CN111390335B - Automatic welding process for plate splicing welding of container - Google Patents
Automatic welding process for plate splicing welding of container Download PDFInfo
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- CN111390335B CN111390335B CN202010240414.7A CN202010240414A CN111390335B CN 111390335 B CN111390335 B CN 111390335B CN 202010240414 A CN202010240414 A CN 202010240414A CN 111390335 B CN111390335 B CN 111390335B
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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
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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
- B23K9/0026—Arc welding or cutting specially adapted for particular articles or work
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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
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
- B23K9/1006—Power supply
- B23K9/1043—Power supply characterised by the electric circuit
- B23K9/1056—Power supply characterised by the electric circuit by using digital means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/124—Circuits or methods for feeding welding wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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Abstract
The invention mainly relates to an automatic welding process for welding jointed boards of a container, which comprises the following steps: pressing the workpiece, starting a PLC controller of the welding robot to control the camera to descend and move, and moving the camera to a scanning starting point and extending outwards for a certain distance; starting to scan the welding seam; the scanning information is transmitted to the central control system for processing, and the processed information is transmitted to the PLC controller; the PLC controls the welding gun to move according to the first coordinate point and the compensation distance, and gun alignment is achieved; starting welding work; firstly, arc striking is carried out, and after the arc striking is finished, the PLC controls a welding gun to start welding according to the coordinate information; after welding is finished, moving the welding gun to continue to travel for a certain distance to achieve arc closing, then stopping welding, lifting the welding gun, returning the welding robot to a reset position, and waiting for the next cycle; the welding precision is high, the joint close is compressed between the jointed boards, the welding quality is guaranteed, the working efficiency is greatly improved, and the economic benefit of enterprises is improved.
Description
Technical Field
The invention relates to an automatic welding process for plate splicing welding of a container, and belongs to the field of container welding.
Background
The wall plate of the container is formed by welding a frame and corrugated plates, and the two corrugated plates need to be welded by splicing and welding to realize the mutual fixed connection of the two corrugated plates, as shown in figure 5; the welding of present container wallboard makeup welding is mostly accomplished by the manual work, and the container is bulky, and the manual welding degree of difficulty is big, and intensity of labour is high, and welding quality is poor, and work efficiency is very low.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic welding process for the plate-splicing welding of the container, which can automatically perform the plate-splicing welding of the container, has high welding precision, compresses and closes the joint between the plate-splicing welding, ensures the welding quality, greatly improves the working efficiency and improves the economic benefit of enterprises.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic welding process for welding jointed boards of containers comprises the following steps: the pressing mechanism presses the workpiece, and at the moment, the welding robot is in a middle reset position; starting the welding robot, controlling the camera to descend and move by the central control system through the PLC, and moving the camera to a scanning starting point and extending outwards for a certain distance; after the camera arrives, the welding seam is scanned; the scanning information is transmitted to a central control system for processing, the coordinate information obtained after processing is transmitted to a PLC (programmable logic controller), and meanwhile, a camera is retracted; the PLC controls the welding gun of the welding robot to move according to the first coordinate point and the compensation distance, so that gun alignment is realized; after the gun is aligned, starting welding work; the PLC controller starts a welding power supply, the wire feeder works to feed wires to the welding gun, arcing is firstly carried out, and after the arcing is finished, the PLC controller controls the welding gun to start welding according to the coordinate information; after welding, moving the welding gun to continue walking for a certain distance to achieve arc closing, then stopping welding, lifting the welding gun, and enabling the welding robot to return to the middle reset position to wait for the next cycle.
The welding seam identification method comprises the steps that a camera is moved to scan the whole welding seam, a picture of the welding seam is taken every 50mm, a central control system identifies the central point of each section of welding seam through a characteristic line algorithm, the central points are fitted into a complete welding seam straight line, and corresponding coordinate information is obtained; meanwhile, the welding time of each section is set according to the width of each section of welding line, and the information data is transmitted to the PLC, so that the welding control of the welding gun is realized.
The dual-computer mode specifically comprises the following steps:
(1) the corrugated plate is placed on the welding rack, a worker operates the pressing mechanism to press the workpiece, and the left welding robot and the right welding robot are in the middle reset position at the moment;
(2) a worker starts the left welding robot and the right welding robot, the central control system controls the camera to descend through the PLC, and controls the anti-splashing protective cover to be opened;
(3) after the welding robot descends, the PLC controls the cameras on the left and right welding robots to move, the cameras are moved to respective scanning starting points and extend outwards for a certain distance, the left and right cameras scan from the middle of a welding line to two sides, and the cameras on the left and right sides move in a staggered manner;
(4) after the camera arrives, the welding seam is scanned, and the scanning distance is set in advance;
(5) after the scanning is finished, transmitting the scanning information to a central control system for processing, transmitting the coordinate information obtained after the processing to a PLC (programmable logic controller), and simultaneously, raising a camera and closing the anti-splashing protective cover;
(6) the PLC controls the welding gun of the welding robot to move according to the first coordinate point and the compensation distance, so that gun alignment is realized;
(7) after the movement is finished, the PLC controller controls the welding gun to descend;
(8) manually detecting whether gun compensation needs to be carried out for the second time, if the gun compensation needs to be carried out, pausing, carrying out X, Y-direction adjustment on the gun through a wireless remote controller, continuing to start after the adjustment is finished, starting welding work, and sending an adjustment parameter to a central control system for data compensation and updating; if the gun is accurate, directly starting welding work;
(9) the PLC controller starts a welding power supply, the wire feeder works to feed wires to the welding guns, arcing is firstly carried out, and after the arcing is finished, the PLC controller controls the left welding gun and the right welding gun to start welding from two sides to the middle according to coordinate information;
(10) after welding is finished, moving the welding gun to continue to walk for a certain distance to achieve arc closing, then stopping welding, raising the welding gun, and returning the welding robot to the middle reset position;
(11) and (5) loosening the pressing mechanism, waiting for manual workpiece conveying, ending the process, and waiting for the next cycle.
The left machine and the right machine specifically comprise the following steps:
(1) the corrugated plate is placed on the welding rack, a worker operates the pressing mechanism to press the workpiece, and the welding robot is located at the middle reset position;
(2) a worker starts a single welding robot, the central control system controls the camera to descend through the PLC, and controls the anti-splashing protective cover to be opened;
(3) after the welding robot descends, the PLC controls the camera on the welding robot to move, and the camera moves to the scanning starting point and extends outwards for a certain distance;
(4) after the camera arrives, the welding seam is scanned, and the scanning distance is set in advance;
(5) after the scanning is finished, transmitting the scanning information to a central control system for processing, transmitting the coordinate information obtained after the processing to a PLC (programmable logic controller), and simultaneously, raising a camera and closing the anti-splashing protective cover;
(6) the PLC controls the welding gun of the welding robot to move according to the first coordinate point and the compensation distance, so that gun alignment is realized;
(7) after the movement is finished, the PLC controller controls the welding gun to descend;
(8) manually detecting whether gun compensation needs to be carried out for the second time, if the gun compensation needs to be carried out, pausing, carrying out X, Y-direction adjustment on the gun through a wireless remote controller, continuing to start after the adjustment is finished, starting welding work, and sending an adjustment parameter to a central control system for data compensation and updating; if the gun is accurate, directly starting welding work;
(9) the PLC controller starts a welding power supply, the wire feeder works to feed wires to the welding gun, arcing is firstly carried out, and after the arcing is finished, the PLC controller controls the welding gun to start welding according to the coordinate information;
(10) after welding is finished, moving the welding gun to continue to walk for a certain distance to achieve arc closing, then stopping welding, raising the welding gun, and returning the welding robot to the middle reset position;
(11) and (5) loosening the pressing mechanism, waiting for manual workpiece conveying, ending the process, and waiting for the next cycle.
The welding machine comprises a welding rack, wherein a cross beam is arranged on the welding rack, two welding robots are arranged on the cross beam, the welding robots can move on the cross beam, the moving direction is consistent with the welding direction of a welding seam of a jointed board, a central control system controls the welding robots to move through a PLC (programmable logic controller), welding guns and cameras are arranged on the welding robots, the PLC is connected with a welding power supply, the welding power supply is connected with a wire feeder to provide power for the wire feeder, and the wire feeder is connected with the welding guns; the camera is connected with the central control system in a transmission mode, the camera is used for photographing and scanning, scanned information is transmitted to the central control system to be processed, calculated and identified by welding seams, the central control system transmits the processed information to the PLC, and the PLC controls the welding robot to move to achieve welding work.
Welding robot adopt the three-axis welding robot of rectangular coordinate system, include X, Y, Z, the X direction is the direction unanimous with makeup welding seam welding, the Y direction be with makeup welding seam vertically direction, the Z direction is direction of height.
The welding machine frame is provided with a plurality of limit switch mechanisms, and each limit switch mechanism comprises a left end limit, a left middle limit, an anti-collision limit, a right middle limit and a right end limit; the left end limit and the left middle limit are used for limiting the movement of the left welding robot in the X-axis direction; the right middle limit and the right end limit are used for limiting the movement of the right welding robot in the X-axis direction; the anti-collision limit is used for preventing the left and right welding robots from colliding.
The welding machine frame is provided with a pressing mechanism, the pressing mechanism is used for pressing corrugated plates to be welded, and the pressing mechanism is driven by an air cylinder; the camera is provided with an anti-splashing protective cover which is driven by an air cylinder.
The supporting clear rifle ware and the wireless remote controller of being provided with, wireless remote controller and central control system wireless connection, wireless remote controller can carry out X, Y, Z three direction's mobility control to welding robot, has realized fast to the rifle.
The camera adopts 30 ten thousand pixel black and white industrial camera Basler acA640-120gm GigE, and is equipped with Sony ICX618 CCD photosensitive chip, 120 frames of image per second and VGA resolution.
The invention has the following beneficial effects:
1. an automatic welding process for welding jointed boards of containers comprises the following steps: the pressing mechanism presses the workpiece, and at the moment, the welding robot is in a middle reset position; starting the welding robot, controlling the camera to descend and move by the central control system through the PLC, and moving the camera to a scanning starting point and extending outwards for a certain distance; after the camera arrives, the welding seam is scanned; the scanning information is transmitted to a central control system for processing, the coordinate information obtained after processing is transmitted to a PLC (programmable logic controller), and meanwhile, a camera is retracted; the PLC controls the welding gun of the welding robot to move according to the first coordinate point and the compensation distance, so that gun alignment is realized; after the gun is aligned, starting welding work; the PLC controller starts a welding power supply, the wire feeder works to feed wires to the welding gun, arcing is firstly carried out, and after the arcing is finished, the PLC controller controls the welding gun to start welding according to the coordinate information; after welding is finished, moving the welding gun to continue to walk for a certain distance to achieve arc closing, then stopping welding, lifting the welding gun, returning the welding robot to the middle reset position, and waiting for the next cycle; the welding precision is high, the joint close is compressed between the jointed boards, the welding quality is guaranteed, the working efficiency is greatly improved, and the economic benefit of enterprises is improved.
2. The welding machine frame is provided with a plurality of limit switch mechanisms, and each limit switch mechanism comprises a left end limit, a left middle limit, an anti-collision limit, a right middle limit and a right end limit; the left end limit and the left middle limit are used for limiting the movement of the left welding robot in the X-axis direction; the right middle limit and the right end limit are used for limiting the movement of the right welding robot in the X-axis direction; the anti-collision limit is used for preventing the left and right welding robots from colliding.
3. The device is divided into three working modes of a double machine, a left machine and a right machine, the double machine mode is to divide a welding line into a left section and a right section, and the left welding robot and the right welding robot are matched to complete the welding work of the sections in the corresponding directions, so that the working efficiency is improved; the left machine mode and the right machine mode are that a single welding robot carries out welding work, and the mode can be used when the length of a welding seam is short or one of the welding machines is in a non-working state.
Drawings
FIG. 1 is a system control framework of the present invention;
FIG. 2 is a side view of the apparatus of the present invention;
FIG. 3 is a schematic view of the apparatus of the present invention;
FIG. 4 is a front view of the apparatus of the present invention;
FIG. 5 is a schematic view of a weld joint of the plate welding of the present invention.
Reference numbers in the figures: 1. welding the frame; 2. a cross beam; 3. a welding robot; 4. a central control system; 5. a PLC controller; 6. a welding gun; 7. a camera; 8. a limit switch mechanism; 81. limiting the left end; 82. limiting the position of the left middle part; 83. collision prevention and limiting; 84. limiting the position in the middle right; 85. limiting the right end; 9. a hold-down mechanism; A. welding seams are welded by the splicing plates.
Detailed Description
As shown in fig. 1, 2 and 4, an automatic welding process for welding jointed boards of containers comprises a welding rack 1, wherein a beam 2 is arranged on the welding rack 1, two welding robots 3 are arranged on the beam 2, the welding robots 3 can move on the beam 2, the moving direction is consistent with the welding direction of jointed board welding seams, a central control system 4 controls the welding robots 3 to move through a PLC (programmable logic controller) 5, a welding gun 6 and a camera 7 are arranged on the welding robots 3, the PLC 5 is connected with and controls a welding power supply, the welding power supply is connected with a wire feeder to provide power for the wire feeder, and the wire feeder is connected with the welding gun 6; the camera 7 is in transmission connection with the central control system 4, the camera 7 is used for photographing and scanning, scanning information is transmitted to the central control system 4 for processing, operation and weld joint recognition, the central control system 4 transmits the processed information to the PLC 5, and the PLC 5 controls the welding robot 3 to move so as to realize welding work; the welding precision is high, the joint close is compressed between the jointed boards, the welding quality is guaranteed, the working efficiency is greatly improved, and the economic benefit of enterprises is improved.
Welding robot 3 adopts the triaxial welding robot 3 of rectangular coordinate system, including X, Y, Z, the X direction is the direction (left and right sides) unanimous with makeup welding seam welding, and the Y direction is with makeup welding seam vertically direction (front and back), and the Z direction is direction of height (upper and lower).
As shown in fig. 3, the welding frame 1 is provided with a plurality of limit switch mechanisms 8, and each limit switch mechanism 8 comprises a left end limit 81, a left middle limit 82, an anti-collision limit 83, a right middle limit 84 and a right end limit 85; the left end limit 81 and the left middle limit 82 are used for limiting the movement of the left welding robot in the X-axis direction; the right middle limit 84 and the right end limit 85 are used for limiting the movement of the right welding robot in the X-axis direction; the collision avoidance stopper 83 is used to prevent the left and right welding robots 3 from colliding.
The welding machine frame 1 is provided with a pressing mechanism 9, the pressing mechanism 9 is used for pressing corrugated plates to be welded, and the pressing mechanism 9 is driven by an air cylinder.
The camera 7 is provided with an anti-splashing protective cover which plays a role in protection during welding and is driven by the cylinder.
On the basis of the scheme, the gun cleaning device is preferably arranged in a matched mode.
On the basis of the above scheme, more preferably, the gun welding system is further provided with a wireless remote controller, the wireless remote controller is in wireless connection with the central control system 4, the wireless remote controller can carry out X, Y, Z movement control on the welding robot 3 in three directions, and the gun welding system is fast.
The camera 7 adopts 30 ten thousand pixel black and white industrial camera Basler acA640-120gm GigE, the camera 7 is equipped with Sony ICX618 CCD photosensitive chip, 120 frames of image per second, VGA resolution.
The device is divided into three working modes of a double machine, a left machine and a right machine, the double machine mode is to divide a welding line into a left section and a right section, and the left welding robot 3 and the right welding robot are matched to complete the welding work of the sections in corresponding directions, so that the working efficiency is improved; the left-machine and right-machine modes, i.e., the mode in which a single welding robot 3 performs welding work, can be used when the length of a weld is short or one of the welding machines is in a non-operative state.
The dual-computer mode specifically comprises the following steps:
(1) the corrugated plate is placed on the welding rack 1, a worker operates the pressing mechanism 9 to press the workpiece, and the left and right welding robots 3 are in the middle reset position at the moment;
(2) a worker starts the left welding robot 3 and the right welding robot 3, the central control system 4 controls the camera 7 to descend through the PLC 5, and controls the anti-splashing protective cover to be opened;
(3) after the descending is finished, the PLC 5 controls the cameras on the left and right welding robots 3 to move, the cameras are moved to respective scanning starting points and extend outwards for a certain distance (the distance is set in advance, the welding seam can be completely scanned by the camera 7), the left and right cameras scan from the middle of the welding seam to the two sides, and the cameras on the left and right sides are moved in a staggered manner to prevent the cameras on the two sides from colliding;
(4) after the camera arrives, the welding seam is scanned, and the scanning distance is set in advance (determined according to the length of the corrugated plate or the length of the welding seam);
(5) after the scanning is finished, transmitting the scanning information to the central control system 4 for processing, transmitting the coordinate information obtained after the processing to the PLC 5, simultaneously, raising the camera and closing the anti-splashing protective cover;
(6) the PLC 5 controls the welding gun 6 of the welding robot 3 to move according to the first coordinate point (the welding starting point) and the compensation distance (compensation is carried out according to the distance moved by the welding gun 6X, Y before welding), so that gun alignment is realized;
(7) after the movement is finished, the PLC 5 controls the welding gun 6 to descend;
(8) manually detecting whether gun compensation needs to be carried out for the second time, if the gun compensation needs to be carried out, pausing, carrying out X, Y-direction adjustment on the gun through a wireless remote controller, continuing to start after the adjustment is finished, starting welding work, sending the adjustment parameters to the central control system 4 for data compensation and updating for subsequent recycling, and not needing to repeat manual detection; if the gun is accurate, directly starting welding work;
(9) the PLC controller 5 starts a welding power supply, the wire feeder works to feed wires to the welding gun 6, arcing is firstly carried out (the arcing holding time is set in advance), and after the arcing is finished, the PLC controller 5 controls the left welding gun 6 and the right welding gun 6 to start welding from two sides to the middle according to the coordinate information (the welding finishing time of the left welding gun 6 and the welding finishing time of the right welding gun 6 are staggered, so that the welding can be prevented from colliding in the middle);
(10) after welding is finished, moving the welding gun 6 to continue to walk for a certain distance to achieve arc closing (the walking distance is set in advance), then stopping welding, raising the welding gun 6, and returning the welding robot 3 to the middle reset position;
(11) the pressing mechanism 9 is loosened to wait for manual workpiece conveying, and the process is finished to wait for the next cycle;
the welding precision is high, the joint close is compressed between the jointed boards, the welding quality is guaranteed, the working efficiency is greatly improved, and the economic benefit of enterprises is improved.
The left machine and the right machine specifically comprise the following steps:
(1) the corrugated plate is placed on the welding rack 1, a worker operates the pressing mechanism 9 to press the workpiece, and the left and right welding robots 3 are in the middle reset position at the moment;
(2) a worker starts a single welding robot 3, the central control system 4 controls the camera 7 to descend through the PLC 5, and controls the anti-splashing protective cover to be opened;
(3) after the welding robot descends, the PLC 5 controls the camera on the welding robot 3 to move, and the camera is moved to the scanning starting point and then extends outwards for a certain distance (the distance is set in advance, so as to ensure that the camera 7 can completely scan the welding seam);
(4) after the camera arrives, the welding seam is scanned, and the scanning distance is set in advance (determined according to the length of the corrugated plate or the length of the welding seam);
(5) after the scanning is finished, transmitting the scanning information to the central control system 4 for processing, transmitting the coordinate information obtained after the processing to the PLC 5, simultaneously, raising the camera and closing the anti-splashing protective cover;
(6) the PLC 5 controls the welding gun 6 of the welding robot 3 to move according to the first coordinate point (the welding starting point) and the compensation distance (compensation is carried out according to the distance moved by the welding gun 6X, Y before welding), so that gun alignment is realized;
(7) after the movement is finished, the PLC 5 controls the welding gun 6 to descend;
(8) manually detecting whether gun compensation needs to be carried out for the second time, if the gun compensation needs to be carried out, pausing, carrying out X, Y-direction adjustment on the gun through a wireless remote controller, continuing to start after the adjustment is finished, starting welding work, sending the adjustment parameters to the central control system 4 for data compensation and updating for subsequent recycling, and not needing to repeat manual detection; if the gun is accurate, directly starting welding work;
(9) the PLC controller 5 starts a welding power supply, the wire feeder works to feed wires to the welding gun 6, arcing is firstly carried out (the arcing holding time is set in advance), and after the arcing is finished, the PLC controller 5 controls the welding gun 6 to start welding according to the coordinate information;
(10) after welding is finished, moving the welding gun 6 to continue to walk for a certain distance to achieve arc closing (the walking distance is set in advance), then stopping welding, raising the welding gun 6, and returning the welding robot 3 to the middle reset position;
(11) the pressing mechanism 9 is loosened to wait for manual workpiece conveying, and the process is finished to wait for the next cycle.
The weld joint identification method comprises the following steps:
the mobile camera scans the whole welding seam, a picture of the welding seam is taken every 50mm, the central control system 4 identifies the central point of each section of welding seam through a characteristic line algorithm, and the central points are fitted into a complete welding seam straight line to obtain corresponding coordinate information; meanwhile, the welding time of each section is set according to the width of each section of welding line, and the information data is transmitted to the PLC 5, so that the welding control of the welding gun 6 is realized.
Claims (7)
1. An automatic welding process for welding jointed boards of containers is characterized by comprising the following steps: the pressing mechanism presses the workpiece, and at the moment, the welding robot is in a middle reset position; starting the welding robot, controlling the camera to descend and move by the central control system through the PLC, and moving the camera to a scanning starting point and extending outwards for a certain distance; after the camera arrives, the welding seam is scanned; the scanning information is transmitted to a central control system for processing, the coordinate information obtained after processing is transmitted to a PLC (programmable logic controller), and meanwhile, a camera is retracted; the PLC controls the welding gun of the welding robot to move according to the first coordinate point and the compensation distance, so that gun alignment is realized; after the gun is aligned, starting welding work; the PLC controller starts a welding power supply, the wire feeder works to feed wires to the welding gun, arcing is firstly carried out, and after the arcing is finished, the PLC controller controls the welding gun to start welding according to the coordinate information; after welding is finished, moving the welding gun to continue to walk for a certain distance to achieve arc closing, then stopping welding, lifting the welding gun, returning the welding robot to the middle reset position, and waiting for the next cycle;
the welding seam identification method comprises the steps that a camera is moved to scan the whole welding seam, a picture of the welding seam is taken every 50mm, a central control system identifies the central point of each section of welding seam through a characteristic line algorithm, the central points are fitted into a complete welding seam straight line, and corresponding coordinate information is obtained; meanwhile, setting the welding time of each section according to the width of each section of welding line, and transmitting information data to the PLC to realize welding control of the welding gun;
the welding machine comprises a welding rack, wherein a cross beam is arranged on the welding rack, two welding robots are arranged on the cross beam, the welding robots can move on the cross beam, the moving direction is consistent with the welding direction of a welding seam of a jointed board, a central control system controls the welding robots to move through a PLC (programmable logic controller), welding guns and cameras are arranged on the welding robots, the PLC is connected with a welding power supply, the welding power supply is connected with a wire feeder to provide power for the wire feeder, and the wire feeder is connected with the welding guns; the camera is in transmission connection with the central control system, is used for photographing and scanning, transmits scanned information to the central control system for processing, calculating and identifying welding seams, transmits the processed information to the PLC controller by the central control system, and controls the welding robot to move so as to realize welding work;
the welding machine frame is provided with a plurality of limit switch mechanisms, and each limit switch mechanism comprises a left end limit, a left middle limit, an anti-collision limit, a right middle limit and a right end limit; the left end limit and the left middle limit are used for limiting the movement of the left welding robot in the X-axis direction; the right middle limit and the right end limit are used for limiting the movement of the right welding robot in the X-axis direction; the anti-collision limit is used for preventing the left and right welding robots from colliding.
2. The automatic welding process for the plate welding of the container as claimed in claim 1, wherein:
the dual-computer mode specifically comprises the following steps:
firstly, placing a corrugated plate on a welding rack, operating a pressing mechanism by a worker to press a workpiece, and then enabling a left welding robot and a right welding robot to be in a middle reset position;
secondly, a worker starts the left welding robot and the right welding robot, and the central control system controls the camera to descend through the PLC and controls the splash-proof protective cover to be opened;
after the welding robot descends, the PLC controls the cameras on the left and right welding robots to move, the cameras are moved to respective scanning starting points and extend outwards for a certain distance, the left and right cameras scan from the middle of a welding seam to two sides, and the cameras on the left and right sides move in a staggered manner;
fourthly, after the camera arrives, the welding line starts to be scanned, and the scanning distance is set in advance;
fifthly, after scanning is finished, transmitting the scanning information to a central control system for processing, transmitting the coordinate information obtained after processing to a PLC (programmable logic controller), and simultaneously, raising the camera and closing the anti-splashing protective cover;
sixthly, the PLC controls the welding gun of the welding robot to move according to the first coordinate point and the compensation distance, and gun alignment is achieved;
seventhly, after the movement is finished, the PLC controller controls the welding gun to descend;
step eight, manually detecting whether gun compensation needs to be carried out for the second time, if gun compensation needs to be carried out, pausing, carrying out X, Y-direction adjustment on the gun through a wireless remote controller, continuing starting after adjustment is finished, starting welding work, and sending adjustment parameters to a central control system for data compensation and updating; if the gun is accurate, directly starting welding work;
starting a welding power supply by the PLC, feeding wires to the welding guns by the wire feeding machine, starting arc firstly, and controlling the left welding gun and the right welding gun to start welding from two sides to the middle by the PLC according to coordinate information after the arc is started;
tenthly, after welding is finished, moving the welding gun to continue to travel for a certain distance to achieve arc closing, then stopping welding, lifting the welding gun, and enabling the welding robot to return to a middle reset position;
and eleventh, loosening the pressing mechanism, waiting for manual workpiece conveying, finishing the process and waiting for the next cycle.
3. The automatic welding process for the plate welding of the container as claimed in claim 1, wherein: the left machine and the right machine specifically comprise the following steps:
firstly, placing a corrugated plate on a welding rack, operating a pressing mechanism by a worker to press a workpiece, and then, positioning a welding robot at a middle reset position;
secondly, a worker starts a single welding robot, and the central control system controls the camera to descend through the PLC and controls the anti-splashing protective cover to be opened;
thirdly, after the descending is finished, the PLC controls the camera on the welding robot to move, and the camera is moved to the scanning starting point and then extends outwards for a certain distance;
fourthly, after the camera arrives, the welding line starts to be scanned, and the scanning distance is set in advance;
fifthly, after scanning is finished, transmitting the scanning information to a central control system for processing, transmitting the coordinate information obtained after processing to a PLC (programmable logic controller), and simultaneously, raising the camera and closing the anti-splashing protective cover;
sixthly, the PLC controls the welding gun of the welding robot to move according to the first coordinate point and the compensation distance, and gun alignment is achieved;
seventhly, after the movement is finished, the PLC controller controls the welding gun to descend;
step eight, manually detecting whether gun compensation needs to be carried out for the second time, if gun compensation needs to be carried out, pausing, carrying out X, Y-direction adjustment on the gun through a wireless remote controller, continuing starting after adjustment is finished, starting welding work, and sending adjustment parameters to a central control system for data compensation and updating; if the gun is accurate, directly starting welding work;
starting a welding power supply by the PLC, feeding wires to a welding gun by the wire feeder, starting arc firstly, and controlling the welding gun to start welding by the PLC according to coordinate information after the arc is started;
tenthly, after welding is finished, moving the welding gun to continue to travel for a certain distance to achieve arc closing, then stopping welding, lifting the welding gun, and enabling the welding robot to return to a middle reset position;
and eleventh, loosening the pressing mechanism, waiting for manual workpiece conveying, finishing the process and waiting for the next cycle.
4. The automatic welding process for the plate welding of the container as claimed in claim 1, wherein: welding robot adopts the triaxial welding robot of rectangular coordinate system, include X, Y, Z, the X direction be with makeup welding seam welding unanimous direction, the Y direction be with makeup welding seam vertically direction, the Z direction is direction of height.
5. The automatic welding process for the plate welding of the container as claimed in claim 1, wherein: the welding machine frame is provided with a pressing mechanism, the pressing mechanism is used for pressing corrugated plates to be welded, and the pressing mechanism is driven by an air cylinder; the camera is provided with an anti-splashing protective cover which is driven by an air cylinder.
6. The automatic welding process for the plate welding of the container as claimed in claim 1, wherein: supporting clear rifle ware and the wireless remote controller of being provided with, wireless remote controller and central control system wireless connection, wireless remote controller can carry out X, Y, Z three direction's mobility control to welding robot, has realized fast to the rifle.
7. The automatic welding process for the plate welding of the container as claimed in claim 1, wherein: the camera adopts 30 ten thousand pixel black and white industrial camera Basler acA640-120gm GigE, and is equipped with Sony ICX618 CCD photosensitive chip, 120 frames of image per second and VGA resolution.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111822907A (en) * | 2020-07-15 | 2020-10-27 | 北京博清科技有限公司 | Welding device and welding method |
| CN112355439A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Special machine automatic welding process for container corrugated welding |
| CN112355438A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Automatic robot welding process for container corrugated welding |
| CN113909577A (en) * | 2021-10-12 | 2022-01-11 | 科益展智能装备有限公司 | Ultrasonic machining apparatus and control method thereof |
| CN114850736B (en) * | 2022-04-19 | 2024-05-07 | 上海寰宇物流科技有限公司 | Welding system for container side plate splicing and quick welding |
| CN114589440A (en) * | 2022-04-20 | 2022-06-07 | 山东省产品质量检验研究院 | 5G quick response wisdom welding robot |
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Denomination of invention: An automatic welding process for container panel welding Effective date of registration: 20221129 Granted publication date: 20211224 Pledgee: Zhejiang Shengzhou Rural Commercial Bank Co.,Ltd. Pukou Sub branch Pledgor: SHAOXING HANLI INDUSTRIAL AUTOMATION SCIENCE & TECHNOLOGY Co.,Ltd. Registration number: Y2022330003301 |
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