Magnetic field generating device for auxiliary welding and utilization method thereof

Abstract

The invention discloses a magnetic field generating device for auxiliary welding and a utilization method of the magnetic field generating device. The device comprises a magnetic field generating coil, a connecting piece and a motion tracking device. Wherein the magnetic field generating coil is mounted at the bottom of the weldment and is connected with the mechanical arm through the connecting piece; the motion tracking device is installed on the side face of the welding gun and is in communication connection with the mechanical arm through the data processing terminal. The magnetic field generating coil is used for generating a magnetic field acting on the weldment after current is introduced; the motion tracking device is used for collecting motion data of the welding gun in real time, converting the motion data into electric signals and sending the electric signals to the data processing terminal; the data processing terminal is used for generating a control instruction acting on the mechanical arm by adopting a motion control algorithm according to the electric signal; and the mechanical arm is used for executing corresponding actions according to the control instruction so as to control the magnetic field generation coil and the welding gun to move synchronously. Stability and consistency of a magnetic field borne by a welding seam can be achieved, and workpiece waste caused by uneven distribution of the magnetic field is reduced.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to a magnetic field generating device for auxiliary welding and a utilization method thereof. Background Art

[0002] Magnetic assisted welding is an advanced welding technology that introduces a magnetic field during the welding process and uses the interaction between the magnetic field and conductive fluids such as arcs, plasma and molten pools to generate electromagnetic force, thereby optimizing the welding process and improving the welding quality.

[0003] At present, the electromagnetic coil in the magnetic field generating device of common magnetic assisted welding is designed as a variable magnetic field generator, which is installed under the plate or coaxial with the welding gun. Installed under the plate, this installation method is simple and easy to operate, and the direction and magnitude of the magnetic field can be judged, but only the local welding area has a magnetic field of consistent size, which makes it difficult to track the entire weld by the magnetic field, and the consistency of the magnetic field to the entire weld cannot be guaranteed. Moreover, the judgment of the direction and magnitude of the magnetic field is more affected by human factors, and there are disadvantages such as low efficiency, large errors and difficulty in control. Operation errors will cause the weldment to be unusable, resulting in a lot of waste. Although the installation method coaxial with the welding gun can ensure the consistency of the magnetic field to the weld, due to the structural mode of the magnetic field generating device and the welding gun, the direction of the magnetic field is limited by the movement of the welding gun and is limited to the welding of the plane plate. In addition, during the welding process, since the magnetic field generating device is installed on the welding gun, the movement of the welding gun will be restricted to ensure that the direction and magnitude of the magnetic field remain unchanged. Although this method can significantly improve the consistency of the magnetic field applied to the weldment, it is limited by the integrated structural design of the magnetic field generating device and the welding gun, making it unable to meet the welding requirements of complex workpieces. Summary of the invention

[0004] In view of the problems of uneven magnetic field distribution, inability to cope with complex welds and restrictions on the movement of welding guns in the above-mentioned existing magnetic field generating devices, the present invention provides a magnetic field generating device for auxiliary welding and a method for using the same.

[0005] In a first aspect, an embodiment of the present invention provides a magnetic field generating device for auxiliary welding, characterized in that it comprises: a magnetic field generating coil, a connecting piece and a motion tracking device; wherein the magnetic field generating coil is installed at the bottom of the weldment and is connected to a robot arm through the connecting piece; the motion tracking device is installed on the side of the welding gun and is connected to the robot arm through a data processing terminal;

[0006] The magnetic field generating coil is used to generate a magnetic field acting on the weldment after current is passed through it;

[0007] The motion tracking device is used to collect the motion data of the welding gun in real time, and convert the motion data into electrical signals and send them to the data processing terminal;

[0008] The data processing terminal is used to generate a control instruction acting on the robotic arm using a motion control algorithm according to the electrical signal;

[0009] The robotic arm is used to perform corresponding actions according to the control instruction to control the magnetic field generating coil and the welding gun to move synchronously.

[0010] Preferably, the magnetic field generating coil is annular.

[0011] Preferably, the connecting member is a steering connecting member.

[0012] Preferably, the motion tracking device comprises: an inertial sensor, a first connecting line, a single-chip microcomputer and a second connecting line; wherein the inertial sensor is mounted on the side of the welding gun, one end of the single-chip microcomputer is connected to the inertial sensor through the first connecting line, and the other end is connected to the data processing terminal through the second connecting line;

[0013] The inertial sensor is used to collect the motion data of the welding gun in real time;

[0014] The single chip microcomputer is used to receive the motion data through the first connecting line, convert the motion data into an electrical signal, and send the electrical signal to the data processing terminal through the second connecting line.

[0015] Preferably, the inertial sensor is connected to the welding gun via fastening nails.

[0016] Preferably, the inertial sensor is a six-axis inertial measurement unit, which includes at least three accelerometers, three gyroscopes and a magnetometer.

[0017] Preferably, the first connection line is a serial bus, and the second connection line is a USB connection line.

[0018] Preferably, the data processing terminal includes at least a PC, a smart phone and a tablet computer.

[0019] Preferably, the robotic arm is a six-axis robotic arm.

[0020] In a second aspect, an embodiment of the present invention provides a method of using the above-mentioned auxiliary welding magnetic field generating device, comprising:

[0021] The welding gun is powered on so that a magnetic field generating coil generates a magnetic field acting on the weldment after current is passed through it;

[0022] Collecting the motion data of the welding gun in real time and converting the motion data into electrical signals;

[0023] According to the electrical signal, a motion control algorithm is used to generate a control instruction acting on the robotic arm;

[0024] The robot arm performs corresponding actions according to the control instruction to control the magnetic field generating coil and the welding gun to move synchronously.

[0025] Compared with the prior art, the magnetic field generating device for auxiliary welding and the utilization method thereof in the embodiment of the present invention have the following beneficial effects: the inertial sensor monitors the motion of the welding gun in six degrees of freedom, so that the magnetic field can track the welding heat source more accurately, and the stability of the magnetic field relative to the welding heat source is ensured; the separation of the welding gun and the magnetic field generating device makes it more convenient to control the direction and magnitude of the magnetic field without affecting the movement of the welding gun, and ensures the consistency of the magnetic field direction and magnitude of each point in the weld during the entire welding process; at the same time, when dealing with the welding of complex workpieces, the separated tracking structure can more accurately manipulate the tracking behavior of the magnetic field by the six-axis robotic arm, making the selection of the magnetic field direction freer, and not only realizing real-time tracking of the axial magnetic field, but also realizing tracking behavior of the lateral magnetic field, thereby providing technical possibilities for magnetic-assisted welding of complex workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a magnetic field generating device for auxiliary welding according to an embodiment of the present invention;

[0027] Figure 2 is a schematic structural diagram of a magnetic field generating coil according to an embodiment of the present invention;

[0028] Figure 3 is another structural schematic diagram of a magnetic field generating device for auxiliary welding according to an embodiment of the present invention;

[0029] Figure 4 It is a flow chart of a method of using a magnetic field generating device for auxiliary welding according to an embodiment of the present invention;

[0030] Figure 1 In, 13, sports tracking device; Figure 3 In the figure, 01 is an inertial sensor, 02 is a first connecting line, and 04 is a second connecting line. DETAILED DESCRIPTION

[0031] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0032] like Figure 1As shown, an embodiment of the present invention provides a magnetic field generating device for auxiliary welding, including: a magnetic field generating coil 11, a connector 12 and a motion tracking device 13. Among them, the magnetic field generating coil 11 is installed at the bottom of the weldment, and is connected to the robot arm 2 through the connector 12; the motion tracking device 13 is installed on the side of the welding gun, and is communicated with the robot arm 2 through the data processing terminal 3. It can be understood that the magnetic field generating coil 11 and the connector 12 are both installed below the weldment, so that the magnetic field generating device at the bottom of the weldment is separated from the welding gun. This separate structural design makes it more convenient to control the direction and magnitude of the magnetic field without affecting the movement of the welding gun, thereby ensuring the consistency of the magnetic field direction and magnitude of each point in the weld during the entire welding process.

[0033] Specifically, the magnetic field generating coil 11 is annular, as shown in FIG. Figure 2 The magnetic field generating coil 11 is used to generate a magnetic field acting on the weldment after passing current, which is beneficial to optimize the welding process and improve the welding quality. Moreover, the magnetic field generated by the annular coil is relatively uniform, and a larger inductance value can be achieved in a smaller space.

[0034] The connecting member 12 is a steering connecting member, which provides the necessary flexibility so that the robot arm can flexibly turn in a complex and changeable welding environment, thereby realizing free control of the magnetic field generating coil.

[0035] The motion tracking device 13 is used to collect the motion data of the welding gun in real time, and convert the motion data into electrical signals and send them to the data processing terminal 3. The motion data at least includes the motion trajectory. Specifically, Figure 3 As shown, the motion tracking device includes: an inertial sensor 01, a first connecting line 02, a single-chip microcomputer 03 and a second connecting line 04. The inertial sensor 01 is installed on the side of the welding gun, one end of the single-chip microcomputer 03 is connected to the inertial sensor 01 through the first connecting line 02, and the other end is connected to the data processing terminal 3 through the second connecting line 04.

[0036] Specifically, the inertial sensor 01 is used to collect the motion data of the welding gun in real time, and send the motion data to the single-chip computer 03 through the first connecting line 02. Among them, the inertial sensor 01 is connected to the welding gun by a fastening nail, which can ensure the synchronous movement of the inertial sensor and the welding gun, so that the collected motion data is more accurate. Further, the inertial sensor 01 is a six-axis inertial measurement unit, which includes at least three accelerometers, three gyroscopes and a magnetometer. A six-axis inertial measurement unit is used, and a three-axis accelerometer is added on the basis of the three-axis inertial measurement unit to detect the acceleration of the three degrees of freedom and the angular velocity of the three degrees of freedom of the welding gun, and detect the posture and movement of the welding gun. The two aspects of the welding gun are detected, and the magnetic field is more accurately tracked to the welding heat source, ensuring the stability of the magnetic field relative to the welding heat source. It can be understood that in this embodiment, the welding gun is the welding heat source.

[0037] The first connection line 02 is a serial bus. Specifically, the inertial sensor 01 of this embodiment is connected to the single-chip microcomputer 03 in the I2C communication mode. That is to say, the first connection line 02 of this embodiment includes a serial data line and a serial clock line. Among them, the serial data line is used for data transmission or reading, and the serial clock line is used for synchronization of data transmission and reception; the single-chip microcomputer 03 is used as the master device of the I2C communication mode, and the inertial sensor 01 is used as the slave device of the I2C communication mode. The serial bus has the advantages of strong anti-interference and high-speed transmission, which is conducive to miniaturization design.

[0038] The single chip microcomputer 03 is used to receive the motion data through the first connection line 02, convert the motion data into an electrical signal, and send the electrical signal to the data processing terminal 3 through the second connection line 04. Specifically, the single chip microcomputer 03 of this embodiment is an STM32 single chip microcomputer, which has the advantages of high performance, low power consumption and good compatibility.

[0039] The second connection line 04 is a USB connection line. That is, the single chip computer 03 and the data processing terminal 3 are wired connected. The advantages of the USB connection line are its plug-and-play and hot-swap convenience and high-speed data transmission capability.

[0040] The data processing terminal 3 is used to generate control instructions acting on the robotic arm 2 according to the electrical signal and the motion control algorithm. Specifically, the data processing terminal 3 includes at least a PC, a smart phone and a tablet computer. The data processing terminal 3 of this embodiment uses a motion control algorithm to convert the electrical signal output by the single-chip microcomputer 03 into position coordinate information to generate control instructions acting on the robotic arm 2. Among them, the motion control algorithm adopts forward kinematics technology, and the control instructions include parameters such as the speed, direction and position of the motor of the robotic arm, and parameters such as the angle of the servo of the robotic arm. It should be noted that the motion tracking device 13 is communicatively connected to the robotic arm 2 through the data processing terminal 3. That is, the data processing terminal 3 is communicatively connected to the robotic arm 2. The communication connection includes at least serial communication, CAN bus and wireless communication, which are not limited to the present invention.

[0041] The robot arm 2 is used to perform corresponding actions according to the control instructions to control the synchronous movement of the magnetic field generating coil 11 and the welding gun. Specifically, after receiving the control instruction, the robot arm 2 performs corresponding actions according to the control instruction, thereby controlling the synchronous movement of the magnetic field generating coil 11 and the welding gun to achieve real-time tracking of the welding gun by the magnetic field. Furthermore, the robot arm 2 is a six-axis robot arm. The six-axis robot arm can more accurately manipulate the tracking behavior of the magnetic field, making the selection of the magnetic field direction more free, and can not only achieve real-time tracking of the axial magnetic field, but also achieve tracking behavior of the transverse magnetic field, thereby providing technical possibilities for magnetic-assisted welding of complex workpieces.

[0042] It should be noted that the working principle of the magnetic field generating device of this embodiment includes: when there is an effective power supply, the inertial sensor will automatically start, and after completing the relevant initialization function, it will start to collect the motion data of the welding gun; the single-chip microcomputer sends a command to read data to the inertial sensor through the first connecting line, and receives the motion data returned by the inertial sensor; the single-chip microcomputer processes the motion data, including filtering, calibration and analysis operations to ensure the accuracy and stability of the motion data, and obtains the processed motion data, that is, the electrical signal; the single-chip microcomputer inputs the electrical signal to the data processing terminal through the second data line, and the data processing terminal generates a control instruction based on the electrical signal using a motion control algorithm, and sends the control instruction to the robotic arm; the robotic arm performs corresponding actions according to the control instruction to control the magnetic field generating coil to move synchronously with the welding gun, thereby realizing real-time tracking of the welding gun by the magnetic field.

[0043] The embodiment of the present invention is a magnetic field generating device for auxiliary welding. The inertial sensor monitors the movement of the welding gun in six degrees of freedom, and more accurately realizes the tracking of the welding heat source by the magnetic field, thereby ensuring the stability of the magnetic field relative to the welding heat source; the separation of the welding gun and the magnetic field generating device makes it more convenient to control the direction and magnitude of the magnetic field without affecting the movement of the welding gun, thereby ensuring the consistency of the direction and magnitude of the magnetic field at each point of the weld during the entire welding process; at the same time, when dealing with the welding of complex workpieces, the separated tracking structure can more accurately manipulate the tracking behavior of the magnetic field by the six-axis robotic arm, making the selection of the magnetic field direction freer, and not only realizing real-time tracking of the axial magnetic field, but also realizing tracking behavior of the lateral magnetic field, thereby providing technical possibilities for magnetic-assisted welding of complex workpieces.

[0044] like Figure 4 As shown, an embodiment of the present invention provides a method of using the above-mentioned auxiliary welding magnetic field generating device, comprising the steps of:

[0045] S1. Power on the welding gun so that the magnetic field generating coil generates a magnetic field acting on the weldment after current is passed through it;

[0046] S2, collect the motion data of the welding gun in real time and convert the motion data into electrical signals;

[0047] S3, using a motion control algorithm to generate a control command acting on the robotic arm according to the electrical signal;

[0048] S4. The robot arm performs corresponding actions according to the control instructions to control the magnetic field generating coil and the welding gun to move synchronously.

[0049] It should be noted that the specific definition of the above-mentioned method of using a magnetic field generating device for auxiliary welding can be found in the above definition of a magnetic field generating device for auxiliary welding. The two have the same functions and effects and will not be repeated here.

[0050] In summary, the embodiments of the present invention provide a magnetic field generating device for auxiliary welding and a method for utilizing the same. The inertial sensor monitors the motion of the welding gun in six degrees of freedom, and more accurately realizes the tracking of the magnetic field to the welding heat source, thereby ensuring the stability of the magnetic field relative to the welding heat source. The separation of the welding gun and the magnetic field generating device makes it more convenient to control the direction and magnitude of the magnetic field without affecting the movement of the welding gun, thereby ensuring the consistency of the direction and magnitude of the magnetic field at each point of the weld during the entire welding process. At the same time, when the separated tracking structure is used to weld complex workpieces, the six-axis robotic arm can more accurately manipulate the tracking behavior of the magnetic field, thereby making the selection of the magnetic field direction freer, and not only can the real-time tracking of the axial magnetic field be realized, but also the tracking behavior of the lateral magnetic field can be realized, thereby providing technical possibilities for magnetic-assisted welding of complex workpieces.

[0051] Each embodiment in this specification is described in a progressive manner, and the parts that are directly the same or similar to each other can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the method embodiment, since it is basically similar to the device embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the device embodiment. It should be noted that the various technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0052] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A magnetic field generating device for auxiliary welding, characterized in that: include: A magnetic field generating coil, a connecting piece and a motion tracking device; wherein the magnetic field generating coil is installed at the bottom of the weldment and is connected to the robot arm through the connecting piece; the motion tracking device is installed on the side of the welding gun and is connected to the robot arm through a data processing terminal; The magnetic field generating coil is used to generate a magnetic field acting on the weldment after current is passed through it; The motion tracking device is used to collect the motion data of the welding gun in real time, and convert the motion data into electrical signals and send them to the data processing terminal; The data processing terminal is used to generate a control instruction acting on the robotic arm using a motion control algorithm according to the electrical signal; The robotic arm is used to perform corresponding actions according to the control instruction to control the magnetic field generating coil and the welding gun to move synchronously.

2. The magnetic field generating device for auxiliary welding according to claim 1, characterized in that: The magnetic field generating coil is ring-shaped.

3. The magnetic field generating device for auxiliary welding according to claim 1, characterized in that: The connecting piece is a steering connecting piece.

4. The magnetic field generating device for auxiliary welding according to claim 1, characterized in that: The motion tracking device comprises: an inertial sensor, a first connecting line, a single-chip microcomputer and a second connecting line; wherein the inertial sensor is mounted on the side of the welding gun, one end of the single-chip microcomputer is connected to the inertial sensor through the first connecting line, and the other end is connected to the data processing terminal through the second connecting line; The inertial sensor is used to collect the motion data of the welding gun in real time; The single chip microcomputer is used to receive the motion data through the first connecting line, convert the motion data into an electrical signal, and send the electrical signal to the data processing terminal through the second connecting line.

5. The magnetic field generating device for auxiliary welding according to claim 4, characterized in that: The inertial sensor is connected to the welding gun via a fastening nail.

6. The magnetic field generating device for auxiliary welding according to claim 4, characterized in that: The inertial sensor is a six-axis inertial measurement unit, which includes at least three accelerometers, three gyroscopes and a magnetometer.

7. The magnetic field generating device for auxiliary welding according to claim 4, characterized in that: The first connection line is a serial bus, and the second connection line is a USB connection line.

8. The magnetic field generating device for auxiliary welding according to claim 1, characterized in that: The data processing terminal includes at least a PC, a smart phone and a tablet computer.

9. The magnetic field generating device for auxiliary welding according to claim 1, characterized in that: The robotic arm is a six-axis robotic arm.

10. A method of using the auxiliary welding magnetic field generating device according to any one of claims 1 to 9, characterized in that: include: The welding gun is powered on so that a magnetic field generating coil generates a magnetic field acting on the weldment after current is passed through it; Collecting the motion data of the welding gun in real time and converting the motion data into electrical signals; According to the electrical signal, a motion control algorithm is used to generate a control instruction acting on the robotic arm; The robot arm performs corresponding actions according to the control instruction to control the magnetic field generating coil and the welding gun to move synchronously.

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