CN104785958A - Robot welding workstation for low-temperature tank external components - Google Patents
Robot welding workstation for low-temperature tank external components Download PDFInfo
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- CN104785958A CN104785958A CN201510131947.0A CN201510131947A CN104785958A CN 104785958 A CN104785958 A CN 104785958A CN 201510131947 A CN201510131947 A CN 201510131947A CN 104785958 A CN104785958 A CN 104785958A
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Abstract
The invention provides a robot welding workstation for low-temperature tank external components, and relates to a welding system for welding low-temperature tank external components. The robot welding workstation for low-temperature tank external components is high in automation degree, good in welding quality and high in welding efficiency. The robot welding workstation for low-temperature tank external components comprises a workbench, and a welding system and a control system are arranged on the workbench. The welding system comprises a portal frame, and a laterally-hung walking mechanism is mounted on a horizontal guide rail of the portal frame and comprises a robot mounting base, wherein a servo motor and a welding robot are mounted on the robot mounting base, and a welding gun and a three-dimensional laser scanner are mounted on a mechanical arm of the welding robot. Rolling wheel frames are arranged on the workbench, and each set of rolling wheel frame comprises a driven rolling wheel frame and a driving rolling wheel frame provided with a regulating motor. The control system comprises a robot control unit, a PLC control unit, a scanner control unit, a welding control unit and a communication bus.
Description
Technical field
The present invention relates to a kind of welding system, particularly relating to a kind of robot welding workstation for welding cryogenic tank outer member.
Background technology
In industrial processes, a lot of equipment needs welding, by manually having carried out these operations, and not only wasting manpower and material resources, and also efficiency and quality all cannot ensure.Therefore the welder of automation is widely used now, and such as, by the equipment that welding robot replaces human weld to operate, and these welding equipment functions are also more and more perfect.But still there is certain problem, such as when in the face of curved surface or concave plane, the effect of having welded and the time of cost all can not be satisfactory.Existing robot welder is difficult to competent complicated welding operating mode in automaticity, welding quality and operating efficiency, also needs people for carrying out a part of welding operation.
Summary of the invention
The technical problem to be solved in the present invention is to provide the cryogenic tank outer member robot welding workstation that a kind of automaticity is high, welding quality good, welding efficiency is high.
A kind of cryogenic tank outer member of the present invention robot welding workstation, comprise workbench, described workbench is provided with welding system and control system, described welding system comprises portal frame, the horizontal guide rail of described portal frame is movably installed with side and hangs walking mechanism, described side hangs walking mechanism and comprises robot mounting seat, described robot mounting seat is provided with the servomotor for moving with mobile robot mounting seat and welding robot, the mechanical arm of described welding robot is provided with welding gun and three-dimensional laser scanner, described welding gun is connected with wire-feed motor and the source of welding current, described three-dimensional laser scanner is used for scanning recognition weld seam, described workbench is also provided with some groups for placing the turning rolls of workpiece to be welded, often organize turning rolls and comprise the active roller frame that a return idler frame and are provided with adjustment motor, described control system comprises robot control unit, PLC control unit, scanner control unit, welding control unit and communication bus, described robot control unit is for controlling the action of welding robot, described PLC control unit is for controlling servomotor and adjustment motor, the initial data that described scanner control unit gathers for receiving three-dimensional laser scanner, calculate the position deviation of weld seam and setting data, and the final data calculating gained is passed to robot control unit, described final data is for revising welding robot motion path, described welding control unit is used for the welding parameter of the controlling and adjustment source of welding current, described communication bus is as control unit each in data wire connection control system.
A kind of cryogenic tank outer member of the present invention robot welding workstation, wherein said horizontal guide rail is provided with tooth bar, and described servo motor output shaft is provided with gear, and described wheel and rack matches.
A kind of cryogenic tank outer member of the present invention robot welding workstation, two ends, wherein said horizontal guide rail left and right are provided with limited block.
A kind of cryogenic tank outer member of the present invention robot welding workstation, two ends, wherein said robot mounting seat left and right are provided with buffer stopper, prevent robot mounting seat from damaging due to collision during motion.
A kind of cryogenic tank outer member of the present invention robot welding workstation, six-shaft industrial robot selected by wherein said welding robot.
A kind of cryogenic tank outer member of the present invention robot welding workstation, wherein said PLC control unit adopts PLC, and is connected with operation interface, for realizing man-machine interaction.
A kind of cryogenic tank outer member of the present invention robot welding workstation, wherein said welding gun adopts special purpose robot's automatic welding gun, and the angle of bend of described welding gun rifle neck can adjust according to the specific requirement of workpiece to be welded.
A kind of cryogenic tank outer member of the present invention robot welding workstation, the connecting portion of wherein said welding gun and welding robot is provided with obstacle avoidance sensor, and the data of described obstacle avoidance sensor are received by PLC control unit and process.
A kind of cryogenic tank outer member of the present invention robot welding workstation, wherein said welding gun is provided with video acquisition device, and the vision signal of described video acquisition device collection is sent to host computer by robot control unit.
A kind of cryogenic tank outer member of the present invention robot welding workstation, the wherein said source of welding current is provided with water cooling plant.
A kind of cryogenic tank outer member of the present invention robot welding workstation difference from prior art is that a kind of cryogenic tank outer member of the present invention robot welding workstation is before welding action is carried out, first three-dimensional laser scanner is adopted to scan weld seam to be welded, and the data of scanning are formed accurate three-dimensional mathematical model after robot communication unit and the process of welding remote controller, the weld seam of such guarantee welding robot when welding is very accurate, effectively can improve welding quality.Servomotor and control motor drive side to hang walking mechanism and the motion of active roller frame respectively, achieve the movement of welding robot horizontal direction and the rotation of workpiece, in real work, liberated labour, whole welding process need not manually participate in, and automaticity is high.Active roller frame turning of work piece as required, effectively reduces the range ability of welding robot, reduces the difficulty of welding, improve operating efficiency and quality simultaneously.
Below in conjunction with accompanying drawing, a kind of cryogenic tank outer member robot welding workstation of the present invention is described further.
Accompanying drawing explanation
Fig. 1 is the front view (containing workpiece to be welded) of a kind of cryogenic tank of the present invention outer member robot welding workstation;
Fig. 2 is the top view of a kind of cryogenic tank outer member of the present invention robot welding workstation;
Fig. 3 is the partial enlarged drawing at A place in Fig. 1;
Fig. 4 is the workflow diagram of control system in a kind of cryogenic tank outer member of the present invention robot welding workstation.
Detailed description of the invention
As shown in Figure 1 to 4, a kind of cryogenic tank outer member of the present invention robot welding workstation comprises workbench 10, workbench 10 is provided with welding system 21 and control system 24.Welding system 21 comprises portal frame 9, and the horizontal guide rail 7 of portal frame 9 is provided with tooth bar, and horizontal guide rail about 7 two ends are provided with limited block 8.Horizontal guide rail 7 is movably installed with side and hangs walking mechanism, side hangs walking mechanism and comprises robot mounting seat 5.As shown in Figure 3, robot mounting seat 5 is provided with servomotor 3, servomotor 3 output shaft is provided with gear, and gear matches with the tooth bar on horizontal guide rail 7, thus the side-to-side movement on horizontal guide rail 7 of band mobile robot mounting seat 5.As shown in Figure 1, Figure 2 and Figure 3, robot mounting seat 5 is also provided with buffer stopper 13 and welding robot 14.Wherein buffer stopper 13 is positioned at robot mounting seat about 5 two ends, prevents robot mounting seat 5 from damaging due to collision during motion; Six-shaft industrial robot selected by welding robot 14, and when carrying out weld job, use flexibly, working range is larger.The mechanical arm of welding robot 14 is provided with welding gun 6 and three-dimensional laser scanner 15.Three-dimensional laser scanner 15 is for scanning recognition weld seam.Welding gun 6 adopts special purpose robot's automatic welding gun, and the angle of bend of welding gun 6 rifle neck can adjust according to the specific requirement of workpiece to be welded.Welding gun 6 is also connected with wire-feed motor and is provided with the source of welding current 20 of water cooling plant.Welding gun 6 implements welding job for treating welding work pieces 2, and workpiece 2 to be welded is placed on turning rolls.As depicted in figs. 1 and 2, turning rolls is arranged on workbench 10, and turning rolls can arrange many groups, often organizes turning rolls and comprises the active roller frame 12 that a return idler frame 11 and are provided with adjustment motor 1.Welding gun 6 is also provided with video acquisition device 22, is convenient to staff and realizes on-line monitoring.Three-dimensional laser scanner 15 is treated welding work pieces 2 surface before welding and is scanned, and the data of scanning collection are sent to the scanner control unit 21 in control system 24.As shown in Figure 4, control system 24 comprises robot control unit 16, PLC control unit 19, scanner control unit 21, welding control unit 22 and communication bus.The vision signal receiving video acquisition device 22 for controlling the welding action of welding robot 14, and is transmitted host computer 17 by robot control unit 16, is convenient to staff and monitors in real time; PLC control unit 19 selects PLC, for controlling servomotor 3 and the action of adjustment motor 1, receive simultaneously and process the data of obstacle avoidance sensor 23 gained, obstacle avoidance sensor 23 is positioned at the connecting portion of welding gun 6 and welding robot 14, can effectively prevent welding gun 6 from small space during operation, hitting rifle accident, PLC control unit 19 is also connected with operation interface 18, for realizing man-machine interaction; Scanner control unit 21 receives the initial data that three-dimensional laser scanner 15 gathers, form the spatial mathematic of workpiece 2 to be welded, by making comparisons with setting data, the position deviation calculating weld seam and setting data obtains final data, the final data obtained is sent to robot control unit 16 by scanner control unit 21, for revising the motion path of welding robot 14; Welding control unit 22, for the welding parameter of the controlling and adjustment source of welding current 20, ensures that welding gun 6 can weld out high-quality weld seam; Communication bus is as control unit each in data wire connection control system 24.
The operation principle of a kind of cryogenic tank of the present invention outer member robot welding workstation is as follows: be placed on turning rolls by workpiece.First the specification treating welding work pieces 2 by operation interface 18 is selected.Then the surface on three-dimensional laser scanner 15 pairs of workpiece is used to scan, the data obtained is sent to robot control unit 16 after scanner control unit 21 processes, and robot control unit 16 controls welding robot 14 and treats welding work pieces 2 and weld action accordingly.In welding process, PLC control unit 19 controls servomotor 3 and adjustment motor 1 respectively, complete the motion that side hangs walking mechanism and active roller frame 12, realize the motion of welding robot 14 horizontal direction and the rotation of workpiece to be welded 2, coordinate welding robot 14 and welding gun 6 to carry out welding job.
Above-described embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determines.
Claims (10)
1. a cryogenic tank outer member robot welding workstation, comprise workbench, it is characterized in that: described workbench is provided with welding system and control system, described welding system comprises portal frame, the horizontal guide rail of described portal frame is movably installed with side and hangs walking mechanism, described side hangs walking mechanism and comprises robot mounting seat, described robot mounting seat is provided with the servomotor for moving with mobile robot mounting seat and welding robot, the mechanical arm of described welding robot is provided with welding gun and three-dimensional laser scanner, described welding gun is connected with wire-feed motor and the source of welding current, described three-dimensional laser scanner is used for scanning recognition weld seam, described workbench is also provided with some groups for placing the turning rolls of workpiece to be welded, often organize turning rolls and comprise the active roller frame that a return idler frame and are provided with adjustment motor, described control system comprises robot control unit, PLC control unit, scanner control unit, welding control unit and communication bus, described robot control unit is for controlling the action of welding robot, described PLC control unit is for controlling servomotor and adjustment motor, the initial data that described scanner control unit gathers for receiving three-dimensional laser scanner, calculate the position deviation of weld seam and setting data, and the final data calculating gained is passed to robot control unit, described final data is for revising welding robot motion path, described welding control unit is used for the welding parameter of the controlling and adjustment source of welding current, described communication bus is as control unit each in data wire connection control system.
2. a kind of cryogenic tank outer member robot welding workstation according to claim 1, it is characterized in that: described horizontal guide rail is provided with tooth bar, described servo motor output shaft is provided with gear, and described wheel and rack matches.
3. a kind of cryogenic tank outer member robot welding workstation according to claim 1, is characterized in that: two ends, described horizontal guide rail left and right are provided with limited block.
4. a kind of cryogenic tank outer member robot welding workstation according to claim 1, is characterized in that: two ends, described robot mounting seat left and right are provided with buffer stopper, prevents robot mounting seat from damaging due to collision during motion.
5. a kind of cryogenic tank outer member robot welding workstation according to claim 1, is characterized in that: six-shaft industrial robot selected by described welding robot.
6. a kind of cryogenic tank outer member robot welding workstation according to claim 1, is characterized in that: described PLC control unit adopts PLC, and is connected with operation interface, for realizing man-machine interaction.
7. a kind of cryogenic tank outer member robot welding workstation according to claim 1, is characterized in that: described welding gun adopts special purpose robot's automatic welding gun, and the angle of bend of described welding gun rifle neck can adjust according to the specific requirement of workpiece to be welded.
8. a kind of cryogenic tank outer member robot welding workstation according to claim 1, is characterized in that: the connecting portion of described welding gun and welding robot is provided with obstacle avoidance sensor, and the data of described obstacle avoidance sensor are received by PLC control unit and process.
9. a kind of cryogenic tank outer member robot welding workstation according to claim 1, it is characterized in that: described welding gun is provided with video acquisition device, the vision signal of described video acquisition device collection is sent to host computer by robot control unit.
10. a kind of cryogenic tank outer member robot welding workstation according to claim 1, is characterized in that: the described source of welding current is provided with water cooling plant.
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Cited By (10)
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| CN105328367A (en) * | 2015-11-19 | 2016-02-17 | 郑州图灵机器人股份有限公司 | Automatic welding device based on laser distance measurement |
| CN106112373A (en) * | 2016-07-19 | 2016-11-16 | 上海外高桥造船有限公司 | The welding system of flange straight tube |
| CN106944759A (en) * | 2017-03-30 | 2017-07-14 | 浙江亚德复合材料有限公司 | A kind of mechanical welder of semicanal |
| CN107008995A (en) * | 2017-03-30 | 2017-08-04 | 浙江亚德复合材料有限公司 | A kind of pipeline welding device |
| CN107052508A (en) * | 2016-12-30 | 2017-08-18 | 上海船舶工艺研究所 | Intelligent welding system and its welding procedure for Analysis of Ship Grillages constructed machine people |
| CN107167061A (en) * | 2017-03-30 | 2017-09-15 | 浙江亚德复合材料有限公司 | A kind of pipe detection device |
| CN107457507A (en) * | 2017-07-31 | 2017-12-12 | 浩科机器人（苏州）有限公司 | A kind of intelligent welding equipment |
| CN108340404A (en) * | 2017-01-23 | 2018-07-31 | 本特勒尔机械制造有限公司 | Workplace for manufacture machine people |
| CN113102863A (en) * | 2021-05-28 | 2021-07-13 | 广西建工集团第一安装工程有限公司 | High-efficiency roller gear tooth hard alloy surfacing system and surfacing method |
| US11504799B2 (en) | 2017-10-24 | 2022-11-22 | Kelvion Holding Gmbh | Heat-exchanger element and method for producing a heat-exchanger element |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107052508A (en) * | 2016-12-30 | 2017-08-18 | 上海船舶工艺研究所 | Intelligent welding system and its welding procedure for Analysis of Ship Grillages constructed machine people |
| CN108340404A (en) * | 2017-01-23 | 2018-07-31 | 本特勒尔机械制造有限公司 | Workplace for manufacture machine people |
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| CN107167061A (en) * | 2017-03-30 | 2017-09-15 | 浙江亚德复合材料有限公司 | A kind of pipe detection device |
| CN107457507A (en) * | 2017-07-31 | 2017-12-12 | 浩科机器人（苏州）有限公司 | A kind of intelligent welding equipment |
| US11504799B2 (en) | 2017-10-24 | 2022-11-22 | Kelvion Holding Gmbh | Heat-exchanger element and method for producing a heat-exchanger element |
| CN113102863A (en) * | 2021-05-28 | 2021-07-13 | 广西建工集团第一安装工程有限公司 | High-efficiency roller gear tooth hard alloy surfacing system and surfacing method |
| CN113102863B (en) * | 2021-05-28 | 2023-03-21 | 广西建工集团第一安装工程有限公司 | High-efficiency roller gear tooth hard alloy surfacing system and surfacing method |
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Effective date of registration: 20230705 Address after: No. 3, Yunhe Road, Subdistricts of China, New District, High tech Industrial Development Zone, Xuzhou City, Jiangsu Province 221100 Patentee after: Xuzhou Zhichang Robot System Co.,Ltd. Address before: 301700 building 15, Beijing Bin Industrial Park, Wuqing District, Tianjin Patentee before: TIANJIN INTERSMART ROBOT CO.,LTD. |