CN110640261A - Robot overlaying operation method - Google Patents

Robot overlaying operation method Download PDF

Info

Publication number
CN110640261A
CN110640261A CN201910921265.8A CN201910921265A CN110640261A CN 110640261 A CN110640261 A CN 110640261A CN 201910921265 A CN201910921265 A CN 201910921265A CN 110640261 A CN110640261 A CN 110640261A
Authority
CN
China
Prior art keywords
robot
surfacing
workpiece
coating body
overlaying
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910921265.8A
Other languages
Chinese (zh)
Inventor
陈波
张燕彤
刘景亚
刘向东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CISDI Engineering Co Ltd
CISDI Technology Research Center Co Ltd
Original Assignee
CISDI Engineering Co Ltd
CISDI Technology Research Center Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CISDI Engineering Co Ltd, CISDI Technology Research Center Co Ltd filed Critical CISDI Engineering Co Ltd
Priority to CN201910921265.8A priority Critical patent/CN110640261A/en
Publication of CN110640261A publication Critical patent/CN110640261A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/04Welding for other purposes than joining, e.g. built-up welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/24Features related to electrodes
    • B23K9/28Supporting devices for electrodes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/32Accessories
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a robot surfacing operation method, which is used for solving the problem that the robot surfacing operation in the prior art can not realize the triangular and trapezoidal surfacing with low cost. The invention provides a robot surfacing operation method, which comprises the following steps: selecting a surfacing process parameter, and determining the cross-sectional shape of a robot surfacing one coating body under the process parameter; calibrating a workpiece coordinate system, converting a reference coordinate system from a robot base coordinate system into the workpiece coordinate system, teaching arc starting points and arc ending points on a surfacing plane, and determining parameters of coordinates of a first coating body; generating a motion path of each layer of the robot overlaying according to the shape of the surface of the workpiece overlaying and the cross section shape of each coating by taking the coordinate parameter of the first coating as a reference; and preheating the workpiece, and implementing overlaying by the robot according to the generated motion path. Has the characteristic of low cost.

Description

Robot overlaying operation method
Technical Field
The invention relates to the field of robot welding, in particular to a robot surfacing operation method.
Background
For steel workpieces with friction pairs, in order to prolong the service life of the workpieces and increase the wear resistance and corrosion resistance of the workpieces, aluminum bronze or stainless steel needs to be deposited on the contact surfaces of the workpieces in a surfacing mode. The manual surfacing operation has high labor intensity and severe working environment, and particularly has great influence on the health of workers due to the hazards of high temperature, metal vapor, heavy metal dust and the like generated in the process of brazing, so that a robot is required to replace manpower to realize automatic surfacing.
The traditional method of robot surfacing is manual teaching reproduction, and the method has the defect of large workload; when the robot is programmed off-line to realize the overlaying welding, a three-dimensional model of the workpiece is required, and the use is complex. Aiming at the surfacing of the surface of a rotating part, special machines appear in recent years, and the surfacing efficiency is improved to a certain extent. However, the existing method has high cost and low flexibility, can not realize the surfacing of triangular surfaces and trapezoidal surfaces, and can not be applied to small-batch workpieces positioned without clamping.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a robot surfacing operation method, which is used for solving the problem that the robot surfacing operation in the prior art cannot realize triangular and trapezoidal surfacing at low cost.
To achieve the above and other related objects, the present invention provides a robot surfacing welding operation method, including:
selecting a surfacing process parameter, and determining the cross-sectional size of a robot surfacing one-pass coating body under the process parameter;
teaching arc starting points and arc ending points on a surfacing plane by taking a workpiece coordinate system as a reference coordinate system, and determining coordinate parameters of a first coating body;
generating a motion path of each layer of the robot surfacing according to the shape of the surfacing surface of the workpiece and the cross-sectional size of the first coating body by taking the coordinate parameter of the first coating body as a reference;
and preheating the workpiece, and implementing overlaying by the robot according to the generated motion path.
A robot surfacing work method includes:
selecting a surfacing process parameter, and determining the cross-sectional size of a robot surfacing one-pass coating body under the process parameter;
the robot coordinate system is used as a reference coordinate system, arc starting points and arc ending points on a surfacing plane are taught, and coordinate parameters of a first coating body are determined;
generating a motion path of each layer of the robot surfacing according to the shape of the surfacing surface of the workpiece and the cross-sectional size of the first coating body by taking the coordinate parameter of the first coating body as a reference;
converting the robot coordinate system into a workpiece coordinate system;
and preheating the workpiece, and implementing overlaying by the robot according to the generated motion path.
Optionally, the process parameters include current, voltage and moving speed.
Optionally, the determining the coordinate parameter of the first pass coating body includes determining a length l of the first pass coating body;
the method for generating the motion path of each layer of the robot overlaying comprises the steps of determining the offset of the lengths of two adjacent coating bodies according to the shape of the overlaying surface of a workpiece by taking the coordinate parameter of a first coating body as a reference, determining the offset of the lengths of the median lines of the two adjacent coating bodies according to the median line width w of the cross section of the first coating body, and determining the offset between the layers according to the height h of the cross section of the first coating body.
Optionally, the total thickness of the workpiece to be subjected to surfacing welding is H, the number of layers of the workpiece to be subjected to surfacing welding is M, wherein M is H/H;
the total width of the surfacing surface of the workpiece is W, and the number of tracks to be surfaced on each layer of the workpiece is N, wherein N is W/W.
Optionally, the shape of each layer to be formed by surfacing on the surfacing surface of the workpiece is rectangular, trapezoidal or triangular;
an x axis in a workpiece coordinate system is taken as the length direction of each bead welding of the coating body on the workpiece, a y axis in the workpiece coordinate system is taken as the length direction of a median line of the bead and the track of the coating body, and a z axis in the workpiece coordinate system is taken as the stacking direction of layers of the coating body;
the weld deposit path of the first coating is ab, where a (x)a,ya,za),b(xb,yb,zb);
The offset of the starting point of each coating overlaying relative to the previous pass in the x-axis direction is as follows: x is the number ofaW × cot α, and the offset in the y-axis direction is yaW; the offset of the end point of each coating body overlaying relative to the previous coating body in the x-axis direction is as follows: x is the number ofbWith an offset in the y-axis direction of y ═ w × cot βbZ is an offset in the z-axis directiona=h,zb=h, alpha and beta are two included angles between two sides of a rectangle, a trapezoid or a triangle and the x axis.
Optionally, the robot includes two layers of cycles, the inner layer of cycles receiving lane-to-lane offsets, and the outer layer of cycles receiving layer-to-layer offsets.
Optionally, the method further includes the following steps before teaching an arc starting point and an arc ending point on the surfacing plane:
and spot welding an arc striking plate and an arc retracting plate on the workpiece.
Optionally, the aluminum bronze is welded on the workpiece in a surfacing mode, and the temperature range of the preheated workpiece is 180-220 ℃.
Optionally, the robot includes a temperature sensor, the temperature sensor is used for acquiring the temperature of the workpiece, when the temperature of the workpiece exceeds 350 ℃, the surfacing is suspended and naturally cooled to 180-.
As described above, the robot overlay welding work method according to the present invention has at least the following advantageous effects:
the method is simple to operate, and only needs to calibrate the workpiece coordinate system and teach the first path; the invention does not need other auxiliary equipment, has lower cost, is easy to realize the automation of surfacing operation, can be calculated according to specific requirements particularly when the surface of a workpiece needs to be surfaced into a trapezoid or a triangle, and can realize multiple shapes and sizes, realize multiple purposes by one machine and effectively save the cost compared with the condition that a special machine can only weld one shape.
Drawings
Fig. 1 is a schematic flow chart of a robot surfacing operation method according to the present invention.
FIG. 2 is a schematic illustration of a calculated weld overlay offset for a robotic weld overlay operation method of the present invention.
FIG. 3 is a schematic view of a multi-layer, multi-pass weld deposit trajectory of the present invention;
fig. 4 shows an object effect diagram of the surfacing welding position product of the invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1 to 4. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The following examples are for illustrative purposes only. The various embodiments may be combined, and are not limited to what is presented in the following single embodiment.
In the embodiment, referring to fig. 1 to 3, the present invention provides a robot overlay welding operation method, including:
s1, selecting surfacing process parameters, and determining the cross-sectional dimension of a robot surfacing one coating body under the process parameters, wherein the process parameters can include current, voltage and moving speed, when the moving speed is high, the cross-sectional area of the coating body is small, and when the moving speed is low, the cross-sectional area of the coating body is large; the median line width of the cross-sectional shape of each coating body is w, the cross-sectional shape of each coating body is a shape with a small top and a large bottom due to the gravity during the build-up welding due to the characteristics of the build-up welding, the median line width w of the cross-section of each coating body is taken as the median line length in the width direction of the coating body, and the height of the cross-section of each coating body is h. Because the rectangle is a special trapezoid, and the trapezoid is a part of the triangle, the model of the cross-sectional shape of the coating body is represented by the triangle;
s2, calibrating a workpiece coordinate system, converting a reference coordinate system from a robot base coordinate system into a workpiece coordinate system, teaching arc starting points and arc ending points on a surfacing plane, and determining parameters of coordinates of a first coating body;
s3, generating a motion path of each layer of the robot overlaying according to the shape of the overlaying surface of the workpiece and the section size of each coating by taking the coordinate parameter of the first coating as a reference;
and S4, preheating the workpiece, and performing overlaying by the robot according to the generated motion path.
According to the scheme, only a workpiece coordinate system needs to be calibrated, and a first path is taught; the invention does not need other auxiliary equipment, has lower cost, is easy to realize the automation of surfacing operation, can be calculated according to specific requirements particularly when the surface of a workpiece needs to be surfaced into a trapezoid or a triangle, can realize various shapes and sizes, realizes multiple purposes by one machine and effectively saves the cost compared with the condition that a special machine can only weld one shape. Compared with the condition that a common robot can only be in a rectangular shape by surfacing, the scheme can adapt to rectangles, trapezoids and triangles and is stronger in function. Except that the first overlaying welding body needs to be taught, the first overlaying welding body is obtained through calculation, the consistency is good, errors are reduced, and therefore the welding quality is higher, and the specific effect can be shown in fig. 4.
In the embodiment, referring to fig. 2 to 3, the present invention provides a robot overlay welding operation method, including:
s1, selecting surfacing process parameters, and determining the cross-sectional dimension of a robot surfacing one coating body under the process parameters, wherein the process parameters can include current, voltage and moving speed, when the moving speed is high, the cross-sectional area of the coating body is small, and when the moving speed is low, the cross-sectional area of the coating body is large; the median line width of the cross-sectional shape of each coating body is w, the cross-sectional shape of each coating body is a shape with a small top and a large bottom due to the gravity during the build-up welding due to the characteristics of the build-up welding, the median line width w of the cross-section of each coating body is taken as the median line length in the width direction of the coating body, and the height of the cross-section of each coating body is h. Because the rectangle is a special trapezoid, and the trapezoid is a part of the triangle, the model of the cross-sectional shape of the coating body is represented by the triangle;
s2, teaching an arc starting point and an arc ending point on a surfacing plane by taking a robot base coordinate system as a reference coordinate system, and determining parameters of coordinates of a first coating body;
s3, generating a motion path of each layer of the robot overlaying according to the shape of the overlaying surface of the workpiece and the section size of each coating by taking the coordinate parameter of the first coating as a reference;
s4, converting the reference coordinate system from the robot base coordinate system to a workpiece coordinate system;
and S5, preheating the workpiece, and performing overlaying by the robot according to the generated motion path.
According to the scheme, only a workpiece coordinate system needs to be calibrated, and a first path is taught; the invention does not need other auxiliary equipment, has lower cost, is easy to realize the automation of surfacing operation, can be calculated according to specific requirements particularly when the surface of a workpiece needs to be surfaced into a trapezoid or a triangle, can realize various shapes and sizes, realizes multiple purposes by one machine and effectively saves the cost compared with the condition that a special machine can only weld one shape. Compared with the condition that a common robot can only be in a rectangular shape by surfacing, the scheme can adapt to rectangles, trapezoids and triangles and is stronger in function. Except that the first overlaying welding body needs to be taught, the first overlaying welding body is obtained through calculation, the consistency is good, errors are reduced, and therefore the welding quality is higher, and the specific effect can be shown in fig. 4.
In this embodiment, referring to fig. 1 to 3, in S2, specifically, optionally, a motion path of each layer of each of the robot weld deposits is generated, based on the first coating body, an offset of the length of two adjacent coating bodies is determined according to the shape of the surface of the workpiece weld deposit, an offset of the length of a median line of the two adjacent coating bodies is determined according to w, and w is the offset of the length of the median line, so that the two adjacent coating bodies can be connected in order, continuity can be maintained, and transition crossing between the two adjacent coating bodies is avoided; and determining the offset between layers according to h.
In this embodiment, please refer to fig. 1 to fig. 3, optionally, the total thickness of the workpiece surfacing is H, the number of layers of the workpiece to be surfaced is M, where M is H/H; the total width of the surfacing surface of the workpiece is W, and the number of tracks to be surfaced on each layer of the workpiece is N, wherein N is W/W.
In this embodiment, referring to fig. 1 to 3, optionally, each layer on the surface of the workpiece needs to be formed into a rectangular, trapezoidal or triangular shape by overlaying; that is, the weld overlay is rectangular, trapezoidal, or triangular on a horizontal plane formed by xy axes, and when the weld overlay is rectangular, the length of each coating body on the x axis is the same, and when the weld overlay is trapezoidal or triangular, the length of each coating body on the x axis is different; an x axis in a workpiece coordinate system is taken as the length direction of each bead welding of the coating body on the workpiece, a y axis in the workpiece coordinate system is taken as the length direction of a median line of the bead and the track of the coating body, and a z axis in the workpiece coordinate system is taken as the stacking direction of layers of the coating body; of the first coated bodyThe weld deposit path is ab, where a (x)a,ya,za),b(xb,yb,zb) (ii) a The offset of the starting point of each overlay welding relative to the previous welding in the x-axis direction is as follows: x is the number ofaW × cot α, and the offset in the y-axis direction is yaW; the offset of the end point of each overlay weld relative to the previous weld in the x-axis direction is: x is the number ofbWith an offset in the y-axis direction of y ═ w × cot βbZ is an offset in the z-axis directiona=h,zb=h, when the number of the layers is one, the offset is not needed on the z axis, and when the number of the layers is two or more, the offset exists; offset xa、xb ya、ybAn offset set into the robot control system; x is the number ofaAnd xbWhen the absolute values of y are equal, yaAnd ybWhen the absolute values of the two weld faces are equal, the weld faces are in rectangular, isosceles trapezoid and isosceles triangle shapes, namely alpha and beta are equal; alpha and beta are two included angles between two sides of a rectangle, a trapezoid or a triangle and the x axis. When the welding is needed to be welded into a trapezoid with different isosceles angles and a triangle with different isosceles angles, the correspondence can be realized when the alpha and the beta are not equal. The formation of one overlaying welding path is a path from an arc starting point to an arc receiving point, and the overlaying welding path can be determined only by determining the offset of the arc starting point and the arc receiving point. In fig. 3, the z axis is the direction from layer to layer, each layer of overlay welding in fig. 3 is trapezoidal, in fig. 3, the side where the x axis and the y axis of the trapezoid are located is a right-angle side, that is, a plurality of arc starting points or arc ending points on the y axis do not need to be shifted on the x axis compared with the previous coating body, only the y axis needs to be shifted compared with the previous coating body, and on the oblique side of the trapezoid, not only the x axis needs to have a shift amount compared with the previous coating body, but also the y axis needs to have a shift amount compared with the previous coating body.
In this embodiment, the robot includes two levels of cycles, the inner level receives lane-to-lane offsets, and the outer level receives layer-to-layer offsets. Through the control of the mode, the efficiency is higher, and the speed of finishing the surfacing is higher.
In this embodiment, in order to guarantee the quality of work piece build-up welding, still include before teaching arc starting point, receipts arc point on the build-up welding plane: and spot welding an arc starting plate and an arc closing plate on the workpiece, specifically, spot welding the arc starting plate before an arc starting point of the surfacing welding along a path of the surfacing welding of the workpiece, and spot welding the arc closing plate after the arc closing point of the surfacing welding.
In this embodiment, for example, the aluminum bronze is deposited on the workpiece, and the temperature range of the workpiece to be preheated is 180-. Optionally, the robot includes a temperature sensor, the temperature sensor is used for acquiring the temperature of the workpiece, when the temperature of the workpiece exceeds 350 ℃, the surfacing is suspended and naturally cooled to 180-. The quality of surfacing is provided through preheating, temperature monitoring is carried out through a temperature sensor, and surfacing is carried out within a reasonable temperature range, for example, the temperature is acquired once every 10 times of surfacing, and the quality uniformity among coating bodies of each surfacing is ensured; the internal structure of the overlaying body can be effectively guaranteed to be reliable by adopting natural cooling, and if active cooling measures such as air cooling and the like are adopted, the internal structure of the overlaying body can be changed, and the overlaying quality is influenced.
In conclusion, the method is simple to operate, and only the workpiece coordinate system needs to be calibrated to teach the first path; the invention does not need other auxiliary equipment, has lower cost, is easy to realize the automation of surfacing operation, can be calculated according to specific requirements particularly when the surface of a workpiece needs to be surfaced into a trapezoid or a triangle, can realize various shapes and sizes, realizes multiple purposes by one machine and effectively saves the cost compared with the condition that a special machine can only weld one shape. Except that the first overlaying welding body needs teaching, the first overlaying welding body is obtained through calculation, the consistency is good, errors are reduced, and therefore higher welding quality is achieved. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (10)

1. A robot surfacing work method is characterized by comprising:
selecting a surfacing process parameter, and determining the cross-sectional size of a robot surfacing one-pass coating body under the process parameter;
teaching arc starting points and arc ending points on a surfacing plane by taking a workpiece coordinate system as a reference coordinate system, and determining coordinate parameters of a first coating body;
generating a motion path of each layer of the robot surfacing according to the shape of the surfacing surface of the workpiece and the cross-sectional size of the first coating body by taking the coordinate parameter of the first coating body as a reference;
and preheating the workpiece, and implementing overlaying by the robot according to the generated motion path.
2. A robot surfacing work method is characterized by comprising:
selecting a surfacing process parameter, and determining the cross-sectional size of a robot surfacing one-pass coating body under the process parameter;
the robot coordinate system is used as a reference coordinate system, arc starting points and arc ending points on a surfacing plane are taught, and coordinate parameters of a first coating body are determined;
generating a motion path of each layer of the robot surfacing according to the shape of the surfacing surface of the workpiece and the cross-sectional size of the first coating body by taking the coordinate parameter of the first coating body as a reference;
converting the robot coordinate system into a workpiece coordinate system;
and preheating the workpiece, and implementing overlaying by the robot according to the generated motion path.
3. The robot overlaying work method according to claim 1 or 2, wherein: the process parameters include current, voltage, and moving speed.
4. The robot overlaying work method according to claim 1 or 2, wherein: the determining the coordinate parameters of the first pass coating body comprises determining the length l of the first pass coating body;
the method for generating the motion path of each layer of the robot overlaying comprises the steps of determining the offset of the lengths of two adjacent coating bodies according to the shape of the overlaying surface of a workpiece by taking the coordinate parameter of a first coating body as a reference, determining the offset of the lengths of the median lines of the two adjacent coating bodies according to the median line width w of the cross section of the first coating body, and determining the offset between the layers according to the height h of the cross section of the first coating body.
5. The robot overlaying work method according to claim 4, wherein: the total thickness of the workpiece to be subjected to surfacing welding is H, the number of layers of the workpiece to be subjected to surfacing welding is M, wherein M is H/H;
the total width of the surfacing surface of the workpiece is W, and the number of tracks to be surfaced on each layer of the workpiece is N, wherein N is W/W.
6. The robot overlaying work method according to claim 4, wherein:
each layer of the surfacing surface of the workpiece to be surfaced is rectangular, trapezoidal or triangular;
an x axis in a workpiece coordinate system is taken as the length direction of each bead welding of the coating body on the workpiece, a y axis in the workpiece coordinate system is taken as the length direction of a median line of the bead and the track of the coating body, and a z axis in the workpiece coordinate system is taken as the stacking direction of layers of the coating body;
the weld deposit path of the first coating is ab, where a (x)a,ya,za),b(xb,yb,zb);
The offset of the starting point of each coating overlaying relative to the previous pass in the x-axis direction is as follows: x is the number ofaW × cot α, and the offset in the y-axis direction is yaW; the offset of the end point of each coating body overlaying relative to the previous coating body in the x-axis direction is as follows: x is the number ofbWith an offset in the y-axis direction of y ═ w × cot βbW; at zAn offset amount in the axial direction of za=h,zbAnd h, the alpha and the beta are two included angles between two sides of a rectangle, a trapezoid or a triangle and the x axis.
7. The robot overlaying work method according to claim 4, wherein: the robot comprises two layers of circulation, wherein the inner layer of circulation receives the offset of the channel and the outer layer of circulation.
8. The robot build-up welding work method according to claim 1, characterized in that: the method also comprises the following steps before teaching an arc starting point and an arc ending point on a surfacing plane:
and spot welding an arc striking plate and an arc retracting plate on the workpiece.
9. The robot build-up welding work method according to claim 1, characterized in that: and overlaying aluminum bronze on the workpiece, wherein the temperature range of the preheated workpiece is 180-220 ℃.
10. The robot overlay welding work method according to claim 9, characterized in that: the robot comprises a temperature sensor, wherein the temperature sensor is used for acquiring the temperature of a workpiece, when the temperature of the workpiece exceeds 350 ℃, surfacing is suspended and naturally cooled to 180-200 ℃, and then surfacing is started.
CN201910921265.8A 2019-09-27 2019-09-27 Robot overlaying operation method Pending CN110640261A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910921265.8A CN110640261A (en) 2019-09-27 2019-09-27 Robot overlaying operation method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910921265.8A CN110640261A (en) 2019-09-27 2019-09-27 Robot overlaying operation method

Publications (1)

Publication Number Publication Date
CN110640261A true CN110640261A (en) 2020-01-03

Family

ID=69011639

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910921265.8A Pending CN110640261A (en) 2019-09-27 2019-09-27 Robot overlaying operation method

Country Status (1)

Country Link
CN (1) CN110640261A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111558758A (en) * 2020-05-21 2020-08-21 宁夏天地奔牛实业集团有限公司 Automatic surfacing method for surface of mining sprocket chain nest
CN114839995A (en) * 2022-05-19 2022-08-02 法奥意威(苏州)机器人***有限公司 Multilayer multi-path connection path planning and connection operation control method and related device

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4508953A (en) * 1982-04-27 1985-04-02 Kabushiki Kaisha Kobe Seiko Sho Method of multi-layer welding
CN102218578A (en) * 2011-05-26 2011-10-19 东南大学 Path planning method for complicated-shape workpiece of robot bead weld based on radial bias
CN102672306A (en) * 2012-01-31 2012-09-19 昆山工研院工业机器人研究所有限公司 Method and system for automatic robot welding based on multilayer and multi-pass welding of curved surfaces
KR20130048879A (en) * 2011-11-03 2013-05-13 현대중공업 주식회사 Position-teaching method of pocket machining robot for the inconel overlay welding process of cylinder cover
CN103801794A (en) * 2012-11-14 2014-05-21 株式会社大亨 Multi-layer welding device
CN107186324A (en) * 2017-06-10 2017-09-22 中国人民解放军装甲兵工程学院 A kind of welding gun offset determination remanufactured for plate class titanium alloy wear-out part arc-welding

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4508953A (en) * 1982-04-27 1985-04-02 Kabushiki Kaisha Kobe Seiko Sho Method of multi-layer welding
CN102218578A (en) * 2011-05-26 2011-10-19 东南大学 Path planning method for complicated-shape workpiece of robot bead weld based on radial bias
KR20130048879A (en) * 2011-11-03 2013-05-13 현대중공업 주식회사 Position-teaching method of pocket machining robot for the inconel overlay welding process of cylinder cover
CN102672306A (en) * 2012-01-31 2012-09-19 昆山工研院工业机器人研究所有限公司 Method and system for automatic robot welding based on multilayer and multi-pass welding of curved surfaces
CN103801794A (en) * 2012-11-14 2014-05-21 株式会社大亨 Multi-layer welding device
CN107186324A (en) * 2017-06-10 2017-09-22 中国人民解放军装甲兵工程学院 A kind of welding gun offset determination remanufactured for plate class titanium alloy wear-out part arc-welding

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111558758A (en) * 2020-05-21 2020-08-21 宁夏天地奔牛实业集团有限公司 Automatic surfacing method for surface of mining sprocket chain nest
CN111558758B (en) * 2020-05-21 2021-10-26 宁夏天地奔牛实业集团有限公司 Automatic surfacing method for surface of mining sprocket chain nest
CN114839995A (en) * 2022-05-19 2022-08-02 法奥意威(苏州)机器人***有限公司 Multilayer multi-path connection path planning and connection operation control method and related device

Similar Documents

Publication Publication Date Title
CN110153534B (en) Multilayer and multi-path robot welding path planning method and system suitable for welding deformation
Ma et al. Optimization strategies for robotic additive and subtractive manufacturing of large and high thin-walled aluminum structures
CN110640261A (en) Robot overlaying operation method
CN111702416A (en) Automatic welding method for high-speed rail sleeper beam fabrication hole
CN108994418B (en) Motion trajectory planning method for pipe-pipe intersecting line robot
CN110091039B (en) Multilayer and multichannel welding path planning method and system for single-side V-shaped groove
CN106735999A (en) A kind of variable cross-section groove header base automatic soldering method
CN108220956A (en) A kind of roll laser deposition prosthetic device and restorative procedure
CN102218578A (en) Path planning method for complicated-shape workpiece of robot bead weld based on radial bias
CN109623097A (en) A kind of compound increasing material device of MIG-TIG
CN111702293A (en) Automatic welding gun track avoiding method for high-speed rail sleeper beam process hole
CN110899905B (en) Correction method for polygonal member sharp angle path based on arc additive manufacturing
CN111702417A (en) Moving type double-robot arc 3D printing workstation for high-speed rail sleeper beam process hole and working method thereof
CN110497727B (en) Optimal processing space selection method for three-dimensional stone carving processing
Yan et al. Autonomous programming and adaptive filling of lap joint based on three-dimensional welding-seam model by laser scanning
CN109483545B (en) Weld joint reconstruction method, intelligent robot welding method and system
CN207958509U (en) A kind of roll laser deposition prosthetic device
CN111922481B (en) Automatic welding method for large pipeline
CN108581260A (en) A kind of robot Full-automatic welding distribution transforming fuel tank bellows wall process
CN108161194A (en) A kind of plasma surfacing restorative procedure of drawing block
CN113664431A (en) Steel structural part welding arm capable of adjusting posture in real time and adjusting method
CN103286463B (en) Technological method for automatically welding cones with upper cover plate of side beam of framework
CN110238846B (en) Machining track planning method and system of curved surface adsorption robot based on CAD model
CN113681133B (en) Intelligent welding method of redundant degree of freedom robot with vision
JP4953756B2 (en) Overlay welding method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20200103

RJ01 Rejection of invention patent application after publication