H-shaped steel structural member parameterized programming welding method and welding device

Abstract

The application discloses a kind of H-shaped steel structural member parameterization programming welding method and welding device including following steps, the size data of H-shaped steel structural member to be welded workpiece is measured;Workpiece is placed on tooling mesa, tooling mesa uses hydraulic centering device, so that workpiece can be located in the center of tooling after installation;The size data of workpiece is input to PLC touch screen module, and workpiece model is pre-stored in control system;The laser positioning point is calculated according to the size data of workpiece and workpiece model by the robot system;Robot carries out actual weld position output after updating output weld point by laser sensor positioning;Robot system carries out welding to workpiece according to weld actual position.The application, for prior art, replaces workpiece without tedious teaching, just need to input main size parameter of workpiece, and system is matched with robot operation program according to plate thickness and bevel information and pre-stored model, can solve the welding control problem of small batch, multi-variety H-shaped steel structural workpiece.

Description

Technical Field

[0001] This invention relates to welding methods and welding apparatus in the field of processing, and particularly to a parametric programming welding method and welding apparatus for H-shaped steel structural components. Background Technology

[0002] In the steel structure industry, H-beam steel structural components are typical products produced in small batches and with a wide variety of types. Currently, welding of H-beam steel structural components is done manually or using specialized machines. The varying skill levels and experience of the welders result in inconsistent production volume and quality for the tower legs. As for specialized welding machines, their limited functionality and structure, cumbersome operation, and lack of flexibility make them unsuitable for addressing the challenges of producing diverse, small-batch H-beam steel structural components.

[0003] Therefore, the above problems urgently need to be solved. Summary of the Invention

[0004] Purpose of the invention: The first objective of this invention is to provide a convenient parametric programming welding method for H-shaped steel structural components.

[0005] The second objective of this invention is to provide a parametric programming welding device for H-shaped steel structural components.

[0006] Technical solution: To achieve the above objectives, this invention discloses a parametric programming welding method for H-shaped steel structural members, comprising the following steps:

[0007] (1) Measure the dimensions of the H-shaped steel structure to be welded;

[0008] (2) Place the workpiece on the fixture table. The fixture table uses a hydraulic centering device so that the workpiece can be located in the center of the fixture after installation.

[0009] (3) Input the workpiece size data into the PLC touch screen module. The control system has a pre-stored workpiece model.

[0010] (4) The robot system calculates the laser locating point based on the workpiece size data and workpiece model; after the robot carries the laser sensor to locate the weld point, it updates and outputs the actual weld position.

[0011] (5) The robot system welds the workpiece according to the actual position of the weld.

[0012] In step (2), the hydraulic centering device positions the workpiece at the center of the tooling, specifically including the following steps:

[0013] (2.1) The cross-shaped centering module consists of two hydraulic cylinders that are orthogonal at 90 degrees;

[0014] (2.2) The H-shaped steel structure is placed on the tooling fixture, with its web and flanges parallel to one of the hydraulic cylinders respectively;

[0015] (2.3) Start the two sets of hydraulic cylinders in sequence to position the workpiece at the center of the tooling.

[0016] Preferably, the control system has a pre-stored model of the workpiece, specifically including the following steps:

[0017] (3.1) The robot system has pre-stored workpiece models and their process parameters for different plate thicknesses;

[0018] (3.2) Based on the input workpiece size data, the system matches a suitable workpiece model and its process parameters.

[0019] Furthermore, step (4) specifically includes the following steps:

[0020] (4.1) The robot system calculates the robot's dynamic positioning start and end points, and the robot's static positioning point;

[0021] The method for calculating the laser dynamic positioning starting point Ps is as follows:

[0022] (x0-workpiece_L-d, y0+0.707*workpiece_W, z0-0.707*workpiece_W+h)

[0023] The calculation methods for the laser dynamic positioning endpoint Pe point and the laser static positioning point Pe point are as follows:

[0024] (x0-workpiece_L+ratio*workpiece_L, y0+0.707*workpiece_W, z0-0.707*workpiece_W+h)

[0025] Where x0, y0, and z0 are the x, y, and z position values ​​of the positioner center when the positioner's tilting axis rotates 90 degrees; workpiece_L is the length of the H-shaped steel structure, which is also the length of the weld; workpiece_W is the width of the H-shaped steel structure; ratio is the search ratio, which is user-defined; d is the distance between the dynamic starting point and the weld starting point; h is the laser scanning height.

[0026] (4.2) The robot system calculates and outputs the start and end points of the weld seam based on the dimensional parameters of the H-shaped steel structure and the two points obtained by laser positioning;

[0027] The actual starting point of the weld is obtained through laser dynamic positioning. The point obtained by dynamic positioning is P1, and its calculation method is as follows:

[0028] The robot carries a laser sensor from point Ps to point Pe, collects the presence or absence of weld seam flags from the laser sensor and obtains the corresponding spatial coordinates x, y, z of the point by positioning, forming a 2D array Q[i][j].

[0029] Calculate the difference array P[i] for the presence or absence of weld seams:

[0030] P[i] = Q[i][0] - Q[i-1][0]

[0031] Calculate the sequence number k of the weld start point:

[0032] while P[i]! = 1

[0033] ++i

[0034] endwhile

[0035] k = i

[0036] Output point P1:

[0037] P1=(Q[k][1],Q[k][2],Q[k][3])

[0038] The point P2 is obtained by the robot using a laser sensor for static positioning.

[0039] The actual end point P3 of the weld is calculated based on the following set of equations:

[0040]

[0041] Furthermore, in step (5), the robot system welds the workpiece according to the actual position of the weld, specifically including the following steps:

[0042] (5.1) The positioner moves to the bevel welding position, and the robot welds the bevel until it is filled. This includes:

[0043] The starting point for welding the bevel section is P1 and P3, which are offset according to the bevel parameters. The offset is calculated as: (0, 0.5*workpiece_t1*sin(0.5*θ), -0.5*workpiece_t1*cos(0.5*θ)).

[0044] Where θ is the bevel angle; workpiece_t1 is the web thickness;

[0045] (5.2) The positioner moves to the ship-shaped welding position above the bevel, and the robot welds the part above the bevel until the welding height meets the requirements.

[0046] Furthermore, the dimensional data of H-beam steel structural members include length, width, height, web thickness, and side plate thickness.

[0047] The present invention discloses a parametric programming welding device for H-shaped steel structural components, comprising a six-axis robot, a two-axis positioner, a PLC touch screen system, a laser positioning module, a welding system, and a hydraulic centering device. The six-axis robot includes a robot controller, a robot body, and a teach pendant. The laser positioning module includes a laser sensor control box and a laser sensor. The welding system includes a welding power source, a water-cooled welding torch, and a water-cooling box.

[0048] The robot body is the final actuator of the six-axis robot, responsible for executing the motion program generated by the control cabinet; the teach pendant teaches and programs the robot, and the programmed program directly controls the robot body's movements through the robot controller; the robot controller is the core of the robot system, responsible for controlling the robot body's movements and calculating the location and welding points; the laser positioning sensor is installed on the welding torch, and can capture the shape of the weld seam during the robot body's movements; the water-cooled welding torch is the final actuator of the welding system, working in conjunction with the robotic arm to perform various welding tasks; and the PLC touch screen system is used for inputting workpiece parameters.

[0049] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: Compared with the prior art, the present invention does not require cumbersome teaching when changing workpieces. It only requires inputting the main size parameters of the workpiece. The system matches the robot operation program according to the plate thickness and bevel information and the pre-stored model, which can solve the welding control problem of small batch and multi-variety H-shaped steel structure workpieces. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the welding method of the present invention;

[0051] Figure 2 This is a control system architecture diagram of the welding device in this invention;

[0052] Figure 3 This is a schematic diagram of the welding device in this invention;

[0053] Figure 4 This is a schematic diagram of the H-shaped steel structure in this invention;

[0054] Figure 5 This is a schematic diagram of dynamic positioning in this invention. Detailed Implementation

[0055] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0056] like Figure 2 and Figure 3As shown, this invention discloses a parametric programming welding device for H-shaped steel structures, comprising a six-axis robot 1, a two-axis positioner 2, a PLC touchscreen system 3, a laser positioning module 4, a welding system 5, and a hydraulic centering device 6. The six-axis robot 1 includes a robot controller, a robot body, and a teach pendant. The laser positioning module 4 includes a laser sensor control box and a laser sensor. The welding system 5 includes a welding power source, a water-cooled welding torch, and a water-cooling box. The robot body is the final actuator of the six-axis robot, responsible for executing the motion program generated by the control cabinet. The teach pendant programs the robot, and the successfully programmed program directly controls the robot body's movements through the robot controller. The robot controller is the core of the robot system, responsible for controlling the robot body's movements and calculating the positioning and welding points. The laser positioning sensor is mounted on the welding torch, and during the robot body's movements, it can capture the shape of the weld seam. The water-cooled welding torch is the final actuator of the welding system, cooperating with the robotic arm's movements to perform various welding tasks. The PLC touchscreen system is used for inputting workpiece parameters.

[0057] like Figure 1 As shown, the present invention discloses a parametric programming welding method and welding apparatus for H-shaped steel structural members, comprising the following steps:

[0058] (1) Measure the dimensions of the H-beam steel structure to be welded. The dimensions of the H-beam steel structure include length, width, height, web thickness, and side plate thickness.

[0059] (2) Place the workpiece on the fixture table. The fixture table uses a hydraulic centering device so that the workpiece can be located in the center of the fixture after installation.

[0060] The hydraulic centering device positions the workpiece at the center of the tooling, specifically including the following steps:

[0061] (2.1) The cross centering module consists of two hydraulic cylinders that are orthogonal at 90 degrees.

[0062] (2.2) The H-shaped steel structure is placed on the tooling fixture, with its web and flanges parallel to one of the hydraulic cylinders respectively;

[0063] (2.3) Start the two sets of hydraulic cylinders in sequence to position the workpiece at the center of the tooling;

[0064] (3) Input the workpiece size data into the PLC touch screen module. The control system has a pre-stored workpiece model. The workpiece model of the H-shaped steel structure is mainly distinguished according to the plate thickness and bevel parameters.

[0065] The control system contains a pre-stored model of the workpiece, specifically including the following steps:

[0066] (3.1) The robot system has pre-stored workpiece models and their process parameters for different plate thicknesses;

[0067] (3.2) Based on the input workpiece size data, the system matches a suitable workpiece model and its process parameters;

[0068] (4) The robot system calculates the laser locating point based on the workpiece's size data and workpiece model; after the robot, carrying a laser sensor, locates the weld point, it updates and outputs the actual weld position, specifically including the following steps:

[0069] (4.1) The robot system calculates the robot's dynamic positioning start and end points, and the robot's static positioning point:

[0070] The method for calculating the laser dynamic positioning starting point Ps is as follows:

[0071] (x0-workpiece_L-d, y0+0.707*workpiece_W, z0-0.707*workpiece_W+h)

[0072] The calculation methods for the laser dynamic positioning endpoint Pe point and the laser static positioning point Pe point are as follows:

[0073] (x0-workpiece_L+ratio*workpiece_L, y0+0.707*workpiece_W, z0-0.707*workpiece_W+h)

[0074] Where x0, y0, and z0 are the x, y, and z position values ​​of the positioner center when the positioner's tilting axis rotates 90 degrees; workpiece_L is the length of the H-shaped steel structure, which is also the length of the weld; workpiece_W is the width of the H-shaped steel structure; ratio is the search ratio, which is user-defined; d is the distance between the dynamic starting point and the weld starting point; h is the laser scanning height.

[0075] (4.2) Based on the dimensional parameters of the H-shaped steel structure and the two points obtained by laser positioning, the robot system calculates and outputs the start and end points of the weld:

[0076] The actual starting point of the weld is obtained through laser dynamic positioning. The point obtained by dynamic positioning is P1, and its calculation method is as follows:

[0077] The robot carries a laser sensor from point Ps to point Pe, collects the presence or absence of weld seam flags from the laser sensor and obtains the corresponding spatial coordinates x, y, z of the point by positioning, forming a 2D array Q[i][j].

[0078] Calculate the difference array P[i] for the presence or absence of weld seams:

[0079] P[i] = Q[i][0] - Q[i-1][0]

[0080] Calculate the sequence number k of the weld start point:

[0081] while P[i]! = 1

[0082] ++i

[0083] endwhile

[0084] k = i

[0085] Output point P1:

[0086] P1=(Q[k][1],Q[k][2],Q[k][3])

[0087] The point P2 is obtained by the robot using a laser sensor for static positioning.

[0088] The actual end point P3 of the weld is calculated based on the following set of equations:

[0089]

[0090] (5) The robot system welds the workpiece according to the actual position of the weld, specifically including the following steps:

[0091] (5.1) The positioner moves to the bevel welding position, and the robot welds the bevel until it is filled. This includes:

[0092] The starting point for welding the bevel section is P1 and P3, which are offset according to the bevel parameters. The offset is calculated as: (0, 0.5*workpiece_t1*sin(0.5*θ), -0.5*workpiece_t1*cos(0.5*θ)).

[0093] Where θ is the bevel angle; workpiece_t1 is the web thickness;

[0094] (5.2) The positioner moves to the ship-shaped welding position above the bevel, and the robot welds the part above the bevel until the welding height meets the requirements.

[0095] (6) Repeat steps (4)-(5) above to complete the welding of all seams.

Claims

1. A parametric programming welding method for H-shaped steel structural members, characterized in that, Includes the following steps: (1) Measure the dimensional data of the H-shaped steel structure to be welded; (2) Place the workpiece on the tooling table. The tooling table uses a hydraulic centering device so that the workpiece can be located in the center of the tooling after installation. (3) Input the workpiece size data into the PLC touch screen module. The control system has a pre-stored workpiece model. (4) The robot system calculates the laser locating point based on the workpiece size data and workpiece model; after the robot carries the laser sensor to locate the weld point, it updates and outputs the actual weld position. Step (4) specifically includes the following steps: (4.1) The robot system calculates the robot's dynamic positioning start and end points, and the robot's static positioning point; The method for calculating the laser dynamic positioning starting point Ps is as follows: ， The calculation methods for the laser dynamic positioning endpoint Pe point and the laser static positioning point Pe point are as follows: ， Where x0, y0, and z0 are the x, y, and z position values ​​of the positioner center when the positioner's flip axis rotates 90 degrees; This refers to the length of the H-beam steel structure, and also the length of the weld. d: Width of the H-shaped steel structure; ratio: Search ratio, user-defined; d: Distance between the dynamic starting point and the weld starting point; h: Laser scanning height; (4.2) The robot system calculates and outputs the start and end points of the weld seam based on the dimensional parameters of the H-shaped steel structure and the two points obtained by laser positioning; The actual starting point of the weld is obtained through laser dynamic positioning. The point obtained by dynamic positioning is P1, and its calculation method is as follows: The robot, carrying a laser sensor, moves from point Ps to point Pe, collecting the presence or absence of weld seam markers (flags) from the laser sensor and obtaining the corresponding spatial coordinates (x, y, z) of the point, forming a 2D array. ; Calculate the difference array of weld seam indicators : ， Calculate the sequence number k of the weld start point: ， ， ， ， Output point P1: ， The point P2 is obtained by the robot using a laser sensor for static positioning. The actual end point P3 of the weld is calculated based on the following set of equations: ； (5) The robot system welds the workpiece according to the actual position of the weld.

2. The parametric programming welding method for H-shaped steel structural members according to claim 1, characterized in that, In step (2), the hydraulic centering device positions the workpiece at the center of the tooling, specifically including the following steps: (2.1) The cross-shaped centering module consists of two hydraulic cylinders that are orthogonal at 90 degrees; (2.2) The H-shaped steel structure is positioned on the tooling fixture, with its web and flanges parallel to one of the hydraulic cylinders; (2.3) Start the two sets of hydraulic cylinders in sequence to position the workpiece at the center of the tooling.

3. The parametric programming welding method for H-shaped steel structural members according to claim 1, characterized in that, The control system has a pre-stored model of the workpiece, specifically including the following steps: (3.1) The robot system has pre-stored workpiece models and their process parameters for different plate thicknesses; (3.2) Based on the input workpiece size data, the system matches a suitable workpiece model and its process parameters.

4. The parametric programming welding method for H-shaped steel structural members according to claim 1, characterized in that, In step (5), the robot system welds the workpiece according to the actual position of the weld, specifically including the following steps: (5.1) The positioner moves to the bevel welding position, and the robot welds the bevel until it is filled, specifically including: The starting points for welding the bevel section are points P1 and P3, which are offset according to the bevel parameters. The method for calculating the offset is as follows: ; in, ;workpiece_t1 is the web thickness; (5.2) The positioner moves to the ship-shaped welding position above the bevel, and the robot welds the part above the bevel until the welding height meets the requirements.

5. The parametric programming welding method for H-shaped steel structural members according to claim 1, characterized in that, The dimensional data of the H-shaped steel structure includes length, width, height, web thickness, and side plate thickness.

6. A welding apparatus used in the parametric programming welding method for H-shaped steel structural members according to claim 1, characterized in that, It includes a six-axis robot (1), a two-axis positioner (2), a PLC touch screen system (3), a laser positioning module (4), a welding system (5), and a hydraulic centering device (6). The six-axis robot (1) includes a robot controller, a robot body, and a teach pendant. The laser positioning module (4) includes a laser sensor control box and a laser sensor. The welding system (5) includes a welding power source, a water-cooled welding torch, and a water-cooling box.

7. The welding apparatus according to claim 6, characterized in that, The robot body is the final actuator of the six-axis robot, responsible for executing the motion program generated by the control cabinet; the teach pendant teaches and programs the robot, and the programmed program directly controls the robot body's movements through the robot controller; the robot controller is the core part of the robot system, responsible for controlling the robot body's movements and calculating the location and welding points; the laser positioning sensor is installed on the welding torch, and can capture the shape of the weld seam during the robot body's movements; the water-cooled welding torch is the final actuator of the welding system, working in conjunction with the robotic arm to perform various welding tasks; the PLC touch screen system is used for inputting workpiece parameters.

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