CN106002014B - A kind of welding system and its welding method suitable for the tracking of right angle welding seam laser - Google Patents
A kind of welding system and its welding method suitable for the tracking of right angle welding seam laser Download PDFInfo
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- CN106002014B CN106002014B CN201610558009.3A CN201610558009A CN106002014B CN 106002014 B CN106002014 B CN 106002014B CN 201610558009 A CN201610558009 A CN 201610558009A CN 106002014 B CN106002014 B CN 106002014B
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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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
- 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
- B23K37/0258—Electric supply or control circuits therefor
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- Engineering & Computer Science (AREA)
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- Resistance Welding (AREA)
Abstract
The invention discloses welding system and its welding method that a kind of application is suitable for the tracking of right angle welding seam laser, which includes that a positioner, an end are equipped with the industrial robot of welding gun, a robot control cabinet, a laser, a laser controller and a host computer.In the welding process for being applied to right angle welding seam, laser controller can obtain a points of proximity coordinate on every right-angle side respectively and send to robot control cabinet, robot control cabinet calculates the coordinate of right-angle turning point according to two coordinates, the default turn point robot pose of robot control cabinet and positioner position simultaneously control positioner and robot coordinated movement, it is ensured that welding gun can be directed at the turn point of right angle welding seam during traveling.Such welding system can turn point to right angle welding seam be accurately positioned, to realize accurate positioning of the industrial robot to the point that turns round, guarantee that welding gun is directed at Weld pipe mill, improve the welding precision with right angle welding seam weldment.
Description
Technical field
The present invention relates to technical field of welding equipment, are specifically related to a kind of welding suitable for the tracking of right angle welding seam laser
System and its welding method.
Background technique
In the past 20 years, with digitlization, automation, computer, the development of mechanical designing technique and welding quality
Pay much attention to, automatic welding has evolved into a kind of advanced manufacturing technology, automatic welding device institute in the application of each industry
The effect of performance is increasing, and application range is expanding rapidly.In modern industrial production, the mechanization of welding production process
It is the inexorable trend of welding mechanism process industry modernization development with automation.
Existing automatic welding device specifically includes that robot, welding gun, laser and controller, computer and weld seam figure
As processing software.Since welding is non-linear, time-varying a process, welding gun deviates Weld pipe mill in order to prevent, influences welding essence
Degree, is widely used laser tracking technology in welding system at present, and the purpose is to utilize laser real-time during actual welding
Position while welding is obtained, accordingly even when there are errors or welding thermal deformation, and position while welding to be caused to deviate teaching path for tooling, also can
Enough guarantee that welding gun advances along weld seam always.
Under normal conditions, laser is installed to welding gun front end, and line laser is got to the weldering of workpiece surface by laser when operation
It sews on, the position of weld seam is identified and calculated by laser control software, and by this location transmission to robot, robot is subsequent
Control welding gun is walked along weld seam.But for right angle welding seam, since robot pose changes very greatly, before welding gun at the point that turns round
The laser rays at end cannot be got on weld seam always, and so as to cause part tracking data loss, this section of weld seam is likely to be partially welded.Cause
And existing robot welding system is to being suitable for straight bead or arch welded joint.
Summary of the invention
For the above-mentioned problems in the prior art, a kind of welding system suitable for the tracking of right angle welding seam laser is now provided
System, it is intended to welding gun be prevented to be partially welded at the right-angle turning point of right angle welding seam.
Specific technical solution is as follows:
A kind of welding system suitable for the tracking of right angle welding seam laser, has the feature that, comprising: a positioner becomes
Position machine worktable carries welded part；One industrial robot, industrial robot end are equipped with welding gun；The control of one robot
Cabinet, robot control cabinet are connect with industrial robot signal；One laser, laser are removably mounted on welding gun front end；One
Laser controller, laser controller are electrically connected with laser；And a host computer, host computer and laser controller signal
Connection；Wherein, laser controller is connect with robot control cabinet signal.
A kind of above-mentioned welding system suitable for the tracking of right angle welding seam laser, wherein artificial six shaft mechanical of industrial machine
Hand.
A kind of above-mentioned welding system suitable for the tracking of right angle welding seam laser, wherein positioner be side oblique type positioner,
Rotary positioner, end to end lift rotary formula positioner, end to end tilting positioner, any in dual AC power positioner end to end
It is a kind of.
Above-mentioned a kind of welding system suitable for the tracking of right angle welding seam laser, wherein host computer is PC machine.
In addition, having such the present invention also provides a kind of welding method suitable for the tracking of right angle welding seam laser
Feature: it including being suitable for the welding system of right angle welding seam laser tracking in above-mentioned any one, and comprises the steps of:
Step 1: the industrial robot drives the welding gun and the laser to advance along right angle welding seam, also, described
Laser controller is in first coordinate (X1, Y1) for obtaining close right-angle turning point on a right-angle side of right angle welding seam and sends
To the robot control cabinet；The laser controller is in acquisition on another right-angle side of right angle welding seam close to right-angle turning point
Second point coordinate (X2, Y2) and be sent to the robot control cabinet；
Step 2: the X value that the robot control cabinet calculates first coordinate (X1, Y1) is sat as the X of right-angle turning point
Mark, the robot control cabinet calculate Y-coordinate of the Y value of second point coordinate (X2, Y2) as right-angle turning point；
Step 3: the host computer calculates the turn point position that welding system corresponds to right-angle turning point coordinate (X, Y),
And the posture of the position and the robot to the positioner carries out assignment,
Step 4: the robot controls the positioner and carries out coordination, it is ensured that welding gun energy during traveling
It is enough directed at weld seam and accurately continues to track by the right-angle turning point.
Above-mentioned a kind of welding method suitable for the tracking of right angle welding seam laser, wherein host computer is equipped with adjustment and swashs
The weld beam shape software of light device controller parameter.
A kind of above-mentioned welding method suitable for the tracking of right angle welding seam laser, wherein the turn point of welding system
It sets and includes: the posture of the position of positioner, the position of industrial robot and industrial robot.
The good effect of above-mentioned technical proposal is:
It is above-mentioned suitable for the welding system of right angle welding seam laser tracking, since industrial robot end is equipped with weldering
Rifle, robot control cabinet are connect with industrial robot signal, and laser is removably mounted on welding gun front end, laser controller
It is electrically connected with laser.Host computer is connect with laser controller signal, in addition, laser controller and robot control cabinet are believed
Number connection.Therefore, in the welding process for being applied to right angle welding seam, laser controller can obtain at right angle inflection point two respectively
For two points of proximity coordinates and transmission on right-angle side to robot control cabinet, robot control cabinet calculates the seat of right-angle turning point
Mark determines point position of turning round by default robot pose and positioner position, by positioner and robot coordinated movement, it is ensured that
Welding gun can be directed at the turn point of right angle welding seam during traveling.Such welding system can turn point to right angle welding seam it is real
It now positions, guarantees that welding gun is directed at Weld pipe mill, to realize that the laser with right-angle turning weld seam tracks, improving has flat-face fillet weld
The welding precision of seam weld fitting.
Detailed description of the invention
Fig. 1 is a kind of systematic schematic diagram of welding system suitable for the tracking of right angle welding seam laser of the invention；
Fig. 2 is a kind of laser, weldering suitable for the embodiment of the welding system of right angle welding seam laser tracking of the invention
The connection schematic diagram of rifle, industrial robot；
Fig. 3 is a kind of right angle welding seam suitable for the embodiment of the welding system of right angle welding seam laser tracking of the invention
Right-angle turning point looks for schematic diagram.
In attached drawing: 1, positioner；2, industrial robot；3, robot control cabinet；4, welding gun；5, laser；6, laser
Controller；7, host computer.
Specific embodiment
It is real below in order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention
It applies example combination attached drawing 1 and technical solution provided by the invention is specifically addressed to attached drawing 3, but the following contents is not as of the invention
It limits.
Fig. 1 is a kind of systematic schematic diagram of the embodiment of welding system suitable for the tracking of right angle welding seam laser；Fig. 2 is one
The connection signal of kind laser, welding gun, industrial robot suitable for the embodiment for the welding system that right angle welding seam laser tracks
Figure.As depicted in figs. 1 and 2, the welding system provided in this embodiment for preventing welding seam bias includes: 1, one industry of a positioner
Robot 2, a robot control cabinet 3, a laser 5, a laser controller 6, a host computer 7.
Specifically, 1 workbench of positioner carries welded part, 2 end of industrial robot is equipped with welding gun 4, robot
Control cabinet 3 is connect with 2 signal of industrial robot, and laser 5 is removably mounted on 4 front end of welding gun, laser controller 6 and is swashed
Light device 5 is electrically connected.Host computer 7 is connect with 6 signal of laser controller.In addition, laser controller 6 and robot control cabinet 3
Signal connection.
As preferred embodiment, industrial robot 2 is six axis robot.
As preferred embodiment, positioner 1 be side oblique type positioner 1, end to end rotary positioner 1, go up and down end to end
Any one in rotary positioner 1, end to end tilting positioner 1, dual AC power positioner 1.
As preferred embodiment, host computer 7 is PC machine.
Fig. 3 is a kind of right-angle turning of right angle welding seam suitable for the embodiment of the welding system of right angle welding seam laser tracking
Point looks for schematic diagram.As shown in Figure 1 to Figure 3, the present embodiment additionally provides a kind of welding method of right angle welding seam laser tracking,
The welding method include it is above-mentioned prevent the welding system of welding seam bias, and comprise the steps of:
Step 1: the industrial robot drives the welding gun and the laser to advance along right angle welding seam, also, described
Laser controller is in first coordinate (X1, Y1) for obtaining close right-angle turning point on a right-angle side of right angle welding seam and sends
To the robot control cabinet；The laser controller is in acquisition on another right-angle side of right angle welding seam close to right-angle turning point
Second point coordinate (X2, Y2) and be sent to the robot control cabinet；
Step 2: the X value that the robot control cabinet calculates first coordinate (X1, Y1) is sat as the X of right-angle turning point
Mark, the robot control cabinet calculate Y-coordinate of the Y value of second point coordinate (X2, Y2) as right-angle turning point；
Step 3: the host computer calculates the turn point position that welding system corresponds to right-angle turning point coordinate (X, Y),
And the posture of the position and the robot to the positioner carries out assignment,
Step 4: the robot controls the positioner and carries out coordination, it is ensured that welding gun energy during traveling
It is enough directed at weld seam and accurately continues to track by the right-angle turning point.
As preferred embodiment, the weld beam shape that host computer 7 is equipped with adjustment 6 parameter of laser controller is soft
Part, to improve the computational accuracy of tack weld.
As preferred embodiment, the turn point position of welding system includes: the position of positioner 1, industrial robot 2
Position and industrial robot 2 posture.
Welding system provided in this embodiment suitable for the tracking of right angle welding seam laser is in the welding for being applied to right angle welding seam
In the process, laser controller 6 can obtain a points of proximity coordinate on every right-angle side respectively and send and control to robot
Cabinet 3, robot control cabinet 3 calculate the coordinate of right-angle turning point according to two coordinates, and robot control cabinet 3 is preset directly
The robot pose of angle turn point and positioner position simultaneously control positioner 1 and robot coordinated movement, it is ensured that welding gun 4 is being advanced
It can be directed at the turn point of right angle welding seam in the process.Such welding system can turn point to right angle welding seam be accurately positioned, from
And realize the accurate positioning of 2 pairs of the industrial robot points that turn round, guarantee that welding gun 4 is directed at Weld pipe mill, improving has the weldering of direct weld seam
The welding precision of fitting.
Certainly, welding system provided in this embodiment and its welding method are also equally applicable to acute angle weld seam.
The above is only preferred embodiments of the present invention, are not intended to limit the implementation manners and the protection scope of the present invention, right
For those skilled in the art, it should can appreciate that and all replace with being equal made by description of the invention and diagramatic content
It changes and obviously changes obtained scheme, should all be included within the scope of the present invention.
Claims (6)
1. a kind of welding system suitable for the tracking of right angle welding seam laser characterized by comprising
One positioner, the displacement machine worktable carry welded part；
One industrial robot, the industrial robot end are equipped with welding gun；
One robot control cabinet, the robot control cabinet are connect with the industrial robot signal；
One laser, the laser are removably mounted on the welding gun front end；
One laser controller, the laser controller are electrically connected with the laser；And
One host computer, the host computer are connect with the laser controller signal；
Wherein, the laser controller is connect with the robot control cabinet signal；
The industrial robot controls the positioner coordination；The turn point position of the welding system includes: the change
Position, the position of the industrial robot and the posture of the industrial robot of position machine；
The laser controller obtains one on every right-angle side close to the coordinate of right-angle turning point respectively and is sent to institute
Robot control cabinet is stated, the robot control cabinet calculates the coordinate of right-angle turning point according to two described coordinates, described
Robot control cabinet presets the robot pose of right-angle turning point and the position of the positioner and controls the positioner
With the industrial robot coordination.
2. the welding system according to claim 1 suitable for the tracking of right angle welding seam laser, which is characterized in that the industry
The artificial six axis robot of machine.
3. the welding system according to claim 1 suitable for the tracking of right angle welding seam laser, which is characterized in that the displacement
Machine is side oblique type positioner, end to end rotary positioner, end to end lift rotary formula positioner, end to end tilting positioner, double
Turn round any one in positioner.
4. the welding system according to claim 1 suitable for the tracking of right angle welding seam laser, which is characterized in that described upper
Machine is PC machine.
5. a kind of welding method suitable for the tracking of right angle welding seam laser, which is characterized in that using any in Claims 1-4 4
It is suitable for the welding system of right angle welding seam laser tracking described in one, and comprises the steps of:
Step 1: the industrial robot drives the welding gun and the laser to advance along right angle welding seam, also, the laser
Device controller is in first coordinate (X1, Y1) for obtaining close right-angle turning point on a right-angle side of right angle welding seam and is sent to institute
State robot control cabinet；The laser controller is in obtaining the close to right-angle turning point on another right-angle side of right angle welding seam
2 coordinates (X2, Y2) are simultaneously sent to the robot control cabinet；
Step 2: the robot control cabinet calculates X-coordinate of the X value of first coordinate (X1, Y1) as right-angle turning point, institute
It states robot control cabinet and calculates Y-coordinate of the Y value of second point coordinate (X2, Y2) as right-angle turning point；
Step 3: the host computer calculates the turn point position that welding system corresponds to right-angle turning point coordinate (X, Y), and right
The posture of the position of the positioner and the robot carries out assignment；
Step 4: the robot controls the positioner and carries out coordination, it is ensured that the welding gun can be right during traveling
Quasi- weld seam simultaneously accurately continues to track by the right-angle turning point.
6. the welding method according to claim 5 suitable for the tracking of right angle welding seam laser, which is characterized in that described upper
Machine is equipped with the weld beam shape software for adjusting the laser controller parameter.
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| CN201610558009.3A CN106002014B (en) | 2016-07-15 | 2016-07-15 | A kind of welding system and its welding method suitable for the tracking of right angle welding seam laser |
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| CN201610558009.3A CN106002014B (en) | 2016-07-15 | 2016-07-15 | A kind of welding system and its welding method suitable for the tracking of right angle welding seam laser |
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| CN106002014B true CN106002014B (en) | 2019-04-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106826834B (en) * | 2016-12-26 | 2019-02-15 | 南京熊猫电子股份有限公司 | A kind of robot welding automatic localization method |
| CN106736116B (en) * | 2016-12-29 | 2019-04-23 | 南京臻铭信自动化装备有限公司 | Robot automatic welding production line based on central computer Automatic Control |
| CN107552923A (en) * | 2017-08-30 | 2018-01-09 | 合肥工业大学 | A kind of continuous welding method of the axle of puppet seven based on six axle arc welding robots |
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