Large curved panel fillet weld edge compensation system and method

Abstract

The present invention relates to a large curved plate fillet welding corner compensation system and method, the system includes: a closing calibration module, an inclination adjustment module, an inclination acquisition module and a parameter adjustment module. The method includes: determining the forward inclination angle change threshold of the welding gun muzzle according to the size of the welding corner so that when the forward inclination angle of the welding gun muzzle reaches the forward inclination angle change upper limit of the forward inclination angle change threshold, the welding gun muzzle is aligned with the closing end of the welding corner; after the welding gun stops moving at the welding corner during welding, the forward inclination angle of the welding gun muzzle is adjusted to the forward inclination angle change upper limit; the real-time forward inclination angle data of the welding gun muzzle is detected, and the welding gun parameter selection data is called according to the real-time forward inclination angle data to adjust the welding gun parameters to keep the current of the welding gun muzzle constant when the forward inclination angle changes. The technical solution of the present invention adjusts the forward inclination angle of the welding gun muzzle after the welding gun stops moving at the welding corner during welding to ensure that the welding gun muzzle can compensate for the closing of the weld corner, so that the entire weld can be completely welded.

Description

Technical Field

[0001] The invention belongs to the field of welding automation, and in particular relates to a large curved panel fillet welding edge angle compensation system and method. Background Art

[0002] Shipbuilding includes many process steps such as parts processing, component grouping, section welding, section assembly, hull assembly, etc. Among them, parts processing, component grouping, component painting, etc. have been realized in automated or semi-automated construction and processing. However, as the core link in the hull construction process, section welding, especially curved section welding, currently still has no sufficient and effective automated / semi-automated technical solutions.

[0003] There is a technical solution in the prior art that uses laser tracking to determine the weld position for welding, but the laser tracking device of this technical solution needs to be set in front of the welding gun path. When there is a vertical wall at the weld joint, the laser tracking device is blocked by the vertical wall, and a corner equal to the size of the laser tracking device cannot be welded. Summary of the invention

[0004] In view of the defects existing in the prior art, the purpose of the present invention is to provide a large curved plate corner welding system and method, which can solve the problem that the corners cannot be welded because the laser tracking device is blocked by the vertical wall.

[0005] The technical solution of the present invention is as follows:

[0006] A large curved panel fillet weld edge compensation system, comprising:

[0007] A closing calibration module, used for determining a threshold value of a forward tilt angle change of a welding gun muzzle according to the size of the welding corner so that when the forward tilt angle of the welding gun muzzle reaches an upper limit of the forward tilt angle change threshold value, the welding gun muzzle is aligned with the closing end of the welding corner;

[0008] An inclination adjustment module is used to adjust the forward inclination angle of the welding gun muzzle to an upper limit of the forward inclination angle change after the welding gun stops moving forward when reaching the welding corner during welding;

[0009] An inclination angle acquisition module is used to detect the real-time forward inclination angle data of the welding gun muzzle;

[0010] The parameter adjustment module is used to call the welding gun parameter selection data according to the real-time forward tilt angle data to adjust the welding gun parameters so as to keep the current at the welding gun muzzle constant when the forward tilt angle changes.

[0011] Furthermore, the above-mentioned large curved panel fillet weld edge compensation system also includes:

[0012] The tilt angle simulation module is used to simulate welding with a changed forward tilt angle of the welding gun muzzle, and to adjust the welding gun parameters during welding to keep the current at the welding gun muzzle constant when the forward tilt angle changes;

[0013] A data acquisition module, used for acquiring the forward inclination angle data of the welding gun muzzle and the welding gun parameter data corresponding to the forward inclination angle data during the above-mentioned simulated welding process;

[0014] The data generating module is used to generate welding parameter selection data according to the forward inclination angle data and corresponding welding parameter data.

[0015] Furthermore, the above-mentioned large curved panel fillet weld edge compensation system also includes:

[0016] The welding gun deviation correction module is used to perform swing deviation correction on the welding gun according to the current feedback of the welding gun muzzle.

[0017] Furthermore, in the above-mentioned large curved panel corner weld angle compensation system, when the welding gun correction module performs swing correction on the welding gun according to the current feedback of the welding gun muzzle, the welding gun muzzle swings in a direction perpendicular to the weld trajectory, and the current information data of the welding feedback is collected at regular intervals, and the current information data of two adjacent time collection points are compared, and the welding gun muzzle is controlled to move in the swinging direction from the coordinate with large current information data to the coordinate with small current information data.

[0018] Accordingly, the present invention also provides a method for compensating corner weld edges of large curved panels, comprising:

[0019] Determine a threshold value for the change in the forward tilt angle of the welding gun muzzle according to the size of the welding corner so that when the forward tilt angle of the welding gun muzzle reaches an upper limit of the forward tilt angle change threshold value, the welding gun muzzle is aligned with the closing end of the welding corner;

[0020] When welding, after the welding gun reaches the welding corner and stops moving forward, the forward inclination angle of the welding gun muzzle is adjusted to an upper limit of the forward inclination angle change;

[0021] The real-time forward tilt angle data of the welding gun muzzle is detected, and welding gun parameter selection data is called according to the real-time forward tilt angle data to adjust welding gun parameters so as to keep the current of the welding gun muzzle constant when the forward tilt angle changes.

[0022] Furthermore, the above-mentioned large curved panel fillet weld edge compensation method includes:

[0023] Simulating welding with a changed forward tilt angle of a welding gun muzzle, and adjusting the welding gun parameters to keep the current at the welding gun muzzle constant when the forward tilt angle changes;

[0024] In the above-mentioned simulated welding process, the forward inclination angle data of the welding gun muzzle and the welding gun parameter data corresponding to the forward inclination angle data are collected;

[0025] Welding parameter selection data is generated according to the forward inclination angle data and corresponding welding parameter data.

[0026] Furthermore, the above-mentioned large curved panel fillet weld edge compensation method also includes:

[0027] The welding gun is swung and corrected according to the current feedback from the welding gun muzzle.

[0028] Furthermore, in the above-mentioned large curved panel corner weld compensation method, when the welding gun is swung and corrected according to the current feedback of the welding gun muzzle, the welding gun muzzle is swung in a direction perpendicular to the weld trajectory, the current information data of the welding feedback is collected at regular intervals, the current information data of two adjacent time collection points are compared, and the welding gun muzzle is controlled to move in the swing direction from the coordinate with large current information data to the coordinate with small current information data.

[0029] The beneficial effects of the present invention are as follows:

[0030] The technical solution of the present invention adjusts the forward tilt angle of the welding gun muzzle after the welding gun stops moving at the welding corner during welding to ensure that the welding gun muzzle can compensate for the closing of the weld corner so that the entire weld can be completely welded. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural block diagram of a large curved panel fillet weld edge compensation system in a specific implementation manner of the present invention.

[0032] Figure 2 It is a flowchart of a method for compensating corner welds of large curved panels in a specific implementation manner of the present invention.

[0033] Figure 3 It is a flowchart of the steps of generating welding parameter selection data in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0034] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0035] like Figure 1As shown, the present invention provides a large curved plate fillet welding corner compensation system, comprising: a closing calibration module, used for determining a threshold value of a forward tilt angle change of a welding gun muzzle according to the size of the welding corner so that when the forward tilt angle of the welding gun muzzle reaches an upper limit of the forward tilt angle change threshold, the welding gun muzzle is aligned with the closing end (the closing end is the end of the weld) of the welding corner; an inclination adjustment module, used for adjusting the forward tilt angle of the welding gun muzzle to an upper limit of the forward tilt angle change after the welding gun stops moving forward when reaching the welding corner during welding; an inclination acquisition module, used for detecting real-time forward tilt angle data of the welding gun muzzle; a parameter adjustment module, used for calling welding gun parameter selection data according to the real-time forward tilt angle data to adjust welding gun parameters to keep the current of the welding gun muzzle constant when the forward tilt angle changes.

[0036] In this way, the edge and corner compensation system of the present invention can achieve edge and corner compensation by changing the forward tilt angle of the welding gun muzzle when the laser tracking device is blocked by the vertical wall, so that the weld is completely welded.

[0037] The large curved panel fillet weld edge compensation system of this embodiment also includes: an inclination angle simulation module, which is used to simulate welding with a changed forward inclination angle of the welding gun muzzle, and adjust the welding gun parameters during welding to keep the current at the welding gun muzzle constant when the forward inclination angle changes; a data acquisition module, which is used to collect the forward inclination angle data of the welding gun muzzle and the welding gun parameter data corresponding to the forward inclination angle data during the above-mentioned simulated welding process; and a data generation module, which is used to generate welding parameter selection data based on the forward inclination angle data and the corresponding welding parameter data.

[0038] Furthermore, in order to improve the welding accuracy, it also includes: a welding gun correction module, which is used to swing and correct the welding gun according to the current feedback of the welding gun muzzle. When the welding gun correction module swings and corrects the welding gun according to the current feedback of the welding gun muzzle, the welding gun muzzle swings in a direction perpendicular to the weld trajectory, collects the current information data of the welding feedback at a regular time, compares the current information data of two adjacent time collection points, and controls the welding gun muzzle to move from the coordinate with large current information data to the coordinate with small current information data in the swing direction. Based on the above parameter adjustment module, during the change of the welding gun muzzle forward tilt angle, as long as the welding gun muzzle is aligned with the weld, the current of the welding gun muzzle is constant. In this case, the welding trajectory can be corrected according to the current change through the mid-arc tracking technology. There are three situations of correction action. The first is that the two continuously collected current information data are located on the same side of the center of the welding groove. In this case, the welding gun can be moved to the center of the groove through steps S402 and S403 once, so that the welding trajectory is corrected; the second is that the two continuously collected current information data are located on different sides of the welding groove, and the subsequent current information data is greater than the previous current information data. At this time, according to the rules of steps S402 and S403, the welding gun weld will continue to deviate from the center of the groove toward the coordinate position corresponding to the subsequent current information data until the third time (with the above-mentioned previous current information data as the first time) The current information data is compared with the second current information data (that is, the above-mentioned subsequent current information data) according to step S402. When correction is performed according to the rule of step S403, it will be offset from the coordinate position corresponding to the third current information data to the coordinate position corresponding to the second current information data. Based on the comparison offset result of the first current information data and the second current information data (away from the center of the groove), the coordinate position corresponding to the third current information data is farther away from the groove than the position corresponding to the second current information data, and the muzzle is closer to the welding point. According to the principle of constant voltage of mag welding, the third current information data is greater than the second current information data. Therefore, the comparison offset result of the third current information data and the second current information data is offset towards the center of the groove, thereby correcting the welding position.

[0039] like Figure 2 As shown, accordingly, this embodiment also provides a large curved panel fillet weld edge compensation method, including:

[0040] S100, determining a threshold value for changing the forward tilt angle of the welding gun muzzle according to the size of the welding corner so that when the forward tilt angle of the welding gun muzzle reaches an upper limit of the forward tilt angle change threshold, the welding gun muzzle is aligned with the closing end of the welding corner;

[0041] S200, when welding, after the welding gun reaches the welding corner and stops moving forward, adjusting the forward inclination angle of the welding gun muzzle to an upper limit of the forward inclination angle change;

[0042] S300, detecting real-time forward tilt angle data of the welding gun muzzle, and calling welding gun parameter selection data according to the real-time forward tilt angle data to adjust welding gun parameters to keep the current of the welding gun muzzle constant when the forward tilt angle changes.

[0043] like Figure 3 As shown, in this embodiment, the steps of generating welding parameter selection data are included:

[0044] S001, simulating welding with a changed forward tilt angle of a welding gun muzzle, and adjusting the welding gun parameters to keep the current at the welding gun muzzle constant when the forward tilt angle changes;

[0045] S002, collecting the forward inclination angle data of the welding gun muzzle and the welding gun parameter data corresponding to the forward inclination angle data during the above-mentioned simulated welding process;

[0046] S003. Generate welding parameter selection data according to the forward inclination angle data and corresponding welding parameter data.

[0047] Furthermore, the large curved panel fillet weld edge compensation method of this embodiment further includes:

[0048] S400, the welding gun is swung and corrected according to the current feedback of the welding gun muzzle. When the welding gun is swung and corrected according to the current feedback of the welding gun muzzle, the welding gun muzzle is swung in a direction perpendicular to the weld track, the current information data of the welding feedback is collected at regular intervals, the current information data of two adjacent time collection points are compared, and the welding gun muzzle is controlled to move from the coordinate with the larger current information data to the coordinate with the smaller current information data in the swing direction.

[0049] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A large curved panel fillet weld corner compensation system, It is characterized in that include: A closing calibration module, used for determining a threshold value of a forward tilt angle change of a welding gun muzzle according to the size of the welding corner so that when the forward tilt angle of the welding gun muzzle reaches an upper limit of the forward tilt angle change threshold value, the welding gun muzzle is aligned with the closing end of the welding corner; An inclination adjustment module is used to adjust the forward inclination angle of the welding gun muzzle to an upper limit of the forward inclination angle change after the welding gun stops moving forward when reaching the welding corner during welding; An inclination angle acquisition module is used to detect the real-time forward inclination angle data of the welding gun muzzle; A parameter adjustment module, used for calling welding gun parameter selection data according to the real-time forward tilt angle data to adjust welding gun parameters so as to keep the current at the welding gun muzzle constant when the forward tilt angle changes; The tilt angle simulation module is used to simulate welding with a changed forward tilt angle of the welding gun muzzle, and to adjust the welding gun parameters during welding to keep the current at the welding gun muzzle constant when the forward tilt angle changes; A data acquisition module, used for acquiring the forward inclination angle data of the welding gun muzzle and the welding gun parameter data corresponding to the forward inclination angle data during the above-mentioned simulated welding process; A data generating module, used for generating welding parameter selection data according to the forward inclination angle data and corresponding welding parameter data; The welding gun deviation correction module is used to perform swing deviation correction on the welding gun according to the current feedback of the welding gun muzzle. Specifically, when the welding gun deviation correction module performs swing deviation correction on the welding gun according to the current feedback of the welding gun muzzle, the welding gun muzzle swings in a direction perpendicular to the weld track, and the current information data of the welding feedback is collected at regular intervals. The current information data of two adjacent time collection points are compared, and the welding gun muzzle is controlled to move from the coordinate with large current information data to the coordinate with small current information data in the swing direction.

2. A method for compensating the corner welds of large curved panels. It is characterized in that include: Determine a threshold value for the change in the forward tilt angle of the welding gun muzzle according to the size of the welding corner so that when the forward tilt angle of the welding gun muzzle reaches an upper limit of the forward tilt angle change threshold value, the welding gun muzzle is aligned with the closing end of the welding corner; When welding, after the welding gun reaches the welding corner and stops moving forward, the forward inclination angle of the welding gun muzzle is adjusted to an upper limit of the forward inclination angle change; Detecting real-time forward tilt angle data of the welding gun muzzle, and calling welding gun parameter selection data to adjust welding gun parameters according to the real-time forward tilt angle data to keep the current of the welding gun muzzle constant when the forward tilt angle changes; Simulating welding with a changed forward tilt angle of a welding gun muzzle, and adjusting the welding gun parameters to keep the current at the welding gun muzzle constant when the forward tilt angle changes; In the above-mentioned simulated welding process, the forward inclination angle data of the welding gun muzzle and the welding gun parameter data corresponding to the forward inclination angle data are collected; Welding parameter selection data is generated according to the forward inclination angle data and corresponding welding parameter data.

3. The large curved panel fillet weld edge compensation method as claimed in claim 2, It is characterized in that Also includes: The welding gun is swung and corrected according to the current feedback from the welding gun muzzle.

4. The large curved panel fillet weld edge compensation method as claimed in claim 3, Features: When the welding gun is swung and corrected according to the current feedback from the welding gun muzzle, the welding gun muzzle swings in a direction perpendicular to the weld trajectory, the current information data of the welding feedback is collected at regular intervals, the current information data of two adjacent time collection points are compared, and the welding gun muzzle is controlled to move in the swinging direction from the coordinate with large current information data to the coordinate with small current information data.

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