Welding method of multi-joint welding robot

Abstract

The invention provides a welding method of a multi-joint welding robot, which comprises the following steps: S1, starting the multi-joint welding robot with an external shaft, and keeping the position and posture of the tip of a welding gun of the multi-joint welding robot relative to a to-be-welded pipeline unchanged; s2, the multi-joint welding robot starts to move, and the multi-joint welding robot and the external shaft are coordinated to operate synchronously; and S3, when the running angle of the multi-joint welding robot and the running angle of the external shaft reach the first angle, the external shaft is stopped when the tip end of the welding gun reaches the end point in the mode that the running speed of the external shaft is gradually reduced.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to a welding method of a multi-joint welding robot. Background Art

[0002] Current multi-joint welding robots will experience severe vibrations during the welding process due to the sudden change in speed at startup and the strong inertia of the momentary stop at the end. This can cause the tip of the welding gun to shake, resulting in poor welding results, or even cause the welding gun to collide with the welding object, resulting in an accident.

[0003] At present, most of the research is on the jitter problem in the welding process, or the start-stop jitter of sinusoidal oscillatory welding by adjusting the displacement, speed and acceleration of the welding robot at the start and stop moments to avoid impact jitter. However, it cannot completely avoid the occurrence of jitter. In order to further improve the welding accuracy and further avoid the accumulation of solder caused by the jitter of the welding robot, or the collision of the robot with the ground due to the large external axis movement angle and limited welding space, it is necessary to further study a new welding method for the welding robot, which can avoid the jitter problem of the welding robot when starting and stopping welding to the greatest extent. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a welding method of a multi-joint welding robot in view of the deficiencies in the prior art.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a welding method of a multi-joint welding robot, comprising: S1, starting the multi-joint welding robot with an external axis, and keeping the position and posture of the welding gun tip of the multi-joint welding robot relative to the pipe to be welded unchanged; S2, the multi-joint welding robot starts to move, and coordinates the multi-joint welding robot and the external axis to run synchronously; S3, when the running angle of the multi-joint welding robot and the running angle of the external axis reach a first angle, the running speed of the external axis is gradually reduced so that the external axis stops when the welding gun tip reaches the end point.

[0006] The beneficial effect of the technical solution of the present invention is that during the whole movement process, the multi-joint welding robot body and the external axis can perform asynchronous or synchronous movement at different stages, avoiding the jitter problem when the robot starts and ends, and avoiding the problem of the robot colliding with the ground due to the large movement angle of the robot's external axis and the limited welding space. At the same time, during the whole movement process, the asynchronous movement of the body and the external axis required by the welding process can also be met. The problem of poor welding effect or collision between the welding gun and the welding object caused by the shaking of the welding gun is avoided, thereby improving the welding quality.

[0007] Further, in step S1, the external axis of the multi-joint welding robot is coordinated to maintain a first speed.

[0008] The beneficial effects of adopting the above further technical solution are: facilitating the asynchronous or synchronous movement of the multi-joint welding robot body and the external axis at different stages, improving the stability and reliability of the operation of the multi-joint welding robot, avoiding the jitter problem when the robot starts and ends, and avoiding the problem of the robot colliding with the ground due to the excessive movement angle of the robot's external axis and the limited welding space.

[0009] Furthermore, the first speed ranges from 50 to 75 mm / s.

[0010] The beneficial effects of adopting the above further technical solution are: facilitating the asynchronous or synchronous movement of the multi-joint welding robot body and the external axis at different stages, improving the stability and reliability of the operation of the multi-joint welding robot, avoiding the jitter problem when the robot starts and ends, and avoiding the problem of the robot colliding with the ground due to the excessive movement angle of the robot's external axis and the limited welding space.

[0011] Further, the outer axis is parallel to the pipe to be welded.

[0012] The beneficial effects of adopting the above further technical solution are: facilitating the welding of the pipe to be welded and improving the stability and reliability of the operation of the multi-joint welding robot.

[0013] Furthermore, the operating angle of the multi-joint welding robot is the moving angle of the welding gun tip relative to the center of the cross section of the pipe to be welded on the cross section of the pipe to be welded.

[0014] The beneficial effects of adopting the above further technical solution are: facilitating the welding of the pipe to be welded and improving the stability and reliability of the operation of the multi-joint welding robot.

[0015] Furthermore, the first angle is 150°.

[0016] The beneficial effect of adopting the above-mentioned further technical solution is that it facilitates the multi-joint welding robot body and the external axis to perform asynchronous or synchronous motion at different stages, thereby improving the stability and reliability of the operation of the multi-joint welding robot.

[0017] Further, in step S3, the acceleration of the external axis is decelerated using cosine to gradually reduce the running speed of the external axis to zero.

[0018] The beneficial effect of adopting the above further technical solution is that during the whole movement process, the multi-joint welding robot body and the external axis can perform asynchronous or synchronous movement at different stages, avoiding the jitter problem when the robot starts and ends, and avoiding the problem of the robot colliding with the ground due to the large movement angle of the robot's external axis and the limited welding space. At the same time, during the whole movement process, the asynchronous movement of the body and the external axis required by the welding process can also be met. It avoids the problems such as poor welding effect caused by the shaking of the welding gun or the collision between the welding gun and the welding object, and improves the welding quality.

[0019] Furthermore, the operating speed of the external axis is coordinated inside the multi-joint welding robot according to the operating speed of the welding gun.

[0020] The beneficial effects of adopting the above further technical solution are: facilitating the asynchronous or synchronous movement of the multi-joint welding robot body and the external axis at different stages, improving the stability and reliability of the operation of the multi-joint welding robot, avoiding the jitter problem when the robot starts and ends, and avoiding the problem of the robot colliding with the ground due to the excessive movement angle of the robot's external axis and the limited welding space.

[0021] Furthermore, the operating angle range of the welding gun of the multi-joint welding robot is 180° to 185°.

[0022] The beneficial effect of adopting the above-mentioned further technical solution is that it facilitates the multi-joint welding robot body and the external axis to perform asynchronous or synchronous motion at different stages, thereby improving the stability and reliability of the operation of the multi-joint welding robot.

[0023] Furthermore, the operating angle range of the external shaft is 140° to 145°.

[0024] The beneficial effect of adopting the above-mentioned further technical solution is that it facilitates the multi-joint welding robot body and the external axis to perform asynchronous or synchronous motion at different stages, thereby improving the stability and reliability of the operation of the multi-joint welding robot.

[0025] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic flowchart of a welding method for a multi-joint welding robot provided in an embodiment of the present invention.

[0027] Figure 2 A schematic diagram of the initial posture of the multi-joint welding robot provided in an embodiment of the present invention.

[0028] Figure 3A schematic diagram of the posture of the multi-joint welding robot at the start of movement provided by an embodiment of the present invention.

[0029] Figure 4 A schematic diagram of the posture of the multi-joint welding robot at the end point provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention but not to limit the scope of the present invention.

[0031] like Figure 1 As shown, an embodiment of the present invention provides a welding method for a multi-joint welding robot, including: S1, starting the multi-joint welding robot with an external axis, the position and posture of the welding gun tip of the multi-joint welding robot relative to the pipe to be welded remain unchanged; S2, the multi-joint welding robot starts to move, and the multi-joint welding robot and the external axis are coordinated to run synchronously; S3, when the running angle of the multi-joint welding robot and the running angle of the external axis reach a first angle, the running speed of the external axis is gradually reduced so that the external axis stops when the welding gun tip reaches the end point.

[0032] The beneficial effect of the technical solution of the present invention is that during the whole movement process, the multi-joint welding robot body and the external axis can perform asynchronous or synchronous movement at different stages, avoiding the jitter problem when the robot starts and ends, and avoiding the problem of the robot colliding with the ground due to the large movement angle of the robot's external axis and the limited welding space. At the same time, during the whole movement process, the asynchronous movement of the body and the external axis required by the welding process can also be met. The problem of poor welding effect or collision between the welding gun and the welding object caused by the shaking of the welding gun is avoided, thereby improving the welding quality.

[0033] A welding method for a multi-joint welding robot provided in an embodiment of the present invention can effectively avoid the jitter problem of the robot (multi-joint welding robot) when starting and ending, and can also avoid the problem of the robot colliding with the ground due to the excessive movement angle of the robot's external axis and the limited welding space; at the same time, during the entire movement process, it can also meet the asynchronous movement of the main body and the external axis required by the welding process.

[0034] Further, in step S1, the external axis of the multi-joint welding robot is coordinated to maintain a first speed.

[0035] The beneficial effects of adopting the above further technical solution are: facilitating the asynchronous or synchronous movement of the multi-joint welding robot body and the external axis at different stages, improving the stability and reliability of the operation of the multi-joint welding robot, avoiding the jitter problem when the robot starts and ends, and avoiding the problem of the robot colliding with the ground due to the excessive movement angle of the robot's external axis and the limited welding space.

[0036] Furthermore, the first speed ranges from 50 to 75 mm / s.

[0037] The beneficial effects of adopting the above further technical solution are: facilitating the asynchronous or synchronous movement of the multi-joint welding robot body and the external axis at different stages, improving the stability and reliability of the operation of the multi-joint welding robot, avoiding the jitter problem when the robot starts and ends, and avoiding the problem of the robot colliding with the ground due to the excessive movement angle of the robot's external axis and the limited welding space.

[0038] Further, the outer axis is parallel to the pipe to be welded.

[0039] The beneficial effects of adopting the above further technical solution are: facilitating the welding of the pipe to be welded and improving the stability and reliability of the operation of the multi-joint welding robot.

[0040] Furthermore, the operating angle of the multi-joint welding robot is the moving angle of the welding gun tip relative to the center of the cross section of the pipe to be welded on the cross section of the pipe to be welded.

[0041] The beneficial effects of adopting the above further technical solution are: facilitating the welding of the pipe to be welded and improving the stability and reliability of the operation of the multi-joint welding robot.

[0042] Furthermore, the first angle is 150°.

[0043] The beneficial effect of adopting the above-mentioned further technical solution is that it facilitates the multi-joint welding robot body and the external axis to perform asynchronous or synchronous motion at different stages, thereby improving the stability and reliability of the operation of the multi-joint welding robot.

[0044] Further, in step S3, the acceleration of the external axis is decelerated using cosine to gradually reduce the running speed of the external axis to zero.

[0045] The beneficial effect of adopting the above further technical solution is that during the whole movement process, the multi-joint welding robot body and the external axis can perform asynchronous or synchronous movement at different stages, avoiding the jitter problem when the robot starts and ends, and avoiding the problem of the robot colliding with the ground due to the large movement angle of the robot's external axis and the limited welding space. At the same time, during the whole movement process, the asynchronous movement of the body and the external axis required by the welding process can also be met. It avoids the problems such as poor welding effect caused by the shaking of the welding gun or the collision between the welding gun and the welding object, and improves the welding quality.

[0046] Furthermore, the operating speed of the external axis is coordinated inside the multi-joint welding robot according to the operating speed of the welding gun.

[0047] The beneficial effects of adopting the above further technical solution are: facilitating the asynchronous or synchronous movement of the multi-joint welding robot body and the external axis at different stages, improving the stability and reliability of the operation of the multi-joint welding robot, avoiding the jitter problem when the robot starts and ends, and avoiding the problem of the robot colliding with the ground due to the excessive movement angle of the robot's external axis and the limited welding space.

[0048] Furthermore, the operating angle range of the welding gun of the multi-joint welding robot is 180° to 185°.

[0049] The beneficial effect of adopting the above-mentioned further technical solution is that it facilitates the multi-joint welding robot body and the external axis to perform asynchronous or synchronous motion at different stages, thereby improving the stability and reliability of the operation of the multi-joint welding robot.

[0050] Furthermore, the operating angle range of the external shaft is 140° to 145°.

[0051] The beneficial effect of adopting the above-mentioned further technical solution is that it facilitates the multi-joint welding robot body and the external axis to perform asynchronous or synchronous motion at different stages, thereby improving the stability and reliability of the operation of the multi-joint welding robot.

[0052] The embodiment of the present invention provides a welding method of a multi-joint welding robot, such as Figure 1 As shown, the following steps are included:

[0053] S1, start the multi-joint welding robot with external axes, such as Figure 2 As shown, the position and posture of the welding gun tip of the multi-joint welding robot relative to the pipe to be welded remain unchanged; wherein the external axis is parallel to the pipe to be welded.

[0054] Among them, the external axis of the coordinated multi-joint welding robot can maintain a first speed.

[0055] The first speed may be 50 to 75 mm / s.

[0056] S2, the multi-joint welding robot starts to move, such as Figure 3 As shown, the coordinated multi-joint welding robot operates synchronously with external axes.

[0057] S3, when the running angle of the multi-joint welding robot and the running angle of the external axis reach the first angle, the running speed of the external axis is gradually reduced so that the external axis stops when the tip of the welding gun reaches the end point, such as Figure 4 As shown; wherein, on the cross section of the pipe to be welded, the movement angle of the welding gun tip relative to the center of the cross section of the pipe to be welded is the operating angle.

[0058] The first angle may be 150°.

[0059] The acceleration of an external axis can be decelerated using cosine to gradually reduce the operating speed of the external axis to zero.

[0060] The operating speed of the external axis can be coordinated internally within the multi-joint welding robot according to the operating speed of the welding gun.

[0061] The operating angle of the welding gun of the multi-joint welding robot can be 180°~185°, and the operating angle of the welding gun can be Figure 2 As shown in the figure, the operating angle of the external axis can be 140°~145°. Figure 4 shown.

[0062] Figure 2 The two-way arrows are used to mark the welding gun movement angle. Figure 3 The angles of coordinated synchronous motion are marked with double-headed arrows. Figure 4 The external axis movement angles are indicated using double-headed arrows.

[0063] During the entire movement process, the multi-joint welding robot body and the external axis can perform asynchronous or synchronous movement at different stages, avoiding the shaking problem of the multi-joint welding robot during start and stop, and effectively avoiding the shaking of the welding gun resulting in poor welding effect or collision between the welding gun and the welding object, thereby further improving the welding quality.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A welding method for a multi-joint welding robot, characterized in that: include: S1. Start a multi-joint welding robot with an external axis, and keep the position and posture of the welding gun tip of the multi-joint welding robot relative to the pipe to be welded unchanged; S2, the multi-joint welding robot starts to move, and the multi-joint welding robot is coordinated to run synchronously with the external axis; S3. When the operating angle of the multi-joint welding robot and the operating angle of the external axis reach a first angle, the operating speed of the external axis is gradually reduced so that the external axis stops when the tip of the welding gun reaches the end point.

2. The welding method of a multi-joint welding robot according to claim 1, characterized in that: In step S1, the external axis of the multi-joint welding robot is coordinated to maintain a first speed.

3. The welding method of a multi-joint welding robot according to claim 2, characterized in that: The first speed ranges from 50 to 75 mm / s.

4. The welding method of a multi-joint welding robot according to claim 1, characterized in that: The outer axis is parallel to the pipe to be welded.

5. The welding method of a multi-joint welding robot according to claim 1, characterized in that: The operating angle of the multi-joint welding robot is the moving angle of the welding gun tip relative to the center of the cross section of the pipe to be welded.

6. The welding method of a multi-joint welding robot according to claim 1, characterized in that: The first angle is 150°.

7. The welding method of a multi-joint welding robot according to claim 1, characterized in that: In step S3, the acceleration of the external axis is decelerated using cosine to gradually reduce the running speed of the external axis to zero.

8. The welding method of a multi-joint welding robot according to claim 1, characterized in that: The operating speed of the external axis is coordinated internally by the multi-joint welding robot according to the operating speed of the welding gun.

9. The welding method of a multi-joint welding robot according to claim 1, characterized in that: The operating angle range of the welding gun of the multi-joint welding robot is 180°~185°.

10. The welding method of a multi-joint welding robot according to claim 1, characterized in that: The operating angle range of the external axis is 140° to 145°.

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