the position of the welding torch, controlled from the system of numerical program control, the signal of the joint sensor, taking into account the difference in spatial positions of the welding torch and the specified sensor. Figure 1 shows a kinematic diagram of a device for automatically guiding a welding head along a joint; figure 2 - block diagram of the device; in fig. 3 - interpretation of signal designations given in the block diagram. The device contains a software control unit I, a displacement caliper 2 along axis Y, a carriage 3 moving along axis X, a rotary mechanism 4 rotations about axis C, a drive 5 moving along axes X, U, C, a junction sensor 6, welding head 7, additional support 8 with guides of welding head movement along the Y correction axis, guides 9 movements of additional support along the X correction axis, correction actuator 10, moving the welding head along the Y axis and additional support along the X axis, calculating block 11, Kodo-pulse etc The generator 12, the computing unit 13, the operative memory devices G4-16, the switch 17, the key elements 18-27 of digital signals, the OR circuit 28, the comparators 29 and 30, the generator 31 and 32 of the increasing digital code, and the analog-to-digital converter 33. On fig. 3 - the deviation of the actual line of the junction from., Programmed, measured by the sensor, X, Y, Y - program coordinates; index: d-sensor, g - head, i - current value, n - reproduced from memory, ha - moment of switching recording and playback; - the distance from the software position of the axis axis of the sensor C, 2 the distance from the software position of the axis of the welding head to the axis C. .. The welding head 7 moves along the guides of the additional support 8, which moves along the guides 9, rigidly connected to the shaft of the rotary mechanism. The carriage 3 is mounted on a support 2, the rotary mechanism 4 is suspended from the carriage 3, the housing of the interface sensor 6 is rigidly connected to the shaft of the rotary mechanism. The calculating unit 11 is connected by one of its inputs to the program control unit 1, and another input is connected via key element 27, the control input of which is connected to the output of the first comparator 30, to the output of the OR circuit 28, the other output of which is connected to the input of the first comparator 30 the second input of the first comparator 30 is connected to the first output of the current calculation unit 13 of the current coordinates, to which one of the inputs of the second comparator 29 is connected, the second input of the second comparator 29 through successively connected operative memory e device 1-4 and the key element 18 a digital signal is connected to the second output of the block 13 for calculating current coordinate. The outputs of the second and third operational backup devices 15 and 16 are connected via key elements 25 and 26 of digital signals to the OR circuit 28, and their main inputs through key elements 19 and 20, digital signals to the second output of block 13

3

calculating the current coordinates and through the analog-to-digital converter 33 to the joint sensor 6, the control inputs of the second and third operative memory devices 15 and .16 are connected via key elements 21-24 of the digital signals to the generators 31 and 32 of the increasing digital code, the output of the second the comparator 29 is connected to the input of the switch 17, the outputs of which are connected to the control inputs of the key elements of the digital signals, and the output of the correction signal calculating unit 11 is connected via a pulse-pulse converter 12 to the core 10 projected onto the drive movements of the axes X. ,, I ... I.

The unit 13 for calculating current coordinates calculates the current software.

X Xs -1 cos (,

Xf Xc + IiCosV;

U T cc -E sinYj; - yf CSS Yj, where Xc CSS software linear

the coordinates of the C-axis, the angle of rotation of the shaft.

The block 11 for calculating correctional deviations calculates the correctional deviations of the welding head according to the X axis ((and Y, - using the formulas

yHk (f, - 4T);

dUc (H-, H), where h5 is the deviation value measured by the sensor normal to the line of the program location of the sensor and the head; - current program angle

shaft rotation;

 - memorized angle of rotation of the shaft.

As the sensor of the joint, you can use a mechanical probe or photo head.

The device works as follows.

at the initial moment of time, the initial coordinates of the sensor are digitally entered into the random access memory 14. After that, the head is moved with the sensor according to a predetermined program. AT

99516

During the engine process, the current sensor coordinates, the deviation and the angle of rotation determined in the coordinate calculation unit 13 are recorded in the random access memory 15. The control of the recording mode is carried out by applying through the switching element 21 a signal from the generator .. 32 increasing code on

About the address inputs of the random access memory J5. The current coordinates of the sensor, the deviation and the angle of rotation are fed to the information inputs of the operational memory.

15 of the device 15 through the switching element 19. Simultaneously with the movement of the head, a quasi-continuous (with a sampling interval of input analog signals) is compared to the current values of the head coordinates with the sensor coordinates at the initial moment in the comparator 29.

With the mutual equality of the codes of the tees, the coordinates of the head, and the values recorded in the random access memory 14, a control signal appears at the output of the comparator 29, which acts on. control switch 17

30 whom fytypyk) of the elements 18-26. The switch 17 gives a command to stop recording the sensor 1 x coordinate values of the sensor, deflection and rotation angle into the operational memory 35, device 15. This completes the first cycle of operation of the device.

In the next cycle of operation of the device, the current values of the sensor coordinates, the deviation and the p40 angle are recorded through the switching element 20 into the random access memory 16. The recording is controlled in the same way as the first cycle of operation.

5 feeds to the address inputs of the random access memory 16 of the signal from the generator 32 of the increasing digital code — through the switching element 22. At the same time, each current coordinate value of the X and VG heads is compared in the comparator 30 with the sensor coordinate value recorded in the random access memory 15. Readable coordinates the sensor is fed to the input of the comparator 30 through the switching element. 25 and the circuit OR 28, and the address of the information reading is controlled using the generator 31 of increasing chi of the frame code via the switching element 23. When the codes of the current values of the XJ and Y head coordinates are equal to the value recorded in one of the memory cells 15 X- and Y., the comparator 30 opens the switching element 27 and the values of the deviation corresponding to these coordinates the rotation angle is fed to the block 1-1 for calculating the correction deviations, and then through the code-impulse converter 12 to the correction drive 10, In the random access memory 14 at the beginning of the second cycle through the switching lement 18 is recorded coordinates X sensor and Y, respectively stvuyuschie its position at the beginning of the second cycle. The end of the second cycle, similarly to the first, occurs when the software moves the head to the position of the sensor at the initial moment.

In the next cycle of operation of the device, the recording of the current coordinates of the sensor, the deflection and the angle of rotation is again made to the random access memory 15, and the current

the coordinates of the head are compared with the coordinates of the sensor positions recorded in the operational memory. 16. In subsequent cycles

5, the correction is made similarly.

When the device is operating, the time for complete reading of information from the operational storage devices 15 and 16 should not exceed the interval

to quantize the input signals equal to the duration of the cycle for calculating the current coordinates of the head and the sensor in block 13 for calculating the current coordinates.

Thus, the clock interval of the generator 32 of the increasing code is equal to the duration of the quantization interval of the input signals, and the clock interval of the generator 31 is equal to the time required to read information at the same address of the operational memory.

The use of the device provides a correction of the program trajectory with a radius of curvature R 7 / of / 2, where d is the distance between the electrode and the sensor. The accuracy of the correction does not depend on the curvature of the trajectory and is determined mainly by the accuracy of the joint sensor.

Claims (1)

DEVICE FOR AUTOMATIC DIRECTION OF A WELDING HEAD ON A JOINT, comprising a program control unit, a position feedback block, a support slide for longitudinal movement, a lateral movement carriage drive and a rotation drive of the welding head assembly about an axis perpendicular to the directions of movement, the welding head assembly comprising a joint sensor and a welding head placed in a plane perpendicular to the axis of rotation, on different sides of it, characterized in that, in order to improve the tracking accuracy of the joint of increased curvature, the output of the program control unit is connected to the inputs of the position feedback block, the welding head assembly is equipped with two drives for moving the welding head in a plane perpendicular to the axis of rotation of this assembly, the position feedback block contains two calculation blocks, a commutator, two comparators, three operational storage devices, two generators of increasing numerical code, an OR circuit, and ten key elements, with the first output of the first block of calculations and the output of the communication interface sensor with the input of the first key element and through two identical circuits containing the second and third key elements sequentially connected respectively, the first and second random access memory, the fourth and fifth key elements - with the inputs of the OR circuit, the output of which is connected to the input of the fifth key element and the first the input of the first comparator, the output of which is connected to the control input of the sixth key element, the output of the first key element through the third random access memory is connected to the first input in the second comparator, whose output is connected to the input of the switch, the second output of the first block of numbers is connected to the second inputs of the comparators, the output of the first generator of the increasing numerical code through the seventh and eighth key elements and the output of the second generator of the increasing numerical code through the ninth and tenth key elements are associated with address the inputs of the first and second random access memory devices, the first output of the switch is connected to the control inputs of the third, fourth, eighth and ninth key x elements, the second output of the switch is connected to the guiding inputs of the second, fifth, seventh and tenth key elements, the input of the first block of calculations and the first input of the second block of calculations are connected with the output of the software unitgu. ·. ” 1199516 1199516’s equalization, the second input of the second block of calculations is connected with the output of the sixth key element, the output of the second block of calculations is connected with the input of the drives for moving the welding head.