CN105127551B - A kind of robot welding system and its welding method based on packaged type slab - Google Patents
A kind of robot welding system and its welding method based on packaged type slab Download PDFInfo
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- CN105127551B CN105127551B CN201510631858.2A CN201510631858A CN105127551B CN 105127551 B CN105127551 B CN 105127551B CN 201510631858 A CN201510631858 A CN 201510631858A CN 105127551 B CN105127551 B CN 105127551B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
Abstract
The invention discloses a kind of robot welding system and its welding method, including industrial robot, welding machine, welding gun, touch screen, industrial personal computer, laser sensor, clear rifle device, wire-feed motor, wire feeding disc etc. based on packaged type slab.It forms a set of welding expert library system using loading model and welding procedure data card as foundation, by obtaining welded blank and assembly situation information, plans the distribution of weld seam layer road, and calculate the welding condition in every layer of road.And each layer road starting point final position data are calculated according to weld seam layer road distribution situation using laser sensing technical limit spacing weld seam starting point final position data.To realize the automatic slab bevel multilayer multiple tracks automatic welding for adapting to workpiece differences.
Description
Technical field
The present invention relates to the welding robot field of intelligent control technology of slab, particularly relate to a kind of based on removable
The robot welding system and its welding method of formula slab.
Background technology
With the fast development in the heavy duty industrials such as ship, road traffic, ocean engineering field, need of the China to thick plates
Ask also increasing.In thick plates, multilayer multiple tracks is one of common welding method.It is automatic in country's thick plates at present
Change degree is relatively low, and most of welding job is all human weld's completion, causes phenomena such as quality stability is insufficient, production capacity is insufficient.
Welding robot has become welding automatization technology due to having the advantages that versatile, reliable operation, using robot welding
The outstanding feature of modernization.
Currently, the welding robot system widely applied both at home and abroad is according to practical work due to path of welding and welding parameter
Industry condition is pre-set, and this kind of arc welding robot is stringent to the stability requirement for welding operating condition, lacks when welding " soft
Property ", show apparent disadvantage.During practical arc-welding, welding condition often changes, if workpiece size is larger, work
The error etc. of part cause diversified in specifications, processing and fit on.Therefore, there is an urgent need for a kind of new technologies of design to improve by the present inventor
Its problem.
Invention content
The present invention is intended to provide a kind of robot welding system and its welding method based on packaged type slab, it can be real
The automatic welding of the slab bevel multilayer multiple tracks of workpiece differences is now adapted to automatically.
In order to solve the above technical problems, the technical scheme is that：
A kind of robot welding system based on packaged type slab includes the industrial machine of pedestal and setting on the base
Device people, welding machine and industrial personal computer, wherein the industrial robot includes robot control cabinet, mobile arm and is arranged in the shifting
It starts the wire-feed motor on arm and welding gun, welding wire is sent into the welding gun, is equipped on the welding gun for obtaining by the wire-feed motor
The laser sensor of weld seam detection information；The welding machine is equipped with for by industrial robot tool coordinates system and laser sensor
Coordinate system does the laser sensor controller of associated configuration and the wire feeding disc for welding wire to be sent into the wire-feed motor, the welding machine
It is connect with the robot control cabinet with the laser sensor controller；The industrial personal computer connects with the robot control cabinet
It connects, is built-in with welding procedure data card.
Preferably, further include clear rifle device, the clear rifle device setting is on the base and adjacent with the industrial robot,
Its height matches with the height where welding gun.
Preferably, the industrial personal computer upper end is equipped with one for for user's input workpiece features information and in the welding process
Show the touch screen of welded condition and status information of equipment.
Preferably, the pedestal is mobile base, several hanging rings for moving position are equipped on the pedestal.
Preferably, the welding machine and the laser sensor controller are connected with the robot control cabinet by bus
It connects, the touch screen is connect with the industrial personal computer by bus.
A kind of automatic soldering method based on packaged type slab, includes the following steps：
S1：Workpiece features information and weld seam detection information are obtained, and is sent it in industrial personal computer；
S2：Welding is calculated and determined out by handling workpiece features information and weld seam detection information in industrial personal computer
The welding condition in the layer road roads distribution Ji Meiceng；
S3：Industrial personal computer sends the distributed intelligence of welding layer road, welding condition to industrial robot, and industrial robot is certainly
It is dynamic to generate welding track program；
S4：Industrial robot driving welding gun starts to weld workpiece.
Preferably, the step S2 is specifically included：
S21：Welding expert library system in industrial personal computer is right by the workpiece features information and weld seam detection information of acquisition
The distribution of weld seam layer road is planned, and calculates the cross-sectional area per road layer by layer；
S22：Cross of the corresponding interpolation to each layer of road under different characteristic variable described in welding procedure data card
Sectional area is modified；
S23：Welding condition is calculated according to the cross-sectional area per road layer by layer, the welding condition includes welding speed
Degree, electric current, voltage, torch swinging data；
S24：The welding condition of calculating is added in the specific format in welding procedure data card.
Preferably, the step S1 is specifically included：
S11：Workpiece features information is manually entered into industrial personal computer by touch screen, the workpiece features information includes thickness
Degree, length, bevel angle, groove root gap；
S12：The weld seam detection information of welded piece is searched by laser sensor and is sent it in industrial personal computer, it is described
Weld seam detection information includes starting point final position and the dimension information of weld groove of welded piece weld seam.
Preferably, the step S3 is specifically included：
S31：Industrial personal computer sends the starting point end point location information of the distributed intelligence of welding layer road, weld seam to industrial machine
People, industrial robot automatically generate welding track program by the translation of starting point terminal；
S32：Industrial personal computer sends the welding condition in every layer of road to industrial robot.
Preferably, welding procedure data card variable characterized by workpiece features information and weld seam detection information leads to
It crosses welding procedure test or collects the process data accumulated in industry, obtain different characteristic variable Xia Ceng road distributions, electric current, electricity
Pressure, torch swinging data.
Using above-mentioned technical proposal, the present invention includes at least following advantageous effect：
Robot welding system and its welding method of the present invention based on packaged type slab, with loading model and
Welding procedure data card is foundation, forms a set of welding expert library system, right by obtaining welded blank and assembly situation information
The distribution of weld seam layer road is planned, and calculates the welding condition in every layer of road.And it is risen using laser sensing technical limit spacing weld seam
Initial point final position data calculate each layer road starting point final position data according to weld seam layer road distribution situation.To realize
The automatic slab bevel multilayer multiple tracks automatic welding for adapting to workpiece differences.
Description of the drawings
Fig. 1 is the structural schematic diagram of the robot welding system of the present invention based on packaged type slab；
Fig. 2 is the automatic soldering method flow chart of the present invention based on packaged type slab；
Fig. 3 is welding layer road distribution schematic diagram；
Fig. 4 is the local correction schematic diagram of Fig. 3.
Wherein：1. industrial robot, 2. welding machines, 3. industrial personal computers, 4. wire-feed motors, 5. welding guns, 6. laser sensors, 7. laser
Sensor controller, 8. wire feeding discs, 9. clear rifle devices, 10. touch screens, 11. pedestals.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
As shown in Figure 1, to meet a kind of robot welding system based on packaged type slab of the present embodiment, including pedestal
11 and the industrial robot 1, welding machine 2 and the industrial personal computer 3 that are arranged on the pedestal 11, wherein the industrial robot 1 includes
Robot control cabinet, mobile arm and the wire-feed motor 4 and welding gun 5 being arranged on the mobile arm, the wire-feed motor 4 is by welding wire
It is sent into the welding gun 5 (welding wire is preferably sent into the welding gun 5 by the wire-feed motor 4 by wire feed hose), is installed on the welding gun 5
It is useful for obtaining the laser sensor 6 of weld seam detection information；The welding machine 2 is equipped with for by 1 tool coordinates of industrial robot
The laser sensor controller 7 of associated configuration with 6 coordinate system of laser sensor makees in system, and (it can improve welding to a certain extent
Accuracy) and wire feeding disc 8 for welding wire to be sent into the wire-feed motor 4, the welding machine 2 and the laser sensor controller
7 connect with the robot control cabinet；The industrial personal computer 3 is connect with the robot control cabinet, is built-in with welding procedure
Data card.Laser sensor 6 is mounted on welding gun 5, and laser sensor controller 7 is connect with robot control cabinet by bus,
And associated configuration is done to robot tool coordinate system and 6 coordinate system of laser sensor.Laser sensor 6 is for weld seam inspection before welding
It surveys, obtains prime coat starting point, final position data and weld groove dimension information etc., and be passed along industrial robot
1, industrial robot 1 is transmitted to industrial personal computer 3 by bus.Welding procedure data card built in the industrial personal computer 3 and welding expert library
System plans the distribution of weld seam layer road according to the workpiece features information and groove size information received, and calculates each
The welding parameter and each layer road starting point, final position data in layer road, and it is passed along industrial robot 1.Then industrial machine
Device people 1 carries out weld job, and there are the welding of large error etc. for cause, processing and fit on larger to workpiece size, diversified in specifications
Workpiece has good adaptability.
Preferably, further include clear rifle device 9, the setting of the clear rifle device 9 on the base and with 1 phase of the industrial robot
Neighbour, height match with the height where welding gun 5.The clear rifle device 9 is used for the periodic cleaning of 5 nozzle of welding gun, makes protection gas
Smooth outflow ensures welding quality.
Preferably, 3 upper end of the industrial personal computer is equipped with one for inputting workpiece features information for user and in welding process
The touch screen 10 of middle display welded condition and status information of equipment.
Preferably, the pedestal 11 is mobile base 11, several hanging rings for moving position are equipped on the pedestal 11.
Preferably, the welding machine 2 and the laser sensor controller 7 are connected with the robot control cabinet by bus
It connects, the touch screen 10 is connect with the industrial personal computer 3 by bus.
The robot welding system based on packaged type slab described in the present embodiment has the detection of workpiece starting point, weld seam
The functions such as groove size obtains automatically, welding parameter calculates automatically, it is larger to workpiece size, specification is different, processing and assembly
The larger workpiece welding of error has good adaptability.
Embodiment 2
On the basis of embodiment 1, as shown in Fig. 2, for meet the present embodiment it is a kind of based on packaged type slab from
Dynamic welding method, includes the following steps：
S1：Workpiece features information and weld seam detection information are obtained, and is sent it in industrial personal computer；
S2：Welding is calculated and determined out by handling workpiece features information and weld seam detection information in industrial personal computer
The welding condition in the layer road roads distribution Ji Meiceng；
S3：Industrial personal computer sends the distributed intelligence of welding layer road, welding condition to industrial robot, and industrial robot is certainly
It is dynamic to generate welding track program；
S4：Industrial robot driving welding gun starts to weld workpiece.
Preferably, the step S2 is specifically included：
S21：Welding expert library system in industrial personal computer is right by the workpiece features information and weld seam detection information of acquisition
The distribution of weld seam layer road is planned, and calculates the cross-sectional area per road layer by layer；
S22：Cross of the corresponding interpolation to each layer of road under different characteristic variable described in welding procedure data card
Sectional area is modified；
S23：Welding condition is calculated according to the cross-sectional area per road layer by layer, the welding condition includes welding speed
Degree, electric current, voltage, torch swinging data；
S24：The welding condition of calculating is added in the specific format in welding procedure data card.
Preferably, the step S1 is specifically included：
S11：Workpiece features information is manually entered into industrial personal computer by touch screen, the workpiece features information includes thickness
Degree, length, bevel angle, groove root gap；
S12：The weld seam detection information of welded piece is searched by laser sensor and is sent it in industrial personal computer, it is described
Weld seam detection information includes starting point final position and the dimension information of weld groove of welded piece weld seam.
Preferably, the step S3 is specifically included：
S31：Industrial personal computer sends the starting point end point location information of the distributed intelligence of welding layer road, weld seam to industrial machine
People, industrial robot automatically generate welding track program by the translation of starting point terminal；
S32：Industrial personal computer sends the welding condition in every layer of road to industrial robot.
Preferably, welding procedure data card variable characterized by workpiece features information and weld seam detection information leads to
It crosses welding procedure test or collects the process data accumulated in industry, obtain different characteristic variable Xia Ceng road distributions, electric current, electricity
Pressure, torch swinging data.Specifically welding procedure data card is with plate thickness, bevel angle, groove root gap, position while welding etc.
Main feature variable by welding procedure test or is collected the process data accumulated in industry, is obtained under different characteristic variable
Layer road distribution, electric current, voltage, torch swinging data, make welding procedure data card, save it in Microsoft Excel, weld
Process data card supports data modification, deletion and addition function.
Welding expert library welding procedure data calculate：According to the welded blank of acquisition and assembly situation information, pass through welding
The interpolation calculation of each characteristic variable in process data card obtains layer road distribution, electric current, voltage, torch swinging data, further root
It is calculated according to loading model, the speed of welding in each layer road.The welding parameter of calculating is stored in the specific format, is shown, and is supported
Data modification, and can be added in welding procedure data card.
Preferably, further include before the step S1：
Step S0：Industrial robot tool coordinates system and laser sensor coordinate system are done by laser sensor controller
Associated configuration.It is further ensured that the accuracy of welding.
In general, the welding condition described in the present embodiment is using the mathematical model based on loading calculate
Go out, and corrected repeatedly according to welding effect, obtains the general mathematical model of certain accommodation.Below with an example
Illustrate its computational methods.
Referring to Fig. 3, wherein a：Groove root gap；h：Plate thickness；h0：Reinforcement；2θ：Bevel angle；
S1, s2, s3 are respectively first, second and third layer of cross-sectional area；S31, s32 are respectively fill part and the reinforcement portion of s3
Point；
Model calculates the area of s1, s2, s3 first, specific as follows：
S1=h1 (h1*tan θ+a)
S2=(h1+h2) ((h1+h2) * tan θ+a)-s1
S3=s31+s32
In formula：
S31=(h1+h2+h3) ((h1+h2+h3) * tan θ+a)-s1-s2
Due to being single face welding and double face shaping, actually first of seam cross-section product is bigger than calculated above, therefore
It needs to be modified first of seam cross-section product, correction factor k is verified by soldering test, and k=1.3 is revised
First of seam cross-section product:
S1=k × h1 (h1*tan θ+a)
When calculating s32, it will be assumed that the weld seam upper surface that cosmetic welding is formed is a circular arc, such as Fig. 4：
In formula：
When calculating welding parameter, wire feed rate p specified first calculates the speed of welding v in each layer road according to wire feed rate, counts
It is as follows to calculate formula：
In formula：P is wire feed rate (m/min)；S is that seam cross-section accumulates (mm^2)；D is gage of wire (mm).
Those skilled in the art are it is to be understood that above-mentioned computational methods are intended in order to absolutely prove the present embodiment, not
For the limitation to the present embodiment, any obvious form variation and adjustment are within the protection domain of the present embodiment.
In slab bevel multi-layer multi-pass welding, due to the sky of plate thickness, bevel angle and groove root gap, welded blank
Between place that the othernesses such as situation are very big, and the welding parameter used is also just different, this just brings prodigious challenge to automatic welding.
This example forms a set of welding expert library system using loading model and welding procedure data card as foundation, is welded by obtaining
Plank and assembly situation information, plan the distribution of weld seam layer road, and calculate the welding condition in every layer of road.And using sharp
Optical sensing obtains weld seam starting point final position data, and according to weld seam layer road distribution situation, it is whole to calculate each layer road starting point
Point position data.To realize the automatic slab bevel multilayer multiple tracks automatic welding for adapting to workpiece differences.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (4)
1. a kind of automatic soldering method based on packaged type slab, which is characterized in that include the following steps：
S1：Workpiece features information and weld seam detection information are obtained, and is sent it in industrial personal computer；
S2：Welding layer road is calculated and determined out by handling workpiece features information and weld seam detection information in industrial personal computer
It is distributed the welding condition in the roads Ji Meiceng, the welding condition is counted using the mathematical model based on loading
It obtains, and is corrected repeatedly according to welding effect, obtain the general mathematical model of certain accommodation；
S3：Industrial personal computer sends the distributed intelligence of welding layer road, welding condition to industrial robot, and industrial robot is given birth to automatically
At welding track program；
S4：Industrial robot driving welding gun starts to weld workpiece；
The step S2 is specifically included：
S21：Welding expert library system in industrial personal computer is by the workpiece features information and weld seam detection information of acquisition, to weld seam
The distribution of layer road is planned, and calculates the cross-sectional area per road layer by layer；
S22：Cross section of the corresponding interpolation to each layer of road under different characteristic variable described in welding procedure data card
Product is modified；
S23：Calculate welding condition according to the cross-sectional area per road layer by layer, the welding condition include speed of welding,
Electric current, voltage, torch swinging data；
S24：The welding condition of calculating is added in the specific format in welding procedure data card.
2. the automatic soldering method as described in claim 1 based on packaged type slab, which is characterized in that the step S1 tools
Body includes：
S11：Workpiece features information is manually entered into industrial personal computer by touch screen, the workpiece features information include thickness,
Length, bevel angle, groove root gap；
S12：The weld seam detection information of welded piece is searched by laser sensor and is sent it in industrial personal computer, the weld seam
Detection information includes starting point final position and the dimension information of weld groove of welded piece weld seam.
3. the automatic soldering method as claimed in claim 1 or 2 based on packaged type slab, which is characterized in that the step
S3 is specifically included：
S31：Industrial personal computer sends the starting point end point location information of the distributed intelligence of welding layer road, weld seam to industrial robot, work
Industry robot automatically generates welding track program by the translation of starting point terminal；
S32：Industrial personal computer sends the welding condition in every layer of road to industrial robot.
4. the automatic soldering method as described in claim 1 based on packaged type slab, which is characterized in that the welding procedure
Data card variable characterized by workpiece features information and weld seam detection information by welding procedure test or collects industry inner product
Tired process data obtains different characteristic variable Xia Ceng road distributions, electric current, voltage, torch swinging data.
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