Automatic welding device and welding method with welding gun pose changing in real time

Abstract

The invention relates to an automatic welding device and welding method with the welding gun pose changing in real time, and belongs to the field of welding automation. A gantry type three-axis welding platform is composed of a rigid body support, a welding platform operation area, a three-axis gantry type combined module and a welding gun rotating mechanism and is provided with an absolute coordinate system O-XYZ, wherein the three-axis gantry type combined module is divided into an X principal axis module with an X-axis auxiliary guide rail, a Y-axis module and a Z-axis module; and the welding platform operation area is fixed to the middle part of the rigid body support, the X principal axis module and the X-axis auxiliary guide rail are fixed to the upper part of the rigid body support,the two ends of the Y-axis module are connected to the X principal axis module and the X-axis auxiliary guide rail in a sliding mode correspondingly, the Z-axis module is connected to the Y-axis module in a sliding mode, and the welding gun rotating mechanism is rigidly fixed under the Z-axis module. The automatic welding device and welding method with the welding gun pose changing in real time have the advantages of automatically identifying the welding seam track in real time, automatically controlling a welding gun to move, removing manual teaching, improving the flexibility of the weldingdevice and improving the welding efficiency.

Description

technical field [0001] The invention relates to the technical field of welding automation and automatic welding trajectory identification, in particular to the identification technology of gas metal shielded welding trajectory, especially to an automatic welding device and welding method with real-time changes in the position and posture of a welding torch. Background technique [0002] In the field of welding automation, because robot welding can guarantee high welding quality and welding efficiency, it is widely used in various welding occasions, but most welding robots are mostly robots based on manual teaching: [0003] (1) Manual teaching increases the preparation time before welding to a certain extent, which seriously limits the welding efficiency of robots or automated equipment; [0004] (2) Since the welding robot cannot perceive the installation error or the error caused by welding thermal deformation, it is difficult to guarantee the welding accuracy based on man...

AI Technical Summary

Problems solved by technology

[0003] (1) Manual teaching increases the preparation time before welding to a certain extent, which seriously limits the welding efficiency of robots or automated equipment;

[0004] (2) Since the welding robot cannot perceive the installation error or the error caused by welding thermal deformation, it is difficult to guarantee the welding accuracy based on manual teaching of the welding robot or welding equipment; many researchers currently use welding deviation recognition technology, such as laser seam tracking technology, arc Sensor technology and other identification deviations are used to check deviations during the welding process, but this technology cannot completely eliminate the manual teaching process;

[0005] (3) Manual teaching makes the flexibility of the welding robot not strong. For batches of weldments, the welding robot based on manual teaching cooperates with welding deviation recognition technology, accurate workpiece fixture tooling, only one manual teaching is required, and the greatest possible guarantee Welding accuracy, improve welding efficiency; but for non-single-piece production, even some large-scale weldments, in order to ensure welding accuracy, cumbersome manual teaching is required

[0006] At present, in order to solve the technical problems of welding robots such as poor flexibility and cumbersome manual teaching, a more appropriate way is to use the welding seam trajectory recognition technology to fit the welding seam trajectory curve and feed it back to the welding robot, but when it comes to real-time changes in the welding torch position (The welding torch must not only move in translation, but also change the pose in real time), due to the curve recognition technology, control algorithm and other reasons, the welding seam trajectory recognition technology is limited in the space curve weld (the welding torch pose changes in real time, For example, the development of steel pipe, cylindrical girth welding)

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