CN109551161A - External PLC positioner system and welding robot speeds match method - Google Patents
External PLC positioner system and welding robot speeds match method Download PDFInfo
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- CN109551161A CN109551161A CN201910045303.8A CN201910045303A CN109551161A CN 109551161 A CN109551161 A CN 109551161A CN 201910045303 A CN201910045303 A CN 201910045303A CN 109551161 A CN109551161 A CN 109551161A
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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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
- B23K37/0252—Steering means
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses external PLC positioner systems and welding robot speeds match method, including PLC positioner system, driven PLC positioner system, automatic welding machine people, soldered helical member；Soldered helical member is mounted between PLC positioner system and driven PLC positioner system, the automatic welding machine people includes welding gun, is soldered helical member rotation, automatic welding machine people moves along soldered helical member axial direction with welding gun and completes spiral wire bonding；Its specific welding includes the following steps: that (1) obtains welding gun speed V by given welding speed V1:(2) PLC command pulse frequency f is determined0With the relationship of welding speed V:By above two step, the relationship of welding gun speed and speed of welding and the matching relationship of PLC command pulse frequency and speed of welding can be obtained, and then PLC positioner system, welding robot weld under reasonable welding parameter.Human weld is substituted using welding robot, guarantees that welding precision is high, applicability is wider.
Description
Technical field
The present invention relates to a kind of external PLC positioner system and the matched methods of robot speed, are applied to robot certainly
Dynamicization welding field；It mainly can be to the speed of the spiral automatic welding of various sizes cylindrical body or other rotary body surfaces
Match, improves welding quality and speed of welding.
Background technique
Helical structure part is widely used in crushing translator unit, the tunnel of the screw propulsion of ship, sewage treatment, shield machine
Tunnel the fields such as dredging, helical structure feeder, the huge market demand, so the welding quality and efficiency of helical structure part seem
It is particularly important.
Present spiral welded field is typically due to human weld and not can guarantee weldering substantially by the way of human weld
It is very different to connect speed, different welder's welding technique levels；The large labor intensity at scene；Due to worker can not continuous work, quilt
Speed ratio, which is matched, causes welding effect bad, low compared to the welding efficiency of automation equipment；There is production safety hidden danger；Defect rate
Height, welding quality cannot well guarantee.
Summary of the invention
The object of the present invention is to provide the angular speed and welding robot of outside PLC positioner system when a kind of spiral welded
Linear velocity matching, welding robot linear velocity and the matched method of welding frequency, can solve one in above-mentioned technical problem
It is a or multiple.
In order to achieve the above object, technical solution proposed by the present invention is as follows:
External PLC positioner system and welding robot speeds match method, including PLC positioner system, driven PLC become
Position machine system, is soldered helical member at automatic welding machine people；Soldered helical member be mounted on PLC positioner system with it is driven
Between PLC positioner system, the automatic welding machine people includes welding gun, is soldered helical member rotation, automatic welding machine
Device people moves along soldered helical member axial direction with welding gun and completes spiral wire bonding；Its specific welding includes following step
It is rapid:
(1) welding gun speed V is obtained by given welding speed V1；
Firstly, speed of welding is V and welding gun speed V1Between have following relationship:Wherein T is welding
Time, LABWeld linear distance, SABWeld spiral bar length --- i.e. weld length；
Weld linear distance:Wherein the coordinate of welding starting point is
(x0,y0,z0)；Wherein the coordinate of welding end point is (x1,y1,z1)；
Weld spiral bar length:Wherein n2 π r is the path length that n circle is moved around cylindrical circumference
Degree；The n spiral number of plies, n ∈ N*；
To sum up, the V of speed of welding and welding gun speed V1With following relationship:
(2) PLC command pulse frequency f is determined0With welding speed V relationship:
Firstly, obtaining PLC positioner system linear velocity V by PLC positioner system rotational speed omega0With turning for servo motor
Fast N0Relationship:
Due to and PLC positioner system rotational speed omega and PLC positioner system linear velocity V0With following relationship:
The revolving speed N of PLC positioner system rotational speed omega and servo motor0There is following relationship: the π of ω=2 N again0；Therefore
Wherein PLC positioner system linear velocity V0There is following relationship with welding speed V:
V=V1+V0；Wherein:
Therefore,
Therefore, PLC positioner system linear velocity V0With the revolving speed N of servo motor0Relationship:
And PLC command pulse frequency f0With the revolving speed N of servo motor0With following relationship；
Wherein:For electronic gear transmission ratio；
To sum up,
Therefore by above two step, welding gun speed V can be obtained1Arteries and veins is instructed with the relationship and PLC of welding speed V
Rush frequency f0With the matching relationship of welding speed V, and then PLC positioner system, welding robot are under reasonable welding parameter
Welding.
The solution have the advantages that:
The calculation of this method can make robot and PLC positioner system in the case where obtaining simple known quantity
Match, higher precision and preferable stability can be obtained；Robot welding is effectively realized instead of human weld, is realized certainly
Dynamicization welding production, improves production efficiency；Reduce spiral bar measurement error.
To sum up calculation method of the present invention is simple, and precision is high, and stability is good, can add for different workpieces diameter length equidimension
Work, applicability are wider.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.
In the accompanying drawings:
Fig. 1 is general structure schematic diagram of the invention；
Fig. 2 is the schematic view of the front view of Fig. 1；
Fig. 3 is the left view structural representation of weldment in Fig. 2；
Fig. 4 is the right side structural representation of weldment in Fig. 2；
Fig. 5 is welding linear distance LABWith weld length SABRelation schematic diagram；
Fig. 6 is logic diagram of the invention；
Fig. 7 is servo motor and pulse frequency relation schematic diagram；
Wherein, the above drawings include the following reference numerals:
1 PLC positioner system, 2 welding guns, 4 PLC positioner system driven members, 3 soldered helical members weld starting point
A, welding end point B.
Specific embodiment
Come that the present invention will be described in detail below in conjunction with attached drawing and specific embodiment, illustrative examples therein and says
It is bright to be only used to explain the present invention, but it is not intended as inappropriate limitation of the present invention.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Fig. 1-Fig. 6；External PLC positioner system and welding robot speeds match method, including PLC are conjugated
Machine system, automatic welding machine people, is soldered helical member at driven PLC positioner system；Soldered helical member is mounted on PLC
Between positioner system and driven PLC positioner system, the automatic welding machine people includes welding gun, is soldered helical member rotation
Turn, automatic welding machine people moves along soldered helical member axial direction with welding gun and completes spiral wire bonding；It is specific
Welding includes the following steps:
(1) welding gun speed V is obtained by given welding speed V1；
Firstly, speed of welding is V and welding gun speed V1Between have following relationship:Wherein T is welding
Time, LABWeld linear distance, SABWeld spiral bar length --- i.e. weld length；
Weld linear distance:Wherein the coordinate of welding starting point is
(x0,y0,z0)；Wherein the coordinate of welding end point is (x1,y1,z1)；
Weld spiral bar length:Wherein n2 π r is around cylinder (soldered helical member) circumference
Move the path length of n circle；The n spiral number of plies, n ∈ N*；
To sum up, the V of speed of welding and welding gun speed V1With following relationship:
In relation above formula, radius of spin r (mm), spiral number of plies n (n ∈ N*), pi, welding speed V (mm), A
Point arrives the welding linear distance L of B pointAB(mm), welding starting point A point coordinate is (x0,y0,z0)；The coordinate of welding end point B point is
(x1,y1,z1)；It is all known quantity；
(2) PLC command pulse frequency f is determined0With welding speed V relationship:
Firstly, obtaining PLC positioner system linear velocity V by PLC positioner system rotational speed omega0With turning for servo motor
Fast N0Relationship:
Due to and PLC positioner system rotational speed omega and PLC positioner system linear velocity V0With following relationship:
The revolving speed N of PLC positioner system rotational speed omega and servo motor0There is following relationship: the π of ω=2 N again0；Therefore
Wherein PLC positioner system linear velocity V0There is following relationship with welding speed V:
V=V1+V0；Wherein:
Therefore,
Therefore, PLC positioner system linear velocity V0With the revolving speed N of servo motor0Relationship:
And PLC command pulse frequency f0With the revolving speed N of servo motor0With following relationship；
Wherein:For electronic gear transmission ratio；
To sum up,
Therefore by above two step, welding gun speed V can be obtained1Arteries and veins is instructed with the relationship and PLC of welding speed V
Rush frequency f0The matching relationship of (when using differential linear driver) with welding speed V, and then PLC positioner system, bonding machine
Device people welds under reasonable welding parameter.
As shown in fig. 7, speed when servo motor is with command pulse and equal feedback pulse is run.Therefore, command pulse
Frequency and feedback pulse frequency are equal.Therefore there is relational expression:Wherein, CDV electronic gear (refers to
Enable pulse multiplier molecule), CMX electronic gear (command pulse multiplier denominator), Pt (pluses/rev i.e. feedback pulse number) mesh；Root
According to the available PLC command pulse frequency of (c) formula
Concrete example acquisition CDV electronic gear (command pulse multiplier molecule) below, (command pulse multiplies CMX electronic gear
Number denominators) parameter mode,
By taking certain motor as an example: it is with 3000r/min (N0) speed operation, feedback pulse number P t=262114 sets first
Electronic gear proportion(initial parameter value) is 1, then:
But since the maximum command pulse frequency values of differential linear drive system are 1Mpps (1Mpps=
1000000pps), therefore for general-purpose servo, 13107200pps cannot be inputted.
To be lower than 1Mpps with the servo motor and instruction frequency that 3000r/min speed is run, need to change electronic gear
Parameter is set, takes f at this time0=1, electronic gear transmission ratio:
(most simple ratio of integers, it is reducible
The ratio divided has no effect on use).
Therefore effective electronic gear transmission ratio can be obtained by (c) formula, then (a) obtained by above two step
Formula, (b) formula can effectively match welding gun speed V1With PLC positioner system rotational speed omega and welding gun speed V1It is instructed with PLC
Pulse frequency f0。
By above (a) formula, (b) formula, for spiral welded, it is only necessary to according to the actual needs and actual parameter
Rationally it is arranged, the location arrangements freedom degree of welding gun in the welding process can be made big, is substituted using robot welding artificial
Welding, the processing cost of excellent, the effective attenuating spiral welded of production efficiency original text, welding quality, especially suitable for large batch of spiral shell
Revolve welding production；More safe and reliable, reduction labor intensity.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (1)
1. outside PLC positioner system and welding robot speeds match method, it is characterised in that: including PLC positioner system,
Driven PLC positioner system, is soldered helical member at automatic welding machine people；Soldered helical member is mounted on PLC positioner system
Between system and driven PLC positioner system, the automatic welding machine people includes welding gun, is soldered helical member and rotates, is automatic
Change welding robot and moves completion spiral wire bonding along soldered helical member axial direction with welding gun；Specifically welding includes for it
Following steps:
(1) welding gun speed V is obtained by given welding speed V1；
Firstly, speed of welding is V and welding gun speed V1Between have following relationship:Wherein T is weld interval,
LABWeld linear distance, SABWeld spiral bar length --- i.e. weld length；
Weld linear distance:Wherein the coordinate of welding starting point is (x0,y0,
z0)；Wherein the coordinate of welding end point is (x1,y1,z1)；
Weld spiral bar length:Wherein n2 π r is the path length that n circle is moved around cylindrical circumference；n
The spiral number of plies, n ∈ N*；
To sum up, the V of speed of welding and welding gun speed V1With following relationship:
(2) PLC command pulse frequency f is determined0With welding speed V relationship:
Firstly, obtaining PLC positioner system linear velocity V by PLC positioner system rotational speed omega0With the revolving speed N of servo motor0's
Relationship:
Due to and PLC positioner system rotational speed omega and PLC positioner system linear velocity V0With following relationship:PLC becomes
The revolving speed N of position machine system rotational speed omega and servo motor0There is following relationship: the π of ω=2 N again0；Therefore
Wherein PLC positioner system linear velocity V0There is following relationship with welding speed V:
V=V1+V0；Wherein:
Therefore,
Therefore, PLC positioner system linear velocity V0With the revolving speed N of servo motor0Relationship:
And PLC command pulse frequency f0With the revolving speed N of servo motor0With following relationship；
Wherein:For electronic gear transmission ratio；
To sum up,
Therefore by above two step, welding gun speed V can be obtained1With the relationship and PLC command pulse frequency of welding speed V
f0With the matching relationship of welding speed V, and then PLC positioner system, welding robot weld under reasonable welding parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910045303.8A CN109551161B (en) | 2019-01-17 | 2019-01-17 | Speed matching method for external PLC (programmable logic controller) positioner system and welding robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910045303.8A CN109551161B (en) | 2019-01-17 | 2019-01-17 | Speed matching method for external PLC (programmable logic controller) positioner system and welding robot |
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| CN109551161A true CN109551161A (en) | 2019-04-02 |
| CN109551161B CN109551161B (en) | 2020-07-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112548380A (en) * | 2020-12-03 | 2021-03-26 | 广东斯铠工业自动化科技有限公司 | Automatic welding device and method for shield machine screw shaft |
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| CN108127217A (en) * | 2018-01-16 | 2018-06-08 | 中国计量大学 | Spiral heat exchanger edge weld guides the welder and method of welding automatically |
| CN108890184A (en) * | 2018-08-22 | 2018-11-27 | 合肥工业大学 | Coordination welding control method based on discrete six-joint robot and two axis positioners |
| CN109015652A (en) * | 2018-08-29 | 2018-12-18 | 苏州艾利特机器人有限公司 | A kind of control method of robot and the positioner coordinated movement of various economic factors |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06320267A (en) * | 1993-05-13 | 1994-11-22 | Kawasaki Steel Corp | Welding equipment for spiral rib on inner surface of steel pipe |
| CN102513751A (en) * | 2011-12-31 | 2012-06-27 | 长春大正博凯汽车设备有限公司 | Welding robot and welding method thereof |
| JP2016175117A (en) * | 2015-03-23 | 2016-10-06 | 京葉リース株式会社 | Welding method and device therefor |
| CN106217375A (en) * | 2016-08-26 | 2016-12-14 | 广州市银三环机械有限公司 | The robot welding system that a kind of welding machine and robot match |
| CN107096979A (en) * | 2017-06-10 | 2017-08-29 | 中国人民解放军装甲兵工程学院 | A kind of arc-welding of Shaft of Titanium Alloy class wear-out part increases material reproducing method |
| CN108127217A (en) * | 2018-01-16 | 2018-06-08 | 中国计量大学 | Spiral heat exchanger edge weld guides the welder and method of welding automatically |
| CN108890184A (en) * | 2018-08-22 | 2018-11-27 | 合肥工业大学 | Coordination welding control method based on discrete six-joint robot and two axis positioners |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112548380A (en) * | 2020-12-03 | 2021-03-26 | 广东斯铠工业自动化科技有限公司 | Automatic welding device and method for shield machine screw shaft |
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