Oscillating arc tracking welding system based on dual gyroscopes
A welding system and double gyroscope technology, applied in the direction of arc welding equipment, welding equipment, welding rod characteristics, etc., can solve the problems of low welding precision and limited welding torch accessibility
Active Publication Date: 2019-05-31
CHINA GEZHOUBA GROUP MACHINERY & SHIP
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AI-Extracted Technical Summary
Problems solved by technology
However, the disadvantage of this system is that the sensor and the welding torch are inte...
Method used
As in Fig. 1~Fig. 3, a kind of swing arc tracking welding system based on double gyroscope, it comprises the welding machine 2 that is connected with welding robot arm 1, the wire feeder 3 that is connected with welding machine 2, to The gas cylinder 4 for the gas supply of the welding machine, the front end of the welding robot arm 1 is provided with a static gyroscope 5, a weld seam tracking oscillator 6, a dynamic gyroscope 7 and a welding torch 8 connected in sequence; the static gyroscope 5 and the dynamic gyroscope 7 is connected with the controller 9, the seam tracking oscillator 6 is connected with the seam tracking main controller 10, and the seam tracking master controller 10 is connected with the controller 9; the welding machine 2 and the wire feeder 3 are connected with the seam tracking A Hall current sensor 11 is arranged between the main controller 10 connections. The structure is simple, by sequentially connecting the static gyroscope 5, the welding seam tracking oscillator 6, the dynamic gyroscope 7 and the welding torch 8 at the front end of the welding robot arm 1 of the oscillating arc welding robot body, through the combination of the static gyroscope 5 and the dynamic gyroscope 7 The double gyroscope collects the instantaneous change signal of the position and posture of the welding torch 8 and sends it to the controller 9 for system calculation, compensates the system error, controls the welding robot arm 1 to perform an equivalent reverse movement, and improves the anti-shake performance of the welding torch 8 during welding. Weighted processing of welding waveforms enables the system to achieve high-precision welding even in harsh conditions.
S6, fusing width is adjusted, and the swing frequency of welding...
Abstract
The invention discloses an oscillating arc tracking welding system based on dual gyroscopes. The system comprises a welding robot arm, a welding machine, a wire feeder connected with the welding machine, a gas bottle, the static gyroscope, a weld seam tracking oscillator, the dynamic gyroscope and a welding gun; the static gyroscope, the welding seam tracking oscillator, the dynamic gyroscope andthe welding gun are sequentially connected to the front end of the welding robot arm of a oscillating arc tracking welding robot body, the dual gyroscopes formed through combining of the dynamic gyroscope and the static gyroscope collects an instantaneous change signal of the pose of the welding gun and transmits the signal to a controller to be subjected to system operation, the system error is compensated for, the welding robot arm is controlled to execute the equivalent reverse motion, and the anti-shake property during welding gun welding can be improved; the problem that an original welding robot is low in welding precision is solved, and the advantages that the structure is simple, the anti-shake property is good, welding waveforms are subjected to weighted treatment, and the systemcan achieve the high-precision welding under the scurviness condition.
Application Domain
Electrode supporting devices
Technology Topic
System errorWeld seam +5
Image
Examples
- Experimental program(1)
Example Embodiment
[0043] Such as Figure 1 ~ Figure 3 In, a dual gyroscope-based swing arc tracking welding system, which includes a welding machine 2 connected to the welding robot arm 1, a wire feeder 3 connected to the welding machine 2, and a gas cylinder 4 supplied by the welding machine. The front end of the welding robot arm 1 is provided with a static gyroscope 5, a welding seam tracking oscillator 6, a dynamic gyroscope 7 and a welding torch 8 connected in sequence; the static gyroscope 5 and the dynamic gyroscope 7 are connected to the controller 9, and the welding seam The tracking wobbler 6 is connected to the weld tracking main controller 10, and the weld tracking main controller 10 is connected to the controller 9; the welding machine 2 and the wire feeder 3 are connected to the weld tracking main controller 10. 尔Current sensor 11. The structure is simple. The static gyroscope 5, the seam tracking oscillator 6, the dynamic gyroscope 7 and the welding gun 8 are sequentially connected to the front end of the welding robot arm 1 of the swing arc welding robot body, and the static gyroscope 5 and the dynamic gyroscope 7 are combined. The dual gyroscope collects the instantaneous transformation signal of the welding gun 8 and sends it to the controller 9 for system calculation, compensating for system errors, and controlling the welding robot arm 1 to perform the same amount of reverse movement to improve the anti-shake performance of the welding gun 8 during welding. Welding waveforms are weighted, so that the system can achieve high-precision welding even in harsh conditions.
[0044] Preferably, the gas in the gas cylinder 4 is CO 2.
[0045] In a preferred solution, the controller 9 is a Labelview three-dimensional controller. When in use, the welding current is excited by the wire feeder 3 and the welding machine 2, and the gas cylinder 4 provides system gas protection. When the welding robot is jittered by external disturbances during the welding process, the static gyroscope 5 will collect the 8 positions of the welding gun The instantaneous transformation signal is sent to the Labelview 3D controller, and the Labelview 3D controller compensates the system error according to the system calculation.
[0046] In a preferred solution, the static gyroscope 5 is fixedly connected to the seam tracking oscillator to recognize the 8-position change of the welding gun. When in use, the static gyroscope 5 is fixed to prevent it from shaking, as the static coordinates of the dynamic gyroscope 7.
[0047] In a preferred solution, the static gyroscope 5 and the dynamic gyroscope 7 weight-correct and compensate the current signal in the Hall current sensor 11 according to the phase difference. When in use, the static gyroscope 5 is fixedly connected to the seam tracking oscillator 6, the dynamic gyroscope 7 is fixedly connected to the welding gun 8, the static gyroscope 5 realizes the functions of signal reference and system anti-shake, the dynamic gyroscope 7 and the static gyroscope The instrument 5 realizes the digitization of the movement of the welding gun 8 and the optimization of the system weld tracking, enhancing the stability of the weld system, and improving the welding accuracy. The dynamic gyroscope 7 and the weld tracking oscillator 6 are in a synchronous swing state, and the Hall current sensor 11 The current signal during the induction swing is sent to the controller 9, and the phase difference between the static gyroscope 5 and the dynamic gyroscope 7 is measured, which strengthens the tracking effect, enhances the stability of the system under welding conditions, and increases the tracking accuracy of the system.
[0048] In a preferred solution, the static gyroscope 5 remains stationary, and the oscillating arc sensor on the weld tracking oscillator 6 is in a swinging state. When the external disturbance is sensed, the static gyroscope 5 collects the three-dimensional pose of the welding gun 8 in real time. The signal is fed back to the controller 9, and the controller 9 performs a compensation calculation on the signal, and controls the welding robot arm 1 to perform an equal amount of reverse movement. When in use, the oscillating arc sensor on the seam tracking oscillator 6 is in the oscillating state, the static gyroscope 5 remains stationary, and the signal measured at rest is more stable, and is sent to the controller 9 to compare with the signal measured by the dynamic gyroscope 7. The compensation calculation measures the reverse movement of the welding robot arm 1, and the reverse movement of the welding robot arm 1 drives the welding torch 8 to move, so that the welding torch achieves an anti-shake effect.
[0049] In a preferred solution, the dynamic gyroscope 7 connected to the welding torch 8 reflects the movement state of the welding torch 8 at all times according to the orderly swing of the arc sensor. Based on the signal of the static gyroscope 5, the controller 9 collects the static state The instantaneous motion parameters of the gyroscope 5 and the dynamic gyroscope 7 are output in real time from the phase difference between the two torch 8's swing amplitude and speed analog quantity, and are digitally displayed on the display screen through the analog electric device. When in use, the controller 9 collects the instantaneous motion parameters of the static gyroscope 5 and the dynamic gyroscope 7, compares it with the swing and speed of the welding torch 8, and measures the analog quantity, which is digitally displayed on the display through the analog electric device to realize the welding torch The digitization of the movement facilitates intuitive control of the welding state.
[0050] In a preferred solution, the controller 9 extracts real-time signals from the static gyroscope 5 and the dynamic gyroscope 7, and collects three waveform groups of displacement l, velocity v, and acceleration a of the motion of the welding torch 8, and collects them under welding conditions. Comparing the tracking waveforms and calculating the compensation value by weighting, the weighting coefficients of displacement l, velocity v, acceleration a to the welding tracking waveform are α, β, γ, and the current waveform after weighting. When in use, collect the waveforms of the displacement, velocity, and acceleration of the welding torch 8, and compare the waveforms with the instantaneous motion parameters of the static gyroscope 5 and dynamic gyroscope 7 collected during welding, and calculate the compensation value by weighting, and the weighting coefficient is measured. The processed current waveform improves the tracking accuracy and the system stability is better.
[0051] In a preferred solution, the motion signal of the welding gun 8 collected by the static gyroscope 5 is θ, and the movement signal of the welding gun 8 collected by the dynamic gyroscope 7 is Output by the controller That is, the motion signal of the welding torch 8, and the monitoring and adjustment of the swing frequency of the welding torch 8 are realized through the display screen of the controller 9. When in use, the swing frequency of the welding gun 8 is visually displayed on the display screen of the controller 9, which is convenient for visually adjusting the welding melting width and improving the welding quality.
[0052] In a preferred solution, the welding current collected in real time from the Hall current sensor 11 The data is compared in the weld tracking main controller 10, and the compensation calculation value is calculated by weighting, and the weighting coefficients of the displacement l, the velocity v, and the acceleration a to the welding tracking waveform are obtained as α, β, γ, and obtain:
[0053] After the weighted current waveform, the control signal is fed back to the seam tracking oscillator 6 and the welding robot arm 1 for tracking welding. When in use, during the welding process between the welding robot 1 and the base metal, the system collects weighted data of three sets of data through a self-built database, and continuously improves the stability and accuracy by analyzing the data.
[0054] In a preferred solution, the above-mentioned method for using a dual-gyro-based oscillating arc tracking welding system includes the following steps:
[0055] S1, turn on, turn on the welding machine 2 power supply, the wire feeder 3 power supply and the welding robot arm 1 power supply respectively, and then close the controller 9 and the welding seam tracking main controller 10 and the power circuit connected to it, and the welding robot is in working state;
[0056] S2, welding, the welding robot arm 1 moves, and the welding torch 8 is close to the welding point. At the same time, the wire feeder 3 feeds the welding torch 8 to supplement the welding wire consumed in the welding torch 8;
[0057] S3, static data collection, when the static gyroscope 5 feels the disturbance of the welding torch 8, it transmits the signal of the instantaneous pose transformation of the welding torch 8 to the controller 9;
[0058] S4, dynamic data collection, the static gyroscope 5 drives the seam tracking oscillator 6 to move with the action of the welding torch 8, and the Hall current sensor 11 transmits the current signal when oscillating to the controller 9;
[0059] S5, calculation, the controller 9 compares the waveforms with the instantaneous motion parameters of the static gyroscope 5 and the dynamic gyroscope 7 according to the collected waveforms of the displacement, velocity, and acceleration of the welding gun 8 when it moves, and weights and calculates the compensation calculation value;
[0060] S6, welding width adjustment, the swing frequency of the welding torch 8 is displayed on the display screen of the controller 9, and the voltage of the welder 2 is adjusted according to the frequency amplitude on the observation display screen. When the voltage is adjusted, the welding point's melting width will occur accordingly change. The method is simple to operate, convenient to use, and convenient to control the melting width of the welding gun 8 during welding.
[0061] The jet stirring device as described above, when installed and used, the static gyroscope 5, the seam tracking oscillator 6, the dynamic gyroscope 7 and the welding gun 8 are connected in sequence to the front end of the welding robot arm 1 of the swing arc welding robot body, through the static gyroscope 5 The dual gyroscope combined with the dynamic gyroscope 7 collects the instantaneous transformation signal of the welding gun 8's pose and sends it to the controller 9 for system calculation, compensating for system errors, and controlling the welding robot arm 1 to perform the same amount of reverse movement to improve the welding gun. 8 Anti-shake performance during welding, weighted processing of welding waveforms, so that the system can achieve high-precision welding in harsh conditions.
[0062] When in use, the welding current is excited by the wire feeder 3 and the welding machine 2, and the gas cylinder 4 provides system gas protection. When the welding robot is jittered by external disturbances during the welding process, the static gyroscope 5 will collect the 8 positions of the welding gun The instantaneous transformation signal is sent to the Labelview 3D controller, and the Labelview 3D controller compensates the system error according to the system calculation.
[0063] When in use, the static gyroscope 5 is fixed to prevent it from shaking, as the static coordinates of the dynamic gyroscope 7.
[0064] When in use, the static gyroscope 5 is fixedly connected to the seam tracking oscillator 6, the dynamic gyroscope 7 is fixedly connected to the welding gun 8, the static gyroscope 5 realizes the functions of signal reference and system anti-shake, the dynamic gyroscope 7 and the static gyroscope The instrument 5 realizes the digitization of the movement of the welding gun 8 and the optimization of the system weld tracking, enhancing the stability of the weld system, and improving the welding accuracy. The dynamic gyroscope 7 and the weld tracking oscillator 6 are in a synchronous swing state, and the Hall current sensor 11 The current signal during the induction swing is sent to the controller 9, and the phase difference between the static gyroscope 5 and the dynamic gyroscope 7 is measured, which strengthens the tracking effect, enhances the stability of the system under welding conditions, and increases the tracking accuracy of the system.
[0065] When in use, the oscillating arc sensor on the seam tracking oscillator 6 is in the oscillating state, the static gyroscope 5 remains stationary, and the signal measured at rest is more stable, and is sent to the controller 9 to compare with the signal measured by the dynamic gyroscope 7. The compensation calculation measures the reverse movement of the welding robot arm 1, and the reverse movement of the welding robot arm 1 drives the welding torch 8 to move, so that the welding torch achieves an anti-shake effect.
[0066] When in use, the controller 9 collects the instantaneous motion parameters of the static gyroscope 5 and the dynamic gyroscope 7, compares it with the swing and speed of the welding torch 8, and measures the analog quantity, which is digitally displayed on the display through the analog electric device to realize the welding torch The digitization of the movement facilitates intuitive control of the welding state.
[0067] When in use, collect the waveforms of the displacement, velocity, and acceleration of the welding torch 8, and compare the waveforms with the instantaneous motion parameters of the static gyroscope 5 and dynamic gyroscope 7 collected during welding, and calculate the compensation value by weighting, and the weighting coefficient is measured. The processed current waveform improves the tracking accuracy and the system stability is better.
[0068] When in use, the swing frequency of the welding gun 8 is visually displayed on the display screen of the controller 9, which is convenient for visually adjusting the welding melting width and improving the welding quality.
[0069] When in use, during the welding process between the welding robot 1 and the base metal, the system collects weighted data of three sets of data through a self-built database, and continuously improves the stability and accuracy by analyzing the data.
[0070] The above-mentioned embodiments are only preferred technical solutions of the present invention, and should not be regarded as a limitation of the present invention. The embodiments in this application and the features in the embodiments can be combined with each other arbitrarily without conflict. The protection scope of the present invention should be based on the technical solutions described in the claims, including equivalent replacement solutions of the technical features in the technical solutions described in the claims. That is, equivalent replacement and improvement within this scope are also within the protection scope of the present invention.
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