CN106180965A - The laser scanning welder of a kind of robot and method - Google Patents
The laser scanning welder of a kind of robot and method Download PDFInfo
- Publication number
- CN106180965A CN106180965A CN201610563938.3A CN201610563938A CN106180965A CN 106180965 A CN106180965 A CN 106180965A CN 201610563938 A CN201610563938 A CN 201610563938A CN 106180965 A CN106180965 A CN 106180965A
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- Prior art keywords
- robot
- welding
- laser scanning
- welder
- laser
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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
- B23K9/02—Seam welding; Backing means; Inserts
-
- 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
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
-
- 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)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Geometry (AREA)
- Manipulator (AREA)
- Laser Beam Processing (AREA)
- Numerical Control (AREA)
Abstract
The present invention relates to robot welding field, particularly relate to laser scanning welder and the method for a kind of robot.In the present invention, every time before workpiece welds, use point source laser instrument to workpiece profile surface sweeping, obtain the position while welding that workpiece is correct.By laser controller, the positional information of workpiece being transferred to robot control cabinet, therefore, no matter workpiece size changes or installation site change, and robot all the time can be in correct position welding, it is to avoid be partially welded.
Description
Technical field
The present invention relates to robot welding field, particularly relate to laser scanning welder and the method for a kind of robot.
Background technology
The laser scanning welder of current robot, is used demonstrator to compile welding workpiece teaching by operator
Journey, is then transferred to robot control by welding procedure.Robot control cabinet controls robot and (is provided with the machine of welding equipment
People), according to the Antiinterference workpiece of teaching.Owing to program is teaching in advance, when workpiece size or installation site change
After change, robot remains unchanged according to original teaching Antiinterference, will be partially welded.Weld defect, serious meeting is caused to cause workpiece to damage
Go bad and device damage.
Summary of the invention
The problem existed for prior art, now provides laser scanning welder and the method for a kind of robot.
Concrete technical scheme is as follows:
The laser scanning welder of a kind of robot, is applied to during the laser scanning of workpiece welded by robot, described laser
Scanning welder includes:
Point source laser instrument, is installed in described robot, and described point source laser instrument is in order to scan and to export described workpiece
Profile information；
Laser controller, is connected with described point source laser instrument, in order to according to described profile information output position information；
Robot control cabinet, is connected with described laser controller, in order to according to described positional information and preset soldering angle,
Generate welding track；And described robot carries out laser scanning welding according to described welding track；
Welder, is connected with described robot control cabinet, closes on described robot and arranges, in order to according to described positional information pair
Described workpiece carries out laser scanning welding.
Preferably, described welder includes:
The source of welding current, closes on described robot and arranges, and the described source of welding current is connected with described robot control cabinet；
Welding gun, is connected with the described source of welding current, the described source of welding current according to described positional information control described welding gun the starting the arc and
Receive arc.
Preferably, described robot control cabinet is connected with the described source of welding current by DeviceNet bus.
Preferably, described laser controller is connected with described robot control cabinet by analog quantity communication modes.
Preferably, described robot control cabinet generates welding procedure according to described welding track, and utilizes described welding
The laser scanning of described robot is welded and is controlled by program.
Preferably, the scanning speed of described point source laser instrument is less than or equal to 250mm/s.
Preferably, the scanning error of described point source laser instrument is less than or equal to 1mm.
Preferably, described point source laser instrument was less than or equal to the information period of described laser controller
0.33ms。
Preferably, the position to be welded of described workpiece and the error of the welding position of described welder are less than 3cm.
A kind of laser scanning welding method of robot, including:
Step S1, scans and exports the profile information of described workpiece, and according to described profile information output position information；
Step S2, according to described positional information and default soldering angle, generates welding track；
Step S3, the source of welding current controls the starting the arc of welding gun according to described positional information and receives arc, and robot is according to described weldering
The mark that integrates with carries out laser scanning welding.
Technique scheme provides the benefit that:
In technique scheme, every time before workpiece welds, use point source laser instrument to workpiece profile surface sweeping, just obtaining workpiece
True position while welding.By laser controller, the positional information of workpiece is transferred to robot control cabinet, therefore, no matter work
Part change in size or installation site change, robot all the time can be in correct position welding, it is to avoid be partially welded.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the laser scanning welder of a kind of robot of the present invention；
Fig. 2 is the flow chart of the embodiment of the laser scanning welding method of a kind of robot of the present invention.
Detailed description of the invention
It should be noted that in the case of not conflicting, following technical proposals, can be mutually combined between technical characteristic.
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is further described:
Present embodiments provide the laser scanning welder of a kind of robot, be applied to robot and the laser scanning of workpiece is welded
In connecing, as it is shown in figure 1, laser scanning welder includes:
Point source laser instrument, is installed in robot, and point source laser instrument is in order to scan and to export the profile information of workpiece；
Laser controller, is connected with point source laser instrument, in order to according to profile information output position information；
Robot control cabinet, is connected with laser controller, in order to according to positional information and default soldering angle, to generate welding
Track；And robot carries out laser scanning welding according to welding track；
Welder, is connected with robot control cabinet, closes on robot and arranges, in order to workpiece is carried out laser according to positional information
Scanning welding.
In the present embodiment, every time before workpiece welds, use point source laser instrument to workpiece profile surface sweeping, just obtaining workpiece
True position while welding.By laser controller, the positional information of workpiece is transferred to robot control cabinet, and generates welding journey
Sequence.Therefore, no matter workpiece size changes or installation site change, and robot all the time can be in correct position welding, it is to avoid weldering
Partially.
In the present embodiment, by the point source laser instrument horizontal longitudinal scanning surface of the work installed in robot, obtain institute
There is the positional information of profile, after being transferred to robot control cabinet, coordinate angle of welding gun.Realize automatic welding Track Pick-up and weld
Connect.
In one preferred embodiment of the present invention, welder includes:
The source of welding current, closes on robot and arranges, and the source of welding current is connected with robot control cabinet；
Welding gun, is connected with the source of welding current, and the source of welding current controls the starting the arc of welding gun according to positional information and receives arc.
In one preferred embodiment of the present invention, robot control cabinet is connected with the source of welding current by DeviceNet bus.
In above-described embodiment, point source laser instrument is arranged in robot, scans surface of the work, and figure scanning generated
As information is transferred to laser controller；Laser instrument is transmitted image information biography and changes positional information into by laser controller,
And positional information is transferred to by the way of analog quantity robot control cabinet；Laser controller is transmitted by robot control cabinet
The position data come over combines with presetting soldering angle, automatically generates welding track, and controls robot with this rail
Mark moves.As robot motion to welding position, by the way of DeviceNet bus, control the source of welding current play arc welding；
Robot moves according to robot control cabinet intended trajectory；The source of welding current (starts weldering according to the instruction of robot control cabinet, the starting the arc
Connect) and receive arc (stopping welding)；Welding gun is installed in robot, and robot, with welding gun, realizes welding specifying position.
In one preferred embodiment of the present invention, laser controller passes through analog quantity communication modes and robot control cabinet
Connect.
In one preferred embodiment of the present invention, robot control cabinet generates welding procedure, Yi Jili according to welding track
With welding procedure, the laser scanning welding of robot is controlled.
In one preferred embodiment of the present invention, the scanning speed of point source laser instrument is less than or equal to 250mm/s.
In one preferred embodiment of the present invention, the scanning error of point source laser instrument is less than or equal to 1mm.
In one preferred embodiment of the present invention, point source laser instrument was less than with the information period of laser controller
Equal to 0.33ms.
In one preferred embodiment of the present invention, the position to be welded of workpiece is little with the error of the welding position of welder
In 3cm.
In above-described embodiment, mainly for based on straight weld, and weld seam has the workpiece of relatively high duplication.Workpiece size
And after error in mounting position superposition, it is less than the workpiece of 3cm.The important technological parameters of above-described embodiment is: scanning speed≤
250mm/s；Scanning error≤1mm；Data transfer cycle 0.33ms.
A kind of laser scanning welding method of robot, as in figure 2 it is shown, include:
Step S1, scans and exports the profile information of workpiece, and according to profile information output position information；
Step S2, according to positional information and default soldering angle, generates welding track；
Step S3, the source of welding current controls the starting the arc of welding gun according to positional information and receives arc, and robot enters according to welding track
Row laser scanning is welded.
In the present embodiment, the profile first passing through scanning workpiece obtains the profile information of workpiece, it may be determined that the shape of workpiece
Shape and the position of needs welding, need the positional information of the position of welding afterwards according to profile output, according to positional information generation
The welding track of robot welding, by controlling the starting the arc of welding gun and receiving arc enforcement welding, and robot is on welding track
The when of walking, can drive the welding gun being arranged in robot that workpiece is welded.
In the present embodiment, welding procedure preparation method: traditional welding systems uses and obtains the method for workpiece teaching in advance
Welding procedure.The present embodiment uses laser scanning surface of the work, it is thus achieved that all welding seam position information of workpiece coordinate set in advance
Angle of welding gun, automatically generates welding procedure.Welding track accuracy is high.The welding procedure of traditional welding systems, uses teaching to compile
Journey, after workpiece size and installation site change, the welding track of robot can be inconsistent with actual welds position, causes
It is partially welded.In the present embodiment, all can scan workpiece before welding every time, obtain the position while welding that workpiece is correct, generate corresponding weldering
Connect program.Avoid being partially welded.
To sum up, in technique scheme, every time workpiece weld before, use point source laser instrument to workpiece profile surface sweeping,
Obtain the position while welding that workpiece is correct.By laser controller, the positional information of workpiece is transferred to robot control cabinet, because of
This, no matter workpiece size changes or installation site change, and robot all the time can be in correct position welding, it is to avoid be partially welded.
By explanation and accompanying drawing, give the exemplary embodiments of the ad hoc structure of detailed description of the invention, based on present invention essence
God, also can make other conversion.Although foregoing invention proposes existing preferred embodiment, but, these contents are not intended as
Limitation.
For a person skilled in the art, after reading described above, various changes and modifications will be apparent to undoubtedly.
Therefore, appending claims should regard whole variations and modifications of true intention and the scope containing the present invention as.In power
The scope of any and all equivalence and content in the range of profit claim, be all considered as still belonging to the intent and scope of the invention.
Claims (10)
1. the laser scanning welder of a robot, it is characterised in that be applied to robot and the laser scanning of workpiece is welded
In connecing, described laser scanning welder includes:
Point source laser instrument, is installed in described robot, and described point source laser instrument is in order to scan and to export described workpiece
Profile information；
Laser controller, is connected with described point source laser instrument, in order to according to described profile information output position information；
Robot control cabinet, is connected with described laser controller, in order to according to described positional information and preset soldering angle,
Generate welding track；And described robot carries out laser scanning welding according to described welding track；
Welder, is connected with described robot control cabinet, closes on described robot and arranges, in order to according to described positional information pair
Described workpiece carries out laser scanning welding.
The laser scanning welder of robot the most according to claim 1, it is characterised in that described welder bag
Include:
The source of welding current, closes on described robot and arranges, and the described source of welding current is connected with described robot control cabinet；
Welding gun, is connected with the described source of welding current, the described source of welding current according to described positional information control described welding gun the starting the arc and
Receive arc.
The laser scanning welder of robot the most according to claim 2, it is characterised in that described robot control cabinet
It is connected with the described source of welding current by DeviceNet bus.
The laser scanning welder of robot the most according to claim 1, it is characterised in that described laser controller
It is connected with described robot control cabinet by analog quantity communication modes.
The laser scanning welder of robot the most according to claim 1, it is characterised in that described robot control cabinet
According to described welding track generate welding procedure, and utilize described welding procedure the laser scanning of described robot is welded into
Row controls.
The laser scanning welder of robot the most according to claim 1, it is characterised in that described point source laser instrument
Scanning speed less than or equal to 250mm/s.
The laser scanning welder of robot the most according to claim 1, it is characterised in that described point source laser instrument
Scanning error less than or equal to 1mm.
The laser scanning welder of robot the most according to claim 1, it is characterised in that described point source laser instrument
It is less than or equal to 0.33ms with the information period of described laser controller.
The laser scanning welder of robot the most according to claim 1, it is characterised in that described workpiece to be welded
Position is less than 3cm with the error of the welding position of described welder.
10. the laser scanning welding method of a robot, it is characterised in that including:
Step S1, scans and exports the profile information of described workpiece, and according to described profile information output position information；
Step S2, according to described positional information and default soldering angle, generates welding track；
Step S3, the source of welding current controls the starting the arc of welding gun according to described positional information and receives arc, and robot is according to described weldering
The mark that integrates with carries out laser scanning welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610563938.3A CN106180965A (en) | 2016-07-18 | 2016-07-18 | The laser scanning welder of a kind of robot and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610563938.3A CN106180965A (en) | 2016-07-18 | 2016-07-18 | The laser scanning welder of a kind of robot and method |
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| Publication Number | Publication Date |
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| CN106180965A true CN106180965A (en) | 2016-12-07 |
Family
ID=57492880
Family Applications (1)
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|---|---|---|---|
| CN201610563938.3A Pending CN106180965A (en) | 2016-07-18 | 2016-07-18 | The laser scanning welder of a kind of robot and method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732255A (en) * | 2019-03-15 | 2019-05-10 | 广东工业大学 | A kind of welding method and welding robot |
| CN110508906A (en) * | 2019-08-30 | 2019-11-29 | 上海发那科机器人有限公司 | A kind of method that robotic laser displacement sensor seeks position |
| CN110744175A (en) * | 2019-08-08 | 2020-02-04 | 上海发那科机器人有限公司 | Robot tracking welding system |
| CN111360370A (en) * | 2020-03-02 | 2020-07-03 | 中船第九设计研究院工程有限公司 | Welding robot welding seam positioning method for processing shipyard parts |
| CN116571845A (en) * | 2023-07-13 | 2023-08-11 | 广东省特种设备检测研究院顺德检测院 | Weld joint tracking detection robot and weld joint tracking method thereof |
| WO2024045120A1 (en) * | 2022-09-01 | 2024-03-07 | Squaredog Robotics Limited | System and method for self-adjustable welding |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732255A (en) * | 2019-03-15 | 2019-05-10 | 广东工业大学 | A kind of welding method and welding robot |
| CN110744175A (en) * | 2019-08-08 | 2020-02-04 | 上海发那科机器人有限公司 | Robot tracking welding system |
| CN110508906A (en) * | 2019-08-30 | 2019-11-29 | 上海发那科机器人有限公司 | A kind of method that robotic laser displacement sensor seeks position |
| CN111360370A (en) * | 2020-03-02 | 2020-07-03 | 中船第九设计研究院工程有限公司 | Welding robot welding seam positioning method for processing shipyard parts |
| WO2024045120A1 (en) * | 2022-09-01 | 2024-03-07 | Squaredog Robotics Limited | System and method for self-adjustable welding |
| CN116571845A (en) * | 2023-07-13 | 2023-08-11 | 广东省特种设备检测研究院顺德检测院 | Weld joint tracking detection robot and weld joint tracking method thereof |
| CN116571845B (en) * | 2023-07-13 | 2023-09-26 | 广东省特种设备检测研究院顺德检测院 | Weld joint tracking detection robot and weld joint tracking method thereof |
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Application publication date: 20161207 |