Fan-shaped bush surfacing track generation method, surfacing device and application

Abstract

The application discloses a kind of sector bearing hardfacing track generation method and its application, and sector bearing hardfacing device, method includes: to be scanned sampling to hardfacing workpiece, obtains the profile information of hardfacing workpiece;According to the profile information, the position information of hardfacing workpiece is obtained, and then the starting hardfacing point position and end hardfacing point position on hardfacing workpiece are determined;According to the starting hardfacing point position, the end hardfacing point position, the position information and preset parameter information, actual hardfacing track is generated.The sector bearing hardfacing track generation method and its application of the application, and sector bearing hardfacing device, can satisfy sector bearing according to planning generation hardfacing track realizes robot automatic hardfacing, significantly improve the hardfacing quality and efficiency of bearing, save hardfacing material, reduce the skill requirement to operating personnel.

Description

Technical Field

[0001] This invention relates to the field of bearing overlay welding technology, and in particular to a method for generating a sector-shaped bearing overlay welding trajectory and its application, as well as a sector-shaped bearing overlay welding device. Background Technology

[0002] In the transmission structure of large mechanical equipment, sector-shaped bearings that exert thrust are required. To ensure the wear-reducing effect of the bearings, a layer of precious metal Babbitt alloy needs to be deposited on the surface of the bearing. The bonding strength of the deposited layer affects the service life, and excessive use of the deposited material increases processing costs; both of these are affected by the path trajectory of the depositing process.

[0003] Due to the variety of fan-shaped bearing structures and types, including concentric and non-concentric fan-shaped bearings, the production of welding surfacing trajectories is diverse. If the trajectory planning and generation are not reasonable, it can lead to material waste in the welding overlap area, repeated heating affecting the bonding strength with the substrate, and incomplete welding areas requiring manual repair.

[0004] Existing technologies employ robot teaching programming to drive the welding torch to perform welding according to a pre-programmed sequence, enabling continuous welding of standard concentric bearings and partial welding of non-concentric bearings. However, existing technologies cannot achieve full-area welding of non-concentric bearings. Furthermore, existing bearing welding techniques require repositioning corrections for workpiece placement deviations, impacting production cycle time; additionally, new bearings require programmed teaching, resulting in low efficiency and high programming skill requirements for operators.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a method for generating a welding trajectory for a sector-shaped bearing and its application, as well as a welding device for sector-shaped bearings. This device can enable automatic welding of sector-shaped bearings by robots by generating a planned welding trajectory, which significantly improves the welding quality and efficiency of bearings, saves welding materials, and reduces the skill requirements for operators.

[0007] To achieve the above objectives, embodiments of the present invention provide a method for generating a sector-shaped bearing weld overlay trajectory, comprising: scanning and sampling the workpiece to be welded to obtain the contour information of the workpiece; obtaining the position information of the workpiece to be welded based on the contour information, and then determining the starting weld overlay point and the ending weld overlay point on the workpiece; generating the actual weld overlay trajectory based on the starting weld overlay point, the ending weld overlay point, the position information, and preset parameter information.

[0008] In one or more embodiments of the present invention, obtaining the position information of the workpiece to be welded based on the contour information, and then determining the starting and ending welding points on the workpiece to be welded, includes: comparing the contour information with preset template information in a database to obtain template information similar to the contour information, wherein the template information includes template shape and size information; adjusting the obtained template information based on the contour information to obtain the position information of the workpiece to be welded, wherein the position information includes the shape and size information of the workpiece to be welded; and determining the starting and ending welding points on the workpiece to be welded based on the shape and size information of the workpiece to be welded.

[0009] In one or more embodiments of the present invention, determining the starting and ending welding points on the workpiece to be welded based on the workpiece's external dimensions and location information includes: selecting the location information of different corners on the workpiece as the starting and ending welding points on the workpiece based on the workpiece's external dimensions and location information.

[0010] In one or more embodiments of the present invention, generating an actual welding trajectory based on the starting welding point, the ending welding point, the position information, and preset parameter information includes: generating an external welding trajectory of the workpiece to be welded based on the starting welding point and the position information; generating internal matrix point information of the workpiece to be welded based on the starting welding point, the ending welding point, the position information, and preset parameter information; and generating an internal welding trajectory of the workpiece to be welded based on the internal matrix point information.

[0011] In one or more embodiments of the present invention, the preset parameter information includes: the inward retraction distance of the welding torch, the swing width of the welding torch, and the overlap distance of the welding.

[0012] An embodiment of the present invention provides a sector-shaped bearing cladding welding device, including a laser, a control cabinet, and a welding device. The laser is mounted on a robot and is used to scan and sample the workpiece to be welded to obtain its contour information. The control cabinet is connected to the laser and the robot, and is used to obtain the position information of the workpiece to be welded based on the contour information, thereby determining the starting and ending welding points on the workpiece, and generating an actual welding trajectory based on the starting and ending welding points, the position information, and preset parameter information. The welding device is mounted on the robot and moves according to the welding trajectory to perform the welding operation.

[0013] In one or more embodiments of the present invention, the welding device includes a welding torch and a power supply; the power supply is located near the robot and is connected to a control cabinet; the welding torch is connected to the power supply, and the power supply controls the arc initiation and arc termination of the welding torch.

[0014] In one or more embodiments of the present invention, the laser emits a linear laser beam onto the surface of the workpiece to be welded, and the robot moves to achieve scanning and sampling of the entire contour of the workpiece to be welded.

[0015] An embodiment of the present invention provides an electronic device, the electronic device comprising: at least one processor; and a memory, the memory storing instructions, which, when executed by the at least one processor, cause the at least one processor to perform the above-described fan-shaped bearing weld overlay trajectory generation method.

[0016] An embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described method for generating weld overlay traces of sector bearing bushes.

[0017] Compared with the prior art, the fan-shaped bearing welding trajectory generation method and its application, as well as the fan-shaped bearing welding device according to the embodiments of the present invention, automatically generate the welding trajectory after extracting the contour information of the workpiece to be welded by laser scanning, and realize fully automatic welding of the fan-shaped bearing according to the parametric programming program, thereby improving welding efficiency and quality, reducing material consumption costs, and reducing the skill requirements of operators. Attached Figure Description

[0018] Figure 1 This is a flowchart of a method for generating a sector-shaped bearing weld overlay trajectory according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of a sector-shaped bearing overlay welding device according to an embodiment of the present invention;

[0020] Figure 3 This is a hardware structure diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0021] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0022] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0023] As mentioned in the background section, existing bearing bush welding techniques employ robot teaching programming to drive the welding torch to perform welding according to a pre-programmed sequence. However, this method requires repositioning and correction for workpiece placement deviations, affecting production cycle time; furthermore, new bearing bushes require programming teaching, resulting in low efficiency and high programming requirements for operators.

[0024] Based on this, the present invention proposes a method for generating a welding trajectory for a sector-shaped bearing and its application, as well as a welding device for a sector-shaped bearing. This device can enable automatic welding of the sector-shaped bearing by a robot by generating a welding trajectory according to a plan, which significantly improves the welding quality and efficiency of the bearing, saves welding materials, and reduces the skill requirements for operators.

[0025] like Figure 1 As shown, a method for generating a sector-shaped bearing weld overlay trajectory according to an embodiment of the present invention includes: s1: scanning and sampling the workpiece to be welded to obtain the contour information of the workpiece to be welded; s2: obtaining the position information of the workpiece to be welded based on the contour information, and then determining the starting weld overlay point and the ending weld overlay point on the workpiece to be welded; s3: generating the actual weld overlay trajectory based on the starting weld overlay point, the ending weld overlay point, the position information and preset parameter information.

[0026] For example, in step s1, the contour scanning sample of the workpiece to be welded can be performed by using the Keyence LJ-V7000 laser scanning head installed on the robot to obtain the collected shape and contour information of the workpiece to be welded.

[0027] For example, in step s2, the contour information is compared with preset template information in the database to obtain template information that is similar to the contour information. The template information includes template shape and dimension information. The obtained template information is adjusted according to the contour information to obtain the position information of the workpiece to be welded. The position information includes the shape and dimension information of the workpiece to be welded; specifically, it includes the position information of the four corners of the fan-shaped bearing and several position information on the four sides. According to the shape and dimension information of the workpiece to be welded, the position information of different corners on the workpiece to be welded is selected as the starting and ending welding points on the workpiece to be welded.

[0028] The preset template information in the database can be manually entered by the operator beforehand; the contour information of the workpiece to be welded, obtained after laser scanning sampling, can also be stored to expand the preset template information in the database. When the contour information matches the obtained template information, the template information is directly output as the position information of the workpiece to be welded; when there is a deviation between the contour information and the obtained template information, the template information is adjusted according to the contour information, and then the adjusted template information is output as the position information of the workpiece to be welded.

[0029] A coordinate system is established using the XOY plane, and the sector-shaped bearing is defined to be located in the first quadrant of the XOY plane. Generally, the point information of the corner of the sector-shaped bearing closest to the origin O (i.e., the lower left corner) is selected as the starting welding point on the workpiece to be welded, and the point information of the corner of the sector-shaped bearing furthest from the origin O (i.e., the upper right corner) is selected as the ending welding point on the workpiece to be welded. The welding trajectory is generated with the general direction of travel from the starting welding point to the ending welding point.

[0030] For example, in step s3, the external welding trajectory of the workpiece to be welded is generated based on the starting welding point and position information; the internal matrix point information of the workpiece to be welded is generated based on the starting welding point, the ending welding point, position information, and preset parameter information; and the internal welding trajectory of the workpiece to be welded is generated based on the internal matrix point information. The preset parameter information includes the inward retraction distance of the welding torch, the swing width of the welding torch, and the overlap distance of the welding. The inward retraction distance of the welding torch is the distance between the welding torch and the edge of the workpiece to be welded. The swing width of the welding torch is the swing distance of the welding torch in the direction perpendicular to the current welding trajectory during welding. The overlap distance of the welding is the distance between two adjacent welding trajectories inside the fan-shaped bearing.

[0031] After understanding the starting welding point and position information of the sector-shaped bearing, the general direction of travel is from the starting welding point to the ending welding point. Starting from the starting welding point, the radius of the circle containing the sector-shaped bearing is decreased or increased according to the swing width and overlap distance. The position information of the next point on the side opposite to the starting welding point is determined by formulas such as sine and cosine functions. The position information of this point is a member of the internal matrix position information, and an arc segment is generated between the starting welding point and this point. Then, this point is used as the starting welding point of the new round. The radius of the circle containing the sector-shaped bearing is decreased or increased according to the swing width and overlap distance. The position information of the next point on the side opposite to the new round's starting welding point is determined by formulas such as sine and cosine functions. The position information of this point is also a member of the internal matrix position information, and an arc segment is generated between the new round's starting welding point and this point. This process is repeated until the final welding point is reached. It is understandable that the internal matrix point information may partially overlap with the location information, may include the location information, or may be entirely included within the location information.

[0032] refer to Figure 2 As shown, one embodiment of the present invention also provides a sector-shaped bearing cladding welding device 100, including a laser 101, a control cabinet 102, and a welding device 103. The laser 101 is mounted on a robot and is used to scan and sample the workpiece to be welded to obtain its contour information. The control cabinet 102 is connected to the laser 101 and the robot. The control cabinet 102 is used to obtain the position information of the workpiece to be welded based on the contour information, thereby determining the starting and ending welding points on the workpiece, and generating an actual welding trajectory based on the starting and ending welding points, the position information, and preset parameter information. The welding device 103 is mounted on the robot and moves according to the welding trajectory to perform the welding operation.

[0033] For example, the laser 101 is a Keyence LJ-V7000 model. The laser 101 emits a linear laser beam onto the surface of the workpiece to be welded. Through the movement of the robot, the entire contour of the workpiece to be welded is scanned and sampled. The laser 101 does not interfere with the workpiece to be welded during the welding process.

[0034] The control cabinet 102 uses a PLC as the main control programming platform to program the contour information of the workpiece to be welded obtained from the laser 101 and the preset parameter information input by the operator, and outputs the final welding trajectory. The data is transmitted to the welding device through bus communication and executed by the robot carrying the welding device.

[0035] The surface cladding device 103 includes a surface cladding torch and a power supply. The power supply is located near the robot and is connected to the control cabinet 102. The surface cladding torch is connected to the power supply, which controls the arc initiation and termination of the torch. The surface cladding torch and power supply adopt a CMT cold metal transfer welding power supply and a wire feeding mechanism with boost and damping control, which are matched with the surface cladding process, to achieve stable and reliable heat source input for surface cladding.

[0036] The robot is an intermediate actuator that ensures continuous, teach-free welding of sector-shaped bearing bushes. The robot is suitable for holding a CMT push-pull welding torch to the position of the workpiece to be welded and performing the welding according to the program requirements. The preferred robot is the FANUC M10iD-10 robot.

[0037] The method for generating a sector-shaped bearing welding trajectory of the present invention is a method that uses a laser to scan and detect the contour information (dimensions) of the workpiece to be welded, and combines this with preset parameter information to automatically generate a welding trajectory. Laser vision detection involves using a laser to emit a scanning laser to detect the contour information (dimensions) of the workpiece to be welded. Laser vision positioning is highly effective and reliable. It uses laser to locate the actual position of the workpiece to be welded, obtains the contour information, calculates and outputs the welding trajectory, and then converts the welding trajectory, which consists of X, Y, and Z coordinate data, into TCP coordinate data that the robot needs to move to drive the welding torch through array data exchange. The robot then receives these coordinates and performs the welding operation.

[0038] The working principle of the sector-shaped bearing overlay welding device of the present invention is as follows:

[0039] Set the preset parameter information, including the inward distance of the welding torch, the swing width of the welding torch, and the overlap distance of the welding. Select the welding specifications for the normal welding section, the welding specifications for the attenuation section, and the welding parameters for the interval. After setting, wait to start welding.

[0040] The robot is activated by pressing the start button. The robot drives the laser to scan the features of the workpiece surface to be welded. After the scan is completed, the robot feeds back the contour information of the workpiece to be welded to the control cabinet. The control cabinet performs calculations and plans, and then issues a welding command. The robot drives the welding torch to start welding along the planned welding trajectory until the welding process of the entire fan-shaped bearing workpiece is completed.

[0041] After completing the process of welding the sector-shaped bearing bush, maintain the corresponding parameter information and repeat the welding of the next workpiece to be welded.

[0042] As per the above reference Figure 1The method for generating a sector-shaped bearing weld overlay trajectory according to embodiments of this specification has been described. The details mentioned in the above description of the method embodiments also apply to the sector-shaped bearing weld overlay apparatus of the embodiments of this specification. The above-described sector-shaped bearing weld overlay apparatus can be implemented in hardware, software, or a combination of hardware and software.

[0043] Figure 3 A hardware structure diagram of an electronic device 30 capable of implementing a fan-shaped bearing weld overlay trajectory generation method according to an embodiment of this specification is shown. Figure 3 As shown, the electronic device 30 may include at least one processor 301, a memory 302 (e.g., non-volatile memory), a RAM 303, and a communication interface 304, and the at least one processor 301, memory 302, RAM 303, and communication interface 304 are connected together via a bus 305. At least one processor 301 executes at least one computer-readable instruction stored or encoded in the memory 302.

[0044] It should be understood that the computer-executable instructions stored in memory 302, when executed, cause at least one processor 301 to perform the above-described combinations in the various embodiments of this specification. Figure 1 The description includes various operations and functions.

[0045] In the embodiments of this specification, electronic device 30 may include, but is not limited to: personal computer, server computer, workstation, desktop computer, laptop computer, notebook computer, mobile computing device, smartphone, tablet computer, cellular phone, personal digital assistant (PDA), handheld device, messaging device, wearable computing device, consumer electronic device, etc.

[0046] According to one embodiment, a program product, such as a computer-readable storage medium, is provided. The computer-readable storage medium may have instructions (i.e., the elements implemented in software as described above), which, when executed by a computer, cause the computer to perform the above-described combinations of the various embodiments of this specification. Figure 1 The various operations and functions described. Specifically, a system or apparatus equipped with a readable storage medium storing software program code that implements the functions of any of the embodiments described above, and enabling the computer or processor of the system or apparatus to read and execute the instructions stored in the readable storage medium.

[0047] In this case, the program code read from the readable medium itself can perform the functions of any of the above embodiments, and therefore the machine-readable code and the readable storage medium storing the machine-readable code constitute a part of this specification.

[0048] Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD-RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer or the cloud via a communication network.

[0049] Compared with the prior art, the fan-shaped bearing welding trajectory generation method and its application, as well as the fan-shaped bearing welding device according to the embodiments of the present invention, automatically generate the welding trajectory after extracting the contour information of the workpiece to be welded by laser scanning, and realize the fully automatic welding of the fan-shaped bearing according to the parametric programming program, realize the welding of bearings of different specifications and structures, improve the welding efficiency and quality, reduce material consumption costs, and reduce the skill requirements of operators.

[0050] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0051] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0052] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0053] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0054] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A method for generating a sector-shaped bearing weld overlay trajectory, characterized in that, include: The workpiece to be welded is scanned and sampled to obtain its contour information; The outline information is compared with the preset template information in the database to obtain template information that is similar to the outline information. The template information includes template shape, size and position information. The template information is adjusted according to the contour information to obtain the position information of the workpiece to be welded. The position information includes the position information of the outer dimensions of the workpiece to be welded, specifically including the position information of the four corners of the fan-shaped bearing and several position information on the four sides. According to the position information of the outer dimensions of the workpiece to be welded, the position information of different corners on the workpiece to be welded is selected as the starting position and ending position of the welding on the workpiece to be welded. Based on the starting welding point and the position information, the external welding trajectory of the workpiece to be welded is generated. Based on the starting welding point, the ending welding point, the position information, and the preset parameter information, the internal matrix point information of the workpiece to be welded is generated. Based on the internal matrix point information, the internal welding trajectory of the workpiece to be welded is generated. The preset parameter information includes: the inward retraction distance of the welding torch, the swing width of the welding torch, and the overlap distance of the welding. After understanding the starting welding point and position information of the sector-shaped bearing, the general direction of travel is from the starting welding point to the ending welding point. Starting from the starting welding point, the radius of the circle containing the sector-shaped bearing is decreased or increased according to the swing width and overlap distance. The position information of the next point on the side opposite to the starting welding point is determined by using sine and cosine function formulas. This point's position information becomes a member of the internal matrix position information, and an arc segment is generated between the starting welding point and this point. Then, this point is used as the starting welding point for the new round. The radius of the circle containing the sector-shaped bearing is decreased or increased according to the swing width and overlap distance. The position information of the next point on the side opposite to the new round's starting welding point is determined by using sine and cosine function formulas. This point's position information also becomes a member of the internal matrix position information, and an arc segment is generated between the new round's starting welding point and this point. This process is repeated until the ending welding point is finally reached.

2. A fan-shaped bearing overlay welding device, used to implement the fan-shaped bearing overlay welding trajectory generation method as described in claim 1, characterized in that, include: A laser, mounted on a robot, is used to scan and sample the workpiece to be welded to obtain its contour information. The control cabinet is connected to the laser and the robot. The control cabinet is used to obtain the position information of the workpiece to be welded based on the contour information, and then determine the starting weld point and the ending weld point on the workpiece to be welded. Based on the starting weld point, the ending weld point, the position information and the preset parameter information, the control cabinet generates the actual weld trajectory. A welding device, mounted on a robot, moves according to the welding trajectory to perform welding operations.

3. The fan-shaped bearing overlay welding device as described in claim 2, characterized in that, The welding device includes a welding torch and a power supply; the power supply is located near the robot and is connected to the control cabinet; the welding torch is connected to the power supply, and the power supply controls the arc initiation and arc termination of the welding torch.

4. The fan-shaped bearing overlay welding device as described in claim 2, characterized in that, The laser emits a linear laser beam onto the surface of the workpiece to be welded, and the robot moves to scan and sample the entire contour of the workpiece to be welded.

5. An electronic device, characterized in that, The electronic device includes: At least one processor; and The memory stores instructions that, when executed by the at least one processor, cause the at least one processor to perform the fan-shaped bearing weld overlay trajectory generation method as described in claim 1.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method for generating the sector-shaped bearing weld overlay trajectory as described in claim 1.

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