CN105195864A - Double-robot working station for double-weld-joint arc welding - Google Patents
Double-robot working station for double-weld-joint arc welding Download PDFInfo
- Publication number
- CN105195864A CN105195864A CN201510419180.1A CN201510419180A CN105195864A CN 105195864 A CN105195864 A CN 105195864A CN 201510419180 A CN201510419180 A CN 201510419180A CN 105195864 A CN105195864 A CN 105195864A
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- welding
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- control cabinet
- welding robot
- weld seam
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Classifications
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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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/121—Devices for the automatic supply of at least two electrodes one after the other
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- 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
- B23K9/32—Accessories
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
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- Laser Beam Processing (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a double-robot working station for double-weld-joint arc welding, and belongs to the field of intelligent welding robots. The double-robot working station is provided with a double-joint double-arc welding system, the system is provided with two robots and performs synchronous control, and therefore the problems that when irregular weld joints in a symmetrical weld joint box segment component are welded manually, the welding quality stability is poor, welding deformation is large, the welding connector quality is instable, and the part machining cycle is long are solved.
Description
Technical field
The present invention relates to Intelligent welding robot field, particularly a kind of dual robot work station for two weld seam arc welding.
Background technology
Weld symmetrical weld seam box section assembly at present, in actual production, use manual welding always, with the welding of skip welding discrete method, and welding can not weld two symmetrical weld seams simultaneously, and postwelding workpiece deformation is large, and complex procedures, welding efficiency is extremely low.The greatest problem that irregular weld seam in manual welding complex component exists is that stability of the welding quality is poor, and manual welding even weld is poor, causes security performance relatively unstable.Quality of weld joint depends critically upon duty when welding operation personnel level of skill and welding operation, and this type of part process-cycle is long, once there is the weldquality problem because human operational error causes, will have a strong impact on enterprise's manufacturing schedule.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of dual robot work station for two weld seam arc welding, a kind of double slit twin arc welding welding system is provided, this system configuration dual robot, and carry out Synchronization Control, the stability of the welding quality solving the irregular weld seam existence in manual welding symmetrical weld seam box section component is poor, the problems such as welding deformation is large, quality of weld joint is unstable, weldquality problem, and the part process-cycle is long.
For achieving the above object, the invention provides following technical scheme: a kind of dual robot work station for two weld seam arc welding, comprise a upset positioner, this upset positioner is the outside axle of welding robot, and upset positioner and welding robot can realize collaborative displacement; Welding tool setup adopts integral type to install with upset positioner, welding tool setup moves together with upset positioner, two laser trackers are arranged on the 6th armshaft of two welding robots respectively by fixed support, two welding robots and slide rail are located mobile, a upset positioner is set between two welding robots, two welding robot symmetries place upset positioner both sides, and arrange level with upset positioner; Two laser trackers are connected with two robot control cabinets by cable, arc welding power supply, the source of welding current are connected with robot control cabinet, robot control cabinet by cable with electrical control gear, and be placed on rack, robot control cabinet, robot control cabinet are connected with two welding robots by cable, and control two welding robots.
This course of work being used for the dual robot work station of two weld seam arc welding is as follows:
(1) PLC carries out systems axiol-ogy, and after all are normal, the order that transmission starts to weld is to welding robot, and welding robot starts arrival welding position, and the spot welding of symmetrical weld seam box section fixed, PLC is to the pneumatic positioning tool of welding tool setup; Welding robot sends the upset of signal control upset positioner and starts welding; Welding robot is simultaneously to symmetrical weld seam box section welding, laser tracker is according to the change of weld seam linearity or weld gap in welding process, Real-time Feedback signal is to robot control cabinet, robot control cabinet is according to weld seam actual state, real-time adjustment source of welding current parameter, source of welding current Butt welding gun angle or welding parameter control, and after having welded, welding robot and upset positioner automatically reset;
(2) serial communication is adopted between monitor screen and PLC, various parameters in robot welding system PLC are presented on monitor screen intuitively, operator operates whole system in work station outside, monitoring production process, ensure that the work station moment is in the efficient operation of optimization, ensure the safety of operator;
(3) robot control cabinet is the master controller controlling welding robot, utilize industrial bus and welding robot communication, in welding process, robot control cabinet is after source of welding current signal being detected, welding robot setting in motion, and by industrial bus communication to welding Energy control striking electric current, voltage, then the source of welding current enters the main welding stage;
(4) source of welding current controls welding gun and wire-feed motor, the source of welding current and the communication of welding robot by industrial bus, and welding current, voltage and wire feed rate all can adjust according to weld seam in time, the postwelding quality of guarantee welding work pieces;
(5) overturn the communication by industrial bus of positioner and robot control cabinet, while positioner be the 7th axle of robot, load is undertaken turning round and overturning by the program prelisted, makes the position of workpiece seam be in optimum state all the time, be namely in downhand position;
(6) weldment is accurately located and reliable grip by frock clamp, controlled by PLC by the clamping signal of hard wired communication, opening signal with PLC, after trade union college puts in place, PLC detects the signal that puts in place that frock clamp sends, and accurately locates clamping to workpiece;
(7) laser tracker passes through the variable quantity with position while welding in welding process before detection is in real time welded, and by guiding welding robot auto modification path to ensure that welding gun is walked along weld seam all the time exactly with the interface of welding robot, remain that welding position is in optimum state.
The beneficial effect of above technical scheme is adopted to be: this dual robot work station being used for two weld seam arc welding not only solves for be made up of irregular thin-wall construction and welding deformation amount needs the problem of the part accurately controlled, the remote-controlled operation etc. of welding workstation can also be realized by PLC terminal device, and add laser tracker and adjust angle of welding gun or welding parameter in real time, at utmost control welding quality and welding efficiency.
This double slit twin arc welding robot workstation, for the welding of complex structural member, not only can improve welding quality, shorten the welding processing cycle, and can avoid because manual operation is lost
make by mistakethe part rejection become, cost-saving, to alleviate workman labour intensity, improves operating environment.
Accompanying drawing explanation
Below in conjunction with
accompanying drawingthe specific embodiment of the present invention is described in further detail.
fig. 1that the present invention overlooks for the structure of the dual robot work station of two weld seam arc welding
figure;
fig. 2that the present invention overlooks for the structure of the dual robot work station of two weld seam arc welding
figure;
fig. 3the control principle of the present invention for the dual robot work station of two weld seam arc welding
figure.
Wherein, 1-arc welding power supply, 2-robot control cabinet, 3-robot control cabinet, 4-source of welding current, 5-slide rail, 6-welding robot, 7-welding robot, 8-laser tracker, 9-laser tracker, 10-upset positioner, 11-welding tool setup.
Detailed description of the invention
Below in conjunction with
accompanying drawingdescribe the preferred embodiment of a kind of dual robot work station for two weld seam arc welding of the present invention in detail.
In conjunction with
fig. 1,
fig. 2with
fig. 3show the detailed description of the invention of a kind of dual robot work station for two weld seam arc welding of the present invention: this is used for the dual robot work station of two weld seam arc welding, comprise a upset positioner 10, this upset positioner 10 is the outside axle of welding robot 6, and upset positioner 10 and welding robot 6 can realize collaborative displacement; Welding tool setup 11 adopts integral type to install with upset positioner 10, welding tool setup 11 moves together with upset positioner 10, laser tracker 8, laser tracker 9 are arranged on the 6th armshaft of welding robot 6, welding robot 7 respectively by fixed support, welding robot 6 and welding robot 7 and slide rail are located mobile, a upset positioner 10 is set between welding robot 6 and welding robot 7, welding robot 6 is placed with welding robot 7 symmetry and is overturn positioner 10 both sides, and arranges level with upset positioner 10; Laser tracker 8, laser tracker 9 are connected with robot control cabinet 2, robot control cabinet 3 by cable, arc welding power supply 1, the source of welding current 4 are connected with robot control cabinet 2, robot control cabinet 3 by cable with electrical control gear, and be placed on rack, robot control cabinet 2, robot control cabinet 3 are connected with welding robot 6, welding robot 7 by cable, and butt welding machine device people 6, welding robot 7 control.
This course of work being used for the dual robot work station of two weld seam arc welding is as follows:
(1) PLC carries out systems axiol-ogy, after all are normal, the order that transmission starts to weld is to welding robot 6 and welding robot 7, welding robot 6 and welding robot 7 start and arrive welding position, the spot welding of symmetrical weld seam box section fixed, PLC is to the pneumatic positioning tool of welding tool setup 11; Welding robot 6 and welding robot 7 send signal and control to overturn positioner 10 and overturn and start to weld; Welding robot 6 and welding robot 7 weld symmetrical weld seam box section simultaneously, laser tracker 8 is according to the change of weld seam linearity or weld gap in welding process, Real-time Feedback signal is to robot control cabinet 3, robot control cabinet 3 is according to weld seam actual state, the real-time adjustment source of welding current 4 parameter, the source of welding current 4 Butt welding gun angle or welding parameter control, and after having welded, welding robot 6, welding robot 7 and upset positioner 10 automatically reset;
(2) serial communication is adopted between monitor screen and PLC, various parameters in robot welding system PLC are presented on monitor screen intuitively, operator operates whole system in work station outside, monitoring production process, ensure that the work station moment is in the efficient operation of optimization, ensure the safety of operator;
(3) robot control cabinet 2 and robot control cabinet 3 are the master controller controlling welding robot 6 and welding robot 7, utilize industrial bus and welding robot 6 and welding robot 7 communication, in welding process, robot control cabinet 2 and robot control cabinet 3 are after source of welding current signal being detected, welding robot 6 and welding robot 7 setting in motion, and by industrial bus communication, striking electric current, voltage are controlled to the source of welding current 4, then the source of welding current 4 enters the main welding stage;
(4) source of welding current 4 controls welding gun and wire-feed motor, and the source of welding current 4 and welding robot 6 and welding robot 7 are by the communication of industrial bus, and welding current, voltage and wire feed rate all can adjust according to weld seam in time, ensure the postwelding quality of welding work pieces;
(5) communication by industrial bus of positioner 10 and robot control cabinet 2 and robot control cabinet 3 is overturn, positioner is the 7th axle of robot simultaneously, load is undertaken turning round and overturning by the program prelisted, makes the position of workpiece seam be in optimum state all the time, be namely in downhand position;
(6) weldment is accurately located and reliable grip by frock clamp, controlled by PLC by the clamping signal of hard wired communication, opening signal with PLC, after trade union college puts in place, PLC detects the signal that puts in place that frock clamp sends, and accurately locates clamping to workpiece;
(7) laser tracker 9 passes through the variable quantity with position while welding in welding process before detection is in real time welded, and by guiding welding robot 6 and welding robot 7 auto modification path to ensure that welding gun is walked along weld seam all the time exactly with the interface of welding robot 6 and welding robot 7, remain that welding position is in optimum state.
According to
fig. 3this of display is used for the principle frame of the dual robot work station of two weld seam arc welding
figurea specific embodiment, PLC and monitor screen realize the logic control of robot control cabinet 2 and robot control cabinet 3, frock clamp by industrial bus and hardwire, robot controller is connected with Ethernet with industrial bus with welding robot 7, laser tracker 8 respectively to the source of welding current 4, welding robot 6, and welding gun and wire-feed motor are controlled by the source of welding current 4.
Above is only the preferred embodiment of the present invention, and it should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise of the invention, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (2)
1. for a dual robot work station for two weld seam arc welding, comprise a upset positioner (10), this upset positioner (10) is welding robot (6) outside axle, and upset positioner (10) and welding robot (6) can realize collaborative displacement, welding tool setup (11) adopts integral type to install with upset positioner (10), welding tool setup (11) moves together with upset positioner (10), laser tracker (8), laser tracker (9) is arranged on welding robot (6) respectively by fixed support, on 6th armshaft of welding robot (7), welding robot (6) and welding robot (7) and slide rail are located mobile, a upset positioner (10) is set between welding robot (6) and welding robot (7), welding robot (6) is placed with welding robot (7) symmetry and is overturn positioner (10) both sides, and level is set with upset positioner (10), laser tracker (8), laser tracker (9) are connected with robot control cabinet (2), robot control cabinet (3) by cable, arc welding power supply (1), the source of welding current (4) are connected with robot control cabinet (2), robot control cabinet (3) by cable with electrical control gear, and be placed on rack, robot control cabinet (2), robot control cabinet (3) are connected with welding robot (6), welding robot (7) by cable, and butt welding machine device people (6), welding robot (7) control.
2. the dual robot work station for two weld seam arc welding according to claim 1, is characterized in that: the course of work of the described dual robot work station for two weld seam arc welding is as follows:
(1) PLC carries out systems axiol-ogy, after all are normal, the order that transmission starts to weld is to welding robot (6) and welding robot (7), welding robot (6) and welding robot (7) start and arrive welding position, the spot welding of symmetrical weld seam box section fixed, PLC is to welding tool setup (11) pneumatic positioning tool; Welding robot (6) and welding robot (7) send signal and control to overturn positioner (10) and overturn and start to weld; Welding robot (6) and welding robot (7) weld symmetrical weld seam box section simultaneously, laser tracker (8) is according to the change of weld seam linearity or weld gap in welding process, Real-time Feedback signal is to robot control cabinet (3), robot control cabinet (3) is according to weld seam actual state, the real-time adjustment source of welding current (4) parameter, the source of welding current (4) Butt welding gun angle or welding parameter control, after having welded, welding robot (6), welding robot (7) and upset positioner (10) automatically reset;
(2) serial communication is adopted between monitor screen and PLC, various parameters in robot welding system PLC are presented on monitor screen intuitively, operator operates whole system in work station outside, monitoring production process, ensure that the work station moment is in the efficient operation of optimization, ensure the safety of operator;
(3) robot control cabinet (2) and robot control cabinet (3) are the master controller controlling welding robot (6) and welding robot (7), utilize industrial bus and welding robot (6) and welding robot (7) communication, in welding process, robot control cabinet (2) and robot control cabinet (3) are after source of welding current signal being detected, welding robot (6) and welding robot (7) setting in motion, and by industrial bus communication, striking electric current, voltage are controlled to the source of welding current (4), then the source of welding current (4) enters the main welding stage;
(4) source of welding current (4) controls welding gun and wire-feed motor, the source of welding current (4) and welding robot (6) and welding robot (7) are by the communication of industrial bus, welding current, voltage and wire feed rate all can adjust according to weld seam in time, ensure the postwelding quality of welding work pieces;
(5) communication by industrial bus of positioner (10) and robot control cabinet (2) and robot control cabinet (3) is overturn, positioner is the 7th axle of robot simultaneously, load is undertaken turning round and overturning by the program prelisted, make the position of workpiece seam be in optimum state all the time, be namely in downhand position;
(6) weldment is accurately located and reliable grip by frock clamp, controlled by PLC by the clamping signal of hard wired communication, opening signal with PLC, after trade union college puts in place, PLC detects the signal that puts in place that frock clamp sends, and accurately locates clamping to workpiece;
(7) laser tracker (9) passes through the variable quantity with position while welding in welding process before detection is in real time welded, and by guiding welding robot (6) and welding robot (7) auto modification path to ensure that welding gun is walked along weld seam all the time exactly with the interface of welding robot (6) and welding robot (7), remain that welding position is in optimum state.
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002014A (en) * | 2016-07-15 | 2016-10-12 | 上海发那科机器人有限公司 | Welding system suitable for right-angled welding line laser tracking and welding method thereof |
| CN106624488A (en) * | 2016-12-14 | 2017-05-10 | 柳州振业焊接机电设备制造有限公司 | Automatic hinge welding device |
| CN107617827A (en) * | 2017-09-26 | 2018-01-23 | 宁波如意股份有限公司 | One kind storage vehicle door frame automatic welding system |
| CN107717188A (en) * | 2017-11-03 | 2018-02-23 | 中车青岛四方机车车辆股份有限公司 | Muscle double computer cooperation automatic soldering method and system in a kind of rail vehicle curb girder |
| CN108465961A (en) * | 2018-02-06 | 2018-08-31 | 北京卫星制造厂有限公司 | A kind of disymmetry heat power supply welding method and system based on soft arc plasma |
| CN109048065A (en) * | 2018-10-19 | 2018-12-21 | 重庆驰骋轻型汽车部件股份有限公司 | A kind of automobile antero posterior axis automatic processing system |
| CN109159127A (en) * | 2018-11-20 | 2019-01-08 | 广东工业大学 | A kind of double welding robot intelligence paths planning methods based on ant group algorithm |
| CN109277667A (en) * | 2017-07-20 | 2019-01-29 | 天津玛特检测设备有限公司 | Seven axis Arc Welding Robot Workstations of one kind and its working method |
| CN109332928A (en) * | 2018-10-23 | 2019-02-15 | 江苏山扬智能装备有限公司 | Street lamp post robot welding system and welding method based on deep learning on-line checking |
| CN109759671A (en) * | 2019-02-14 | 2019-05-17 | 广州松兴电气股份有限公司 | One kind controlling Control System of Welding Robot based on PLC |
| CN109848562A (en) * | 2019-04-15 | 2019-06-07 | 湖北航嘉麦格纳座椅***有限公司 | The welding system and method for angle adjustor |
| CN111266773A (en) * | 2020-03-03 | 2020-06-12 | 开异智能技术(上海)有限公司 | Flexible robot welding system and welding method thereof |
| CN111390352A (en) * | 2020-04-26 | 2020-07-10 | 徐州徐工履带底盘有限公司 | Double-gun walking type double-station crawler welding line and welding method |
| CN112935540A (en) * | 2021-02-01 | 2021-06-11 | 中国航空制造技术研究院 | Thin-wall structure laser welding system and method based on multi-robot cooperation |
| CN113547272A (en) * | 2021-08-25 | 2021-10-26 | 天津市康浩鑫隆科技有限公司 | Industrial robot collaborative production assembly line |
| CN114428472A (en) * | 2021-12-08 | 2022-05-03 | 中国船舶重工集团公司第七一六研究所 | Control system of intelligent flexible welding workstation |
| CN115635211A (en) * | 2022-12-23 | 2023-01-24 | 河北华丰工业集团有限公司 | Double-weld-joint welding method and welding device thereof |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002014A (en) * | 2016-07-15 | 2016-10-12 | 上海发那科机器人有限公司 | Welding system suitable for right-angled welding line laser tracking and welding method thereof |
| CN106002014B (en) * | 2016-07-15 | 2019-04-02 | 上海发那科机器人有限公司 | A kind of welding system and its welding method suitable for the tracking of right angle welding seam laser |
| CN106624488A (en) * | 2016-12-14 | 2017-05-10 | 柳州振业焊接机电设备制造有限公司 | Automatic hinge welding device |
| CN109277667A (en) * | 2017-07-20 | 2019-01-29 | 天津玛特检测设备有限公司 | Seven axis Arc Welding Robot Workstations of one kind and its working method |
| CN107617827A (en) * | 2017-09-26 | 2018-01-23 | 宁波如意股份有限公司 | One kind storage vehicle door frame automatic welding system |
| CN107717188A (en) * | 2017-11-03 | 2018-02-23 | 中车青岛四方机车车辆股份有限公司 | Muscle double computer cooperation automatic soldering method and system in a kind of rail vehicle curb girder |
| CN107717188B (en) * | 2017-11-03 | 2019-11-22 | 中车青岛四方机车车辆股份有限公司 | Muscle double computer cooperation automatic soldering method in a kind of rail vehicle curb girder |
| CN108465961A (en) * | 2018-02-06 | 2018-08-31 | 北京卫星制造厂有限公司 | A kind of disymmetry heat power supply welding method and system based on soft arc plasma |
| CN109048065A (en) * | 2018-10-19 | 2018-12-21 | 重庆驰骋轻型汽车部件股份有限公司 | A kind of automobile antero posterior axis automatic processing system |
| CN109048065B (en) * | 2018-10-19 | 2024-05-10 | 重庆驰骋轻型汽车部件股份有限公司 | Automatic processing system for front and rear axles of automobile |
| CN109332928A (en) * | 2018-10-23 | 2019-02-15 | 江苏山扬智能装备有限公司 | Street lamp post robot welding system and welding method based on deep learning on-line checking |
| CN109159127A (en) * | 2018-11-20 | 2019-01-08 | 广东工业大学 | A kind of double welding robot intelligence paths planning methods based on ant group algorithm |
| CN109159127B (en) * | 2018-11-20 | 2021-11-30 | 广东工业大学 | Intelligent path planning method for double-welding robot based on ant colony algorithm |
| CN109759671A (en) * | 2019-02-14 | 2019-05-17 | 广州松兴电气股份有限公司 | One kind controlling Control System of Welding Robot based on PLC |
| CN109848562A (en) * | 2019-04-15 | 2019-06-07 | 湖北航嘉麦格纳座椅***有限公司 | The welding system and method for angle adjustor |
| CN111266773A (en) * | 2020-03-03 | 2020-06-12 | 开异智能技术(上海)有限公司 | Flexible robot welding system and welding method thereof |
| CN111390352A (en) * | 2020-04-26 | 2020-07-10 | 徐州徐工履带底盘有限公司 | Double-gun walking type double-station crawler welding line and welding method |
| CN112935540A (en) * | 2021-02-01 | 2021-06-11 | 中国航空制造技术研究院 | Thin-wall structure laser welding system and method based on multi-robot cooperation |
| CN113547272A (en) * | 2021-08-25 | 2021-10-26 | 天津市康浩鑫隆科技有限公司 | Industrial robot collaborative production assembly line |
| CN113547272B (en) * | 2021-08-25 | 2023-02-28 | 天津市康浩鑫隆科技有限公司 | Industrial robot collaborative production assembly line |
| CN114428472A (en) * | 2021-12-08 | 2022-05-03 | 中国船舶重工集团公司第七一六研究所 | Control system of intelligent flexible welding workstation |
| CN115635211A (en) * | 2022-12-23 | 2023-01-24 | 河北华丰工业集团有限公司 | Double-weld-joint welding method and welding device thereof |
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| CN105195864B (en) | 2018-12-25 |
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