CN105195864B - Dual robot work station for double weld seam arc weldings - Google Patents
Dual robot work station for double weld seam arc weldings Download PDFInfo
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- CN105195864B CN105195864B CN201510419180.1A CN201510419180A CN105195864B CN 105195864 B CN105195864 B CN 105195864B CN 201510419180 A CN201510419180 A CN 201510419180A CN 105195864 B CN105195864 B CN 105195864B
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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 kind of dual robot work stations for double weld seam arc weldings, it is related to Intelligent welding robot field, the present invention provides a kind of double slit twin arc welding welding system, the system configuration dual robot, and carry out synchronously control, solve the problems such as stability of the welding quality existing for the irregular weld seam in the symmetrical weld seam box section component of manual welding is poor, and welding deformation is big, quality of weld joint is unstable, and part process cycle is long.
Description
Technical field
The present invention relates to Intelligent welding robot field, in particular to a kind of dual robot for double weld seam arc weldings
Work station.
Background technique
Symmetrical weld seam box section component is welded at present, uses manual welding always in actual production, with skip welding point
Section method welding, and welding cannot weld two symmetrical weld seams simultaneously, the deformation of postwelding workpiece is big, complex procedures, and welding efficiency is extremely low.
Greatest problem existing for irregular weld seam in manual welding complex component is that stability of the welding quality is poor, and manual welding weld seam is equal
Even property is poor, causes security performance relatively unstable.Quality of weld joint depend critically upon welding operator's level of skill and
Working condition when welding operation, and such part process cycle is long, once weld seam matter caused by occurring because of human operational error
Amount problem will seriously affect enterprise's manufacturing schedule.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of dual robot work station for double weld seam arc weldings,
A kind of double slit twin arc welding welding system is provided, the system configuration dual robot, and synchronously control is carried out, solve manual welding pair
Claim stability of the welding quality existing for the irregular weld seam in weld seam box section component poor, welding deformation is big, quality of weld joint not
The problems such as stabilization, weldquality problem, part process cycle is long.
To achieve the above object, the present invention provides a kind of technical solution below: two-shipper for double weld seam arc weldings
Device people's work station, including an overturning positioner, this overturning positioner are axis outside welding robot, overturning positioner and welding
Collaboration displacement may be implemented in robot；Welding tool setup and overturning positioner using integral type install, welding tool setup and
Overturning positioner moves together, and two laser trackers pass through the 6th armshaft that fixed bracket is mounted on two welding robots respectively
On, two welding robots and sliding rail positioning are moved, and overturning positioner is arranged between two welding robots, two welding robots pair
Claim to place overturning positioner two sides, and identical height level is set with overturning positioner；Two laser trackers pass through cable and two
Robot control cabinet connection, arc welding power supply, the source of welding current and electrical control gear pass through cable and robot control cabinet, machine
The connection of device people's control cabinet, is placed on rack, and robot control cabinet, robot control cabinet pass through cable and two welding robots
Connection, and two welding robots are controlled.
The course of work for being used for the dual robot work station of double weld seam arc weldings is as follows:
(1) PLC controller carries out system detection, after all going well, sends the order for starting welding to welding robot, weldering
Welding robot starting reaches welding position, and symmetrical weld seam box section spot welding is fixed, and PLC controller is pneumatically fixed to welding tool setup
Position tooling；Welding robot sends signal control overturning positioner overturning and starts to weld；Welding robot is simultaneously to symmetrical weld seam
The welding of box section, laser tracker is according to the variation of weld seam straightness or weld gap in welding process, and Real-time Feedback signal is to machine
Device people's control cabinet, robot control cabinet adjust source of welding current parameter, source of welding current Butt welding gun angle according to weld seam actual state in real time
Degree or welding parameter are controlled, and after the completion of welding, welding robot and overturning positioner automatically reset；
(2) serial communication is used between monitor screen and PLC controller, it will be various in robot welding system PLC controller
Parameter is visually displayed on monitor screen, and operator operates whole system outside work station, monitors production process, is protected
Efficient operation of the work station moment in optimization is demonstrate,proved, guarantees the safety of operator；
(3) robot control cabinet is the master controller for controlling welding robot, logical using industrial bus and welding robot
News, in the welding process, robot control cabinet is after detecting source of welding current signal, welding robot setting in motion, and passes through
Industrial bus communication controls striking electric current, voltage to the source of welding current, and then the source of welding current enters main weldering and connects the stage；
(4) communication of source of welding current control welding gun and wire-feed motor, the source of welding current and welding robot by industrial bus, weldering
Connecing electric current, voltage and wire feed rate can adjust in time according to weld seam, guarantee the postwelding quality of welding workpiece；
(5) communication of positioner and robot control cabinet by industrial bus is overturn, load is carried out by the program to prelist
Revolution and overturning, make the position of workpiece joint be in optimum state always, that is, are in downhand position；
(6) weldment accurate positionin and reliable grip are passed through the clamping of the communication of hardwire with PLC controller by frock clamp
Signal, opening signal are controlled by PLC controller, and after workpiece is installed in place, PLC controller detects that frock clamp issues in place
Signal is accurately positioned workpiece and clamps；
(7) laser tracker is by the variable quantity before real-time detection welding with position while welding in welding process, and passes through
Path is corrected automatically with the interface of welding robot guidance welding robot to guarantee that welding gun is walked exactly along weld seam always,
Remain that welding position is in optimum state.
Be using the beneficial effect of above technical scheme: this is used for the dual robot work station of double weld seam arc weldings not only
It solves the problems, such as that PLC can also be passed through for the part being made of irregular thin-wall construction and welding deformation amount need to be controlled accurately
Terminal device realize welding workstation remote-controlled operation etc., and be added laser tracker in real time adjust angle of welding gun or
Welding parameter utmostly controls welding quality and welding efficiency.
Welding quality, contracting not only can be improved in the welding of the double slit twin arc welding robot workstation for complex structural member
The short welding processing period, and can mitigate worker's to avoid the part rejection as caused by human operational error, save the cost
Labor intensity improves operating environment.
Detailed description of the invention
A specific embodiment of the invention is described in further detail with reference to the accompanying drawing.
Fig. 1 is structure top view of the present invention for the dual robot work station of double weld seam arc weldings；
Fig. 2 is structure top view of the present invention for the dual robot work station of double weld seam arc weldings；
Fig. 3 is control principle drawing of the present invention for the dual robot work station of double weld seam arc weldings.
Wherein, 1-arc welding power supply, 2-robot control cabinets, 3-robot control cabinets, the 4-sources of welding current, 5-
Sliding rail, 6-welding robots, 7-welding robots, 8-laser trackers, 9-laser trackers, 10-overturning positioners,
11-welding tool setups.
Specific embodiment
A kind of the invention will now be described in detail with reference to the accompanying drawings the dual robot work station for double weld seam arc weldings it is excellent
Select embodiment.
Show a kind of tool of the dual robot work station for double weld seam arc weldings of the present invention in conjunction with Fig. 1, Fig. 2 and Fig. 3
Body embodiment: this is used for the dual robot work station of double weld seam arc weldings, including an overturning positioner 10, this overturning becomes
Position machine 10 is one 6 outside axis of welding robot, and overturning positioner 10 may be implemented to cooperate with displacement with welding robot 1；Welding
Frock clamp 11 and overturning positioner 10 are installed using integral type, and welding tool setup 11 moves together with overturning positioner 10,
Laser tracker 1, laser tracker 29 are mounted on welding robot 1, welding robot 27 by fixed bracket respectively
The 6th armshaft on, welding robot 1 and welding robot 27 and sliding rail positioning are moved, and the overturning setting of positioner 10 is being welded
Between welding robot 1 and welding robot 27, welding robot 1 and welding robot 27 are symmetrically disposed at overturning displacement
10 two sides of machine, and identical height level is set with overturning positioner 10；Laser tracker 1 passes through cable and robot control cabinet
One 2 connections, laser tracker 29 are connect by cable with robot control cabinet 23, arc welding power supply 1 and electrical control
Device is connect by cable with robot control cabinet 1, and arc welding power supply 24 and electrical control gear pass through cable and machine
People's control cabinet 23 connects, and is placed on rack, and robot control cabinet 1 is connect by cable with welding robot 1, and
Butt welding machine device people 1 controls, and robot control cabinet 23 is connect by cable with welding robot 27, and butt welding machine
Device people 27 controls.
The course of work for being used for the dual robot work station of double weld seam arc weldings is as follows:
(1) PLC controller carries out system detection, after all going well, sends the order for starting welding to welding robot 1
With welding robot 27, welding robot 1 and the starting of welding robot 27 reach welding position, by symmetrical weld seam box section point
Solid welding is fixed, and PLC controller is to the pneumatic positioning tool of welding tool setup 11；Welding robot 1 and welding robot 27 are sent
The signal control overturning overturning of positioner 10 starts to weld；Welding robot 1 and welding robot 27 are simultaneously to symmetrical weld seam box
Section welding, laser tracker 29 is according to the variation of weld seam straightness or weld gap in welding process, and Real-time Feedback signal is to machine
Device people control cabinet 23, robot control cabinet 23 adjust 24 parameter of the source of welding current, welding electricity according to weld seam actual state in real time
24 Butt welding gun angle of source or welding parameter are controlled, after the completion of welding, welding robot 1,27 and of welding robot
Overturning positioner 10 automatically resets；
(2) serial communication is used between monitor screen and PLC controller, it will be various in robot welding system PLC controller
Parameter is visually displayed on monitor screen, and operator operates whole system outside work station, monitors production process, is protected
Efficient operation of the work station moment in optimization is demonstrate,proved, guarantees the safety of operator；
(3) robot control cabinet 1 and robot control cabinet 23 are control welding robot 1 and welding robot 27
Master controller, utilize industrial bus and welding robot 1 and welding robot 27 to communicate, in the welding process, robot
Control cabinet 1 is after detecting source of welding current signal, one 6 setting in motion of welding robot；Robot control cabinet 23 is detecting
After source of welding current signal, 27 setting in motion of welding robot, and striking is controlled to the source of welding current 24 by industrial bus communication
Electric current, voltage, then the source of welding current 24 connects the stage into main weldering；
(4) source of welding current 24 controls welding gun and wire-feed motor, and the source of welding current 24 and welding robot 27 pass through industrial bus
Communication, welding current, voltage and wire feed rate can adjust in time according to weld seam, guarantee the postwelding matter of welding workpiece
Amount；
(5) communication of positioner 10 and robot control cabinet 1 and robot control cabinet 23 by industrial bus is overturn,
Load is turned round and overturn by the program to prelist, so that the position of workpiece joint is in optimum state always, that is, is in downhand welding
Position；
(6) weldment accurate positionin and reliable grip are passed through the clamping of the communication of hardwire with PLC controller by frock clamp
Signal, opening signal are controlled by PLC controller, and after workpiece is installed in place, PLC controller detects that frock clamp issues in place
Signal is accurately positioned workpiece and clamps；
(7) laser tracker 29 is by the variable quantity before real-time detection welding with position while welding in welding process, and leads to
Cross with the interface of welding robot 27 guidance welding robot 27 automatically amendment path come guarantee welding gun always exactly along
Weld seam walking.
According to Fig. 3 is shown this be used for one of the functional block diagram of the dual robot work station of double weld seam arc weldings it is specific
Embodiment, PLC controller and monitor screen realize robot control cabinet 1 and robot control cabinet by industrial bus and hardwire
23, the logic control of frock clamp, robot controller is to the source of welding current 24, welding robot 1 and welding robot two
7, laser tracker 1 is connected with industrial bus with Ethernet respectively, and welding gun and wire-feed motor are controlled by the source of welding current 24.
The above are merely the preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art,
Without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.
Claims (1)
1. a kind of dual robot work station for double weld seam arc weldings, including an overturning positioner (10), this overturning becomes
Position machine (10) is the external axis of welding robot one (6), and overturning positioner (10) may be implemented to cooperate with change with welding robot one (6)
Position；Welding tool setup (11) and overturning positioner (10) are installed using integral type, and welding tool setup (11) and overturning conjugate
Machine (10) moves together, and laser tracker one (8), laser tracker two (9) are mounted on welding robot by fixed bracket respectively
People one (6), welding robot two (7) the 6th armshaft on, welding robot one (6) and welding robot two (7) and sliding rail are fixed
Displacement is dynamic, and overturning positioner (10) is arranged between welding robot one (6) and welding robot two (7), welding robot one
(6) overturning positioner (10) two sides, and water identical as overturning positioner (10) setting are symmetrically disposed at welding robot two (7)
Flat height；Laser tracker one (8) is connect by cable with robot control cabinet one (2), and laser tracker two (9) passes through cable
It is connect with robot control cabinet two (3), arc welding power supply one (1) and electrical control gear pass through cable and robot control cabinet
One (2) connection, arc welding power supply two (4) and electrical control gear are connect by cable with robot control cabinet two (3), juxtaposition
In on rack, robot control cabinet one (2) is connect by cable with welding robot one (6), and butt welding machine device people one (6)
Controlled, robot control cabinet two (3) is connect by cable with welding robot two (7), and butt welding machine device people two (7) into
Row control；
The course of work of the dual robot work station for double weld seam arc weldings is as follows:
(1) PLC controller carries out system detection, after all going well, sends the order for starting welding to welding robot one (6)
With welding robot two (7), welding robot one (6) and welding robot two (7) starting reach welding position, by symmetrical weld seam
Box section spot welding is fixed, and PLC controller is to welding tool setup (11) pneumatic positioning tool；Welding robot one (6) and bonding machine
Device people two (7) sends signal control overturning positioner (10) overturning and starts to weld；Welding robot one (6) and welding robot two
(7) symmetrical weld seam box section is welded simultaneously, laser tracker two (9) is according to weld seam straightness in welding process or weld gap
Variation, Real-time Feedback signal are adjusted to robot control cabinet two (3), robot control cabinet two (3) according to weld seam actual state in real time
The whole source of welding current two (4) parameter, the source of welding current two (4) Butt welding gun angle or welding parameter are controlled, after the completion of welding, weldering
Welding robot one (6), welding robot two (7) and overturning positioner (10) automatically reset；
(2) serial communication is used between monitor screen and PLC controller, by the various parameters in robot welding system PLC controller
It is visually displayed on monitor screen, operator operates whole system outside work station, monitors production process, guarantees work
Make efficient operation of the station moment in optimization, guarantees the safety of operator；
(3) robot control cabinet one (2) and robot control cabinet two (3) are control welding robot one (6) and welding robot
The master controller of two (7) is communicated using industrial bus and welding robot one (6) and welding robot two (7), in welding process
In, robot control cabinet one (2) is after detecting source of welding current signal, welding robot one (6) setting in motion；Robot control
Cabinet two (3) is after detecting source of welding current signal, welding robot two (7) setting in motion, and communicates butt welding by industrial bus
Power supply two (4) control striking electric current, voltage are connect, then the source of welding current two (4) connects the stage into main weldering；
(4) source of welding current two (4) control welding gun and wire-feed motor, the source of welding current two (4) and welding robot two (7) pass through industry
The communication of bus, welding current, voltage and wire feed rate can adjust in time according to weld seam, guarantee the postwelding of welding workpiece
Quality；
(5) overturning positioner (10) and robot control cabinet one (2) and robot control cabinet two (3) pass through the logical of industrial bus
Load is turned round and is overturn by the program to prelist, so that the position of workpiece joint is in optimum state always, i.e., in flat by news
Welding position is set；
(6) weldment is accurately positioned frock clamp and reliable grip, the clamping for passing through the communication of hardwire with PLC controller are believed
Number, opening signal controlled by PLC controller, after workpiece is installed in place, PLC controller detect frock clamp issue letter in place
Number, workpiece is accurately positioned and is clamped；
(7) laser tracker two (9) is by the variable quantity before real-time detection welding with position while welding in welding process, and leads to
It crosses and corrects path automatically with the interface of welding robot two (7) guidance welding robot two (7) to guarantee welding gun always accurately
It walks along weld seam, remains that welding position is in optimum state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510419180.1A CN105195864B (en) | 2015-07-17 | 2015-07-17 | Dual robot work station for double weld seam arc weldings |
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| CN201510419180.1A CN105195864B (en) | 2015-07-17 | 2015-07-17 | Dual robot work station for double weld seam arc weldings |
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| CN105195864A CN105195864A (en) | 2015-12-30 |
| CN105195864B true CN105195864B (en) | 2018-12-25 |
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| CN102672315B (en) * | 2012-06-07 | 2014-07-02 | 中国东方电气集团有限公司 | Autonomous mobile double-sided double-arc welding robot system |
| CN203091983U (en) * | 2012-12-10 | 2013-07-31 | 阳江市新力工业有限公司 | Intelligent welding system for complex gas oven space curve |
| CN103386576B (en) * | 2013-08-09 | 2016-01-20 | 江苏北人机器人***股份有限公司 | Aluminum alloy automobile dashboard bracket welder |
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