Small assemblage robot online automatic welding device and welding operation method

Abstract

The invention relates to a small assemblage robot online automatic welding device comprising a welding gantry, a linear guide rail, a servo motor, a robot, a sensor fixing bracket, a 3D line laser scanning sensor and an upper computer; and the welding gantry is fixedly connected with the robot and the sensor fixing bracket, the sensor fixing bracket is horizontally arranged and is perpendicular tothe moving direction of the welding gantry, and the 3D line laser scanning sensor is mounted on the sensor fixing bracket. The 3D line laser scanning sensor is driven by movement of the welding gantry to scan a welding area to obtain point cloud data, the point cloud data are subjected to model reconstitution to generate a robot execution program, and robot welding is carried out. A welding operation method is also disclosed. The small assemblage robot online automatic welding device and the operation method can realize establishment of small assemblage workpiece models in any shape, and thewelding operation generation efficiency and the robot operation efficiency are improved.

Description

technical field [0001] The invention relates to robot welding, in particular to an online automatic welding equipment and a welding operation method for a small stand-alone robot. Background technique [0002] In the process of shipbuilding, there are a large number of small-group welding operations of vertical workpieces, and the workload accounts for more than 15% of the overall welding workload of the entire shipyard. At present, most of the small-group welding operations in shipyards still use manual welding. With the development of science and technology With the development, robot welding technology has been able to automatically weld multi-rule and non-standard ship components. [0003] Robot automatic welding is divided into three stages. The first stage is robot welding in the form of teaching. At this stage, the robot uses a fixed teaching program and performs fixed operations. The operation accuracy is high but the operation content is not changeable. It is suitab...

AI Technical Summary

Problems solved by technology

[0004] According to the actual requirements of robot development and group welding in the shipbuilding industry at the present stage, robot welding in the form of teaching cannot complete group stand-up automatic welding. Some shipyards in China have completed the construction and put into operation of ship group stand-up robot automatic welding production lines, but they need to be equipped with professional Programmers perform real-time program updates. At present, the relevant technologies for automatic welding of small-scale robots in the shipbuilding industry are still blank. This invention can provide data models for online programming of robots, and automatically plan welding paths and robot poses according to the models.

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