CN212577758U - Robot for adjusting welding height through arc voltage heightening system - Google Patents
Robot for adjusting welding height through arc voltage heightening system Download PDFInfo
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- CN212577758U CN212577758U CN202020892912.5U CN202020892912U CN212577758U CN 212577758 U CN212577758 U CN 212577758U CN 202020892912 U CN202020892912 U CN 202020892912U CN 212577758 U CN212577758 U CN 212577758U
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Abstract
A robot for adjusting welding height through an arc voltage heightening system is characterized in that collected arc length is converted into data information to be fed back to a robot control module, and the robot control module adjusts the posture of the robot according to the fed-back data information to keep the arc voltage of the robot stable and consistent during automatic welding operation. The method comprises the following steps: a robot provided with a welding machine; a workpiece to be welded; the robot position searching module is used for searching the position of the robot; the high-voltage contactor module is used for controlling the on-off of a main loop of the welding machine; the robot also comprises a welding arc voltage heightening system and a robot control module, and the welding arc voltage heightening system and the robot control module are used for accurately sampling the arc voltage of the welding machine, performing digital algorithm processing on the arc voltage, obtaining proper arc voltage data and uploading the data to the robot control module for action.
Description
Technical Field
The utility model belongs to the technical field of the welding technique of robot and specifically relates to a robot of system adjustment height of welding is increaseed through welding arc voltage.
Background
At present, the existing arc voltage heightening device is used for cutting and traditional argon arc welding, the arc voltage collection is processed through a simple analog circuit, the sampling precision is low, and no interface special for robot communication is provided. In the welding process of the robot, the accuracy requirement on arc voltage control is high, and particularly, the requirements of stable and consistent arc length, good dynamic performance, rapid communication response and the like are met. The control can still reach the technological demand under the welding condition that cutting and requirement are not high, but when needs accurate and stable welding, because sampling and control are limited, the arc length is difficult to stabilize, and the robot can appear when welding high-time low phenomenon when electric arc, leads to the inhomogeneous shaping poor phenomenon of welding seam, is difficult to satisfy the welding demand.
Patent No. CN201710273181.9 discloses a closed-loop control method for power output change of welding power supply and arc welding robot action, which is characterized in that: the welding current, the welding voltage and the wire feeding speed are all input and given by an initialization panel analog quantity or are initialized and provided for a welding power supply by a robot upper computer controller through a CAN bus, an ETHERCAT bus, DEVICENET, ETHERNET, a gigabit ring network or an analog IO interface, are initially distributed by a welding power supply core processing mechanism and output to an arc load, and are fed back to a power supply core control unit when the load power changes, the core control unit processes the load power and interactively communicates with an industrial arc welding robot controller, and coordinates and controls a robot space planning track to compensate the change of the arc power, change the walking speed or the space track, keep the walking speed or the space track in a stable power state and keep the attractiveness and consistency of a welding line; similarly, when the space speed of the robot changes, the robot also coordinates and communicates with the power supply, and the power supply can change the current, voltage and wire feeding speed values of welding output according to the change of the robot, so that the robot is ensured to be in a relatively stable constant power output state.
The specific working steps are as follows: when the connection of a welding power supply and an industrial arc welding robot is confirmed through a related communication interface, the welding power supply receives preset instructions of welding current, welding voltage and wire feeding speed issued by a robot controller, the robot programs a spatial welding track through a teaching box, issues an initial position finding success signal to the welding power supply when the robot walks to a welding initial position in a welding mode, starts a welding machine, sends an arc striking success signal to the robot when the current and voltage are maintained in a stable state, the robot executes actions according to a set planning path, when welding quality conditions possibly influenced by warping or rusting of a workpiece occur, the welding arc voltage and the welding current suddenly change in a short time, a control system quickly feeds back, coordinates, adjusts and outputs the feedback and sends the feedback to the robot controller to change and finely adjust the planned speed and the distance between a gun and the workpiece, the welding arc power is maintained to be stable, so that the welding process consistency is ensured; similarly, when the arc welding robot needs to turn for transition, the arc welding robot controller simultaneously issues related data to the welding power supply, and the welding power supply changes the output welding power according to self conditions to achieve stable transition, so that the mutual coordination work of the welding power supply and the robot is realized, and the closed-loop control of the output power of the welding power supply and the action correlation of the arc welding industrial robot is ensured.
The inventor finds that although the technical scheme provides a closed-loop control method for correlating the output power of the welding power supply with the action of the arc welding industrial robot, in practical application, the phenomenon of high and low time during electric arc still occurs, the phenomenon of uneven forming of a welding line is poor, and the welding requirement is difficult to meet.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem, an object of the utility model is to provide a robot of system adjustment height of welding is increaseed through arc voltage turns into data information feedback to robot control module through the arc length that will gather, and robot control module is according to the data information adjustment robot gesture of feedback again, and arc voltage is stable unanimous when keeping robot automatic weld operation.
The utility model discloses technical scheme as follows: a robot for adjusting a welding height by an arc voltage increase system, comprising: a robot provided with a welding machine; a workpiece to be welded; the robot position searching module is used for searching the position of the robot; the high-voltage contactor module is used for controlling the on-off of a main loop of the welding machine;
the robot also comprises a welding arc voltage heightening system and a robot control module, and the welding arc voltage heightening system and the robot control module are used for accurately sampling the arc voltage of the welding machine and carrying out digital algorithm processing on the arc voltage to obtain proper arc voltage data and then uploading the data to the robot control module for action;
the welding arc voltage increasing system comprises a voltage acquisition circuit, wherein the voltage acquisition circuit comprises a voltage sampling connection point, the anode of the voltage acquisition circuit is close to the welding position of the welding machine, and the cathode of the voltage acquisition circuit is close to the connection position of the base metal;
the welding arc voltage heightening system also comprises a current collecting circuit which is used for isolating and sampling the output current of the welding machine;
the welding arc voltage heightening system also comprises a sampling conversion circuit module which is connected with the current acquisition circuit and the voltage acquisition circuit and is used for converting an input voltage and current analog signal into a digital quantity;
the welding arc voltage heightening system also comprises an arc voltage signal processing module, wherein the arc voltage signal processing module comprises a DSP digital signal processor and is connected with the sampling conversion circuit module;
the robot control module is connected with the arc voltage signal processing module and comprises a special optical fiber communication interface.
Further, the welding rod conveying device further comprises a welding rod conveying module, wherein the welding rod conveying module comprises a clamping cylinder, a sequencing cylinder and an output cylinder.
Further, the automatic arc welding machine further comprises a manual and automatic switching toggle switch, a switch button for manually controlling the clamping, sequencing and outputting of the manual arc welding electrodes and a fault indicator lamp.
A welding method for adjusting welding height through an arc voltage increasing system comprises the following steps:
starting a welding machine, acquiring output voltage and current signals of a main loop of the welding machine through a voltage acquisition circuit and a current acquisition circuit, converting input voltage and current analog signals into digital values through a sampling conversion circuit module, transmitting voltage and current data to an arc voltage signal processing module, judging the current state of the welding machine by using a DSP (digital signal processor) in the arc voltage signal processing module, and transmitting the state signals to a robot control module through a special optical fiber communication interface; and the robot control module adjusts the arc voltage and the welding height of the welding in real time according to the state signal.
Further, the method also comprises the following steps:
when the robot is ready for welding, a welding electrode clamping signal is sent out, the welding electrode conveying module starts the air cylinder to act and enables the robot to obtain a welding electrode, and the welding electrode clamping is completed; sending a position searching signal to a robot position searching module through a special optical fiber communication interface of the robot, searching the position by the robot position searching module, and cutting off the robot position searching module after the robot position searching is finished; and sending a welding instruction, judging whether the arc striking of the welding machine is successful according to the output voltage and current signals of the welding machine, and sending an arc striking success signal to the robot control module after the arc striking is successful.
Further, the method also comprises the following steps: according to actual welding requirements, voltage and current values required by successful arc starting set by a user are input into the arc voltage signal processing module, and the arc voltage signal processing module informs the robot control module to enter an arc voltage increasing mode through algorithm setting so as to adjust the best welding effect.
Further, the method also comprises the following steps: initializing an optical fiber interface of the arc voltage increasing system, exchanging welding data after successful communication connection, entering a ready state, and waiting for a welding starting instruction; when the communication fails, the failure indication lamp is lighted up and communication connection is performed again.
Further, the method also comprises the following steps: a manual mode and an automatic mode change-over switch are arranged, wherein in the automatic mode, the welding rod conveying is automatically conveyed in place and clamped, and in the manual mode, manual intervention can be performed in the welding rod conveying process; after entering an automatic control mode, the arc voltage increasing system waits for a welding rod clamping signal sent by a robot, and sends an welding rod clamping instruction when the robot approaches a welding rod, the arc voltage increasing system receives the clamping signal instruction, so that a cylinder for clamping the welding rod acts, the robot clamps the welding rod, and after the clamping is finished and leaves the original position, the arc voltage increasing system enters a ready state; after the electric arc voltage increasing system detects that the welding electrodes are taken away, the background of the electric arc voltage increasing system sends out automatic sequencing signals of the welding electrodes, the sequencing air cylinder works to enable the welding electrodes to be sequenced automatically, and after the sequencing air cylinder finishes working, the electric arc voltage increasing system continues to send out conveying signals of the welding electrodes and the conveying air cylinder acts to enable the welding electrodes to be conveyed in place. And after the clamping is finished, the arc voltage increasing system enters a standby state to wait for a next welding electrode clamping signal.
Further, the method also comprises the following steps: after entering the manual mode, the arc voltage heightening system waits for the key operation of the panel, and after a welding electrode sequencing button is pressed, the arc voltage heightening system sends out a sequencing signal to enable the sequencing cylinder to act, so that the welding electrodes are sequenced; when a welding electrode clamping button is pressed down, the arc voltage increasing system sends a clamping signal to enable the clamping cylinder to act, and the welding electrode is clamped; when the output button of the welding rod is pressed, the heightening system sends out a conveying signal to enable the output cylinder to act, and the welding rod is conveyed in place.
Further, the method also comprises the following steps: the DSP digital signal processor in the arc voltage signal processing module controls an external A/D to acquire real-time voltage signals at a high speed, the voltage signals are sent to a heightening special digital filter in the DSP digital signal processor, the DSP digital signal processor performs multiple times of average filtering processing on the data to obtain smooth arc voltage data with good stability, and the arc voltage data are fed back to the robot control module in real time through a communication interface of the DSP digital signal processor to adjust the welding height so as to realize stable welding application.
The beneficial effects of the utility model reside in that: 1. the distance between a welding gun and a workpiece in the process of robot argon arc welding or manual arc welding is automatically adjusted, so that the arc voltage is always stable and consistent. 2. And the DSP is used for sampling voltage and current, and the communication interface is used for communicating with the robot, so that the consistency and the real-time performance of data are kept. 3. The welding rod welding robot can be widely applied to the field of welding rods with robots replacing manual operation, realizes the welding operation of 'constant arc voltage' by replacing welders with the robots, has the welding effect meeting the process requirements, and can obtain good welding quality.
Drawings
FIG. 1 is a schematic view of the frame structure of the present invention;
FIG. 2 is a flow chart of the present invention;
fig. 3 is a schematic view of the communication flow of the robot of the present invention;
FIG. 4 is another flow chart of the present invention;
fig. 5 is a flow chart of the operation in the manual mode of the present invention;
fig. 6 is a flow chart of the work of the DSP digital signal processor inside the arc voltage signal processing module of the present invention.
In the figure, 1, a voltage sampling connection point; 2. the current sampling Hall sensor is used for isolating the output current of the sampling welding machine; 3. the A/D sampling conversion circuit board is used for converting the input voltage and current analog signals into digital values; 4. the arc voltage signal processing module comprises a DSP digital signal processor; 5. a robot-dedicated locating module; 6. a robot control module; 7. under the manual mode, the manual arc welding electrodes clamp, sort and output switch buttons and a fault indicator lamp module; 8. a toggle switch module for switching between a manual mode and an automatic mode; 9. the cylinder module is used for conveying the welding electrodes; 10. and the high-voltage contactor module is used for controlling the on-off of a main loop of the welding machine.
Detailed Description
In order to facilitate the understanding of those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, 2, 3, 4, 5 and 6, a robot for adjusting a welding height by an arc voltage increasing system includes: a robot provided with a welding machine; a workpiece to be welded; the robot position searching module is used for searching the position of the robot; the high-voltage contactor module is used for controlling the on-off of a main loop of the welding machine;
the robot also comprises a welding arc voltage heightening system and a robot control module, and the welding arc voltage heightening system and the robot control module are used for accurately sampling the arc voltage of the welding machine and carrying out digital algorithm processing on the arc voltage to obtain proper arc voltage data and then uploading the data to the robot control module for action;
the welding arc voltage increasing system comprises a voltage acquisition circuit, wherein the voltage acquisition circuit comprises a voltage sampling connection point, the anode of the voltage acquisition circuit is close to the welding position of the welding machine, and the cathode of the voltage acquisition circuit is close to the connection position of the base metal;
the welding arc voltage heightening system also comprises a current collecting circuit which is used for isolating and sampling the output current of the welding machine;
the welding arc voltage heightening system also comprises a sampling conversion circuit module which is connected with the current acquisition circuit and the voltage acquisition circuit and is used for converting an input voltage and current analog signal into a digital quantity;
the welding arc voltage heightening system also comprises an arc voltage signal processing module, wherein the arc voltage signal processing module comprises a DSP digital signal processor and is connected with the sampling conversion circuit module;
the robot control module is connected with the arc voltage signal processing module and comprises a special optical fiber communication interface.
Further, the welding rod conveying device further comprises a welding rod conveying module, wherein the welding rod conveying module comprises a clamping cylinder, a sequencing cylinder and an output cylinder.
Further, the automatic arc welding machine further comprises a manual and automatic switching toggle switch, a switch button for manually controlling the clamping, sequencing and outputting of the manual arc welding electrodes and a fault indicator lamp.
As shown in fig. 2, a welding method for adjusting the welding height by an arc voltage increasing system comprises the following steps:
starting a welding machine, acquiring output voltage and current signals of a main loop of the welding machine through a voltage acquisition circuit and a current acquisition circuit, converting input voltage and current analog signals into digital values through a sampling conversion circuit module, transmitting voltage and current data to an arc voltage signal processing module, judging the current state of the welding machine by using a DSP (digital signal processor) in the arc voltage signal processing module, and transmitting the state signals to a robot control module through a special optical fiber communication interface; and the robot adjusts the arc voltage and the welding height of the welding in real time according to the state signal.
As shown in fig. 3, further, the method further comprises the following steps:
when the robot is ready for welding, a welding electrode clamping signal is sent out, the welding electrode conveying module starts the air cylinder to act and enables the robot to obtain a welding electrode, and the welding electrode clamping is completed; sending a position searching signal to a robot position searching module through a special optical fiber communication interface of the robot, searching the position by the robot position searching module, and cutting off the robot position searching module after the robot position searching is finished; and sending a welding instruction, judging whether the arc striking of the welding machine is successful according to the output voltage and current signals of the welding machine, and sending an arc striking success signal to the robot control module after the arc striking is successful.
Further, the method also comprises the following steps: according to actual welding requirements, voltage and current values required by successful arc starting set by a user are input into the arc voltage signal processing module, and the arc voltage signal processing module informs the robot to enter an arc voltage increasing mode through algorithm setting so as to adjust the arc voltage increasing mode to the optimal welding effect.
As shown in fig. 3, further, the method further comprises the following steps: initializing an optical fiber interface of the arc voltage increasing system, exchanging welding data after successful communication connection, entering a ready state, and waiting for a welding starting instruction; when the communication fails, the failure indication lamp is lighted up and communication connection is performed again.
As shown in fig. 4, the method further comprises the following steps: a manual mode and an automatic mode change-over switch are arranged, wherein in the automatic mode, the welding rod conveying is automatically conveyed in place and clamped, and in the manual mode, manual intervention can be performed in the welding rod conveying process; after entering an automatic control mode, the arc voltage increasing system waits for a welding rod clamping signal sent by a robot, and sends an welding rod clamping instruction when the robot approaches a welding rod, the arc voltage increasing system receives the clamping signal instruction, so that a cylinder for clamping the welding rod acts, the robot clamps the welding rod, and after the clamping is finished and leaves the original position, the arc voltage increasing system enters a ready state; after the electric arc voltage increasing system detects that the welding electrodes are taken away, the background of the electric arc voltage increasing system sends out automatic sequencing signals of the welding electrodes, the sequencing air cylinder works to enable the welding electrodes to be sequenced automatically, and after the sequencing air cylinder finishes working, the electric arc voltage increasing system continues to send out conveying signals of the welding electrodes and the conveying air cylinder acts to enable the welding electrodes to be conveyed in place. And after the clamping is finished, the arc voltage increasing system enters a standby state to wait for a next welding electrode clamping signal.
As shown in fig. 5, further, the method further comprises the following steps: after entering the manual mode, the arc voltage heightening system waits for the key operation of the panel, and after a welding electrode sequencing button is pressed, the arc voltage heightening system sends out a sequencing signal to enable the sequencing cylinder to act, so that the welding electrodes are sequenced; when a welding electrode clamping button is pressed down, the arc voltage increasing system sends a clamping signal to enable the clamping cylinder to act, and the welding electrode is clamped; when the output button of the welding rod is pressed, the heightening system sends out a conveying signal to enable the output cylinder to act, and the welding rod is conveyed in place.
As shown in fig. 6, the method further comprises the following steps: the DSP digital signal processor in the arc voltage signal processing module controls external A/D to acquire real-time voltage signals at a high speed, the voltage signals are sent to a special height-adjusting digital filter in the DSP digital signal processor, the DSP digital signal processor performs multiple average value filtering processing on the data to obtain smooth and stable arc voltage data, and the arc voltage data are fed back to the robot in real time through a communication interface of the DSP digital signal processor to adjust the welding height so as to realize stable welding application.
The above description relates to only some embodiments of the present invention, and any replacement or modification made by those skilled in the art based on the spirit of the present invention should be covered by the protection scope of the present invention, which should be subject to the claims.
Claims (3)
1. A robot for adjusting a welding height by an arc voltage increase system, comprising: a robot provided with a welding machine; a workpiece to be welded; the robot position searching module is used for searching the position of the robot; the high-voltage contactor module is used for controlling the on-off of a main loop of the welding machine;
the robot is characterized by also comprising a welding arc voltage heightening system and a robot control module, wherein the welding arc voltage heightening system is used for accurately sampling the arc voltage of the welding machine and carrying out digital algorithm processing on the arc voltage to obtain proper arc voltage data and then uploading the data to the robot control module for action;
the welding arc voltage increasing system comprises a voltage acquisition circuit, wherein the voltage acquisition circuit comprises a voltage sampling connection point, the anode of the voltage acquisition circuit is close to the welding position of the welding machine, and the cathode of the voltage acquisition circuit is close to the connection position of the base metal;
the welding arc voltage heightening system also comprises a current collecting circuit which is used for isolating and sampling the output current of the welding machine;
the welding arc voltage heightening system also comprises a sampling conversion circuit module which is connected with the current acquisition circuit and the voltage acquisition circuit and is used for converting an input voltage and current analog signal into a digital quantity;
the welding arc voltage heightening system also comprises an arc voltage signal processing module, wherein the arc voltage signal processing module comprises a DSP digital signal processor and is connected with the sampling conversion circuit module;
the robot control module is connected with the arc voltage signal processing module and comprises a special optical fiber communication interface.
2. The robot for adjusting the welding height by means of the arc voltage raising system according to claim 1, further comprising an electrode feeding module comprising a clamping cylinder, a sequencing cylinder and an output cylinder.
3. The robot for adjusting the welding height by an arc voltage heightening system according to claim 1 or 2, further comprising a manual and automatic switching toggle switch, and a switch button and a fault indicator lamp for manually controlling the clamping, sequencing and outputting of the manual arc welding electrodes.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112916995A (en) * | 2021-03-29 | 2021-06-08 | 成都卡诺普自动化控制技术有限公司 | High-voltage position searching plate and high-voltage position searching device |
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- 2020-05-25 CN CN202020892912.5U patent/CN212577758U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112916995A (en) * | 2021-03-29 | 2021-06-08 | 成都卡诺普自动化控制技术有限公司 | High-voltage position searching plate and high-voltage position searching device |
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