A welding method of a multi-joint welding robot

Abstract

The application provides a welding method of a multi-joint welding robot, comprising the following steps: S1, starting the multi-joint welding robot with an external shaft, and keeping the position and posture of the welding torch tip of the multi-joint welding robot relative to a pipe to be welded unchanged; S2, starting the movement of the multi-joint welding robot, and coordinating the synchronous operation of the multi-joint welding robot and the external shaft; S3, when the operation angle of the multi-joint welding robot and the operation angle of the external shaft reach a first angle, stopping the external shaft in a manner that gradually reduces the operation speed of the external shaft when the welding torch tip reaches an end point.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to a welding method for a multi-joint welding robot. Background Technology

[0002] Current multi-joint welding robots experience severe vibrations during the welding process due to sudden speed changes at startup and strong inertia from instantaneous stopping at the end. This can range from minor issues like the welding torch tip wobbling, resulting in poor welding quality, to more serious issues like the welding torch colliding with the workpiece, causing accidents.

[0003] Currently, most research focuses on the vibration problem during the welding process, or on adjusting the displacement, speed, and acceleration of the welding robot at the start and stop times of sinusoidal oscillating welding to avoid impact vibration. However, this cannot completely eliminate vibration. To further improve welding accuracy and avoid problems such as solder accumulation caused by welding robot vibration, or collisions between the robot and the ground due to excessive external axis movement angles and limited welding space, it is necessary to further research new welding robot welding methods that can minimize the vibration problem of welding robots during welding start and stop. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a welding method for a multi-joint welding robot, which addresses the shortcomings of 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, wherein the position and orientation of the welding torch 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, coordinating the multi-joint welding robot to run synchronously with the external axis; 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 torch tip reaches the end point.

[0006] The beneficial effects of adopting the technical solution of this invention are as follows: Throughout the entire motion process, the multi-joint welding robot body and its external axis can perform asynchronous or synchronous movements at different stages, avoiding the shaking problem during robot startup and termination, and preventing collisions between the robot and the ground due to excessive external axis movement angles and limited welding space. Simultaneously, the asynchronous movement of the body and external axis required by the welding process can also be satisfied throughout the entire motion process. This avoids problems such as poor welding results due to welding torch wobbling or collisions between the welding torch and the workpiece, thus improving welding quality.

[0007] Furthermore, 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-mentioned further technical solutions are: It facilitates asynchronous or synchronous movement between the multi-joint welding robot body and its external axis at different stages, improving the stability and reliability of the multi-joint welding robot's operation. It avoids the shaking problem during robot startup and shutdown, and prevents collisions between the robot and the ground caused by excessive external axis movement angles and limited welding space.

[0009] Furthermore, the range of the first velocity is 50–75 mm / s.

[0010] The beneficial effects of adopting the above-mentioned further technical solutions are: It facilitates asynchronous or synchronous movement between the multi-joint welding robot body and its external axis at different stages, improving the stability and reliability of the multi-joint welding robot's operation. It avoids the shaking problem during robot startup and shutdown, and prevents collisions between the robot and the ground caused by excessive external axis movement angles and limited welding space.

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

[0012] The beneficial effects of adopting the above-mentioned further technical solutions are: it facilitates the welding of the pipes to be welded and improves 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 angle of movement of the welding torch tip relative to the center of the cross-section of the pipe to be welded.

[0014] The beneficial effects of adopting the above-mentioned further technical solutions are: it facilitates the welding of the pipes to be welded and improves the stability and reliability of the operation of the multi-joint welding robot.

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

[0016] The beneficial effects of adopting the above-mentioned further technical solutions are: it facilitates asynchronous or synchronous movement between the body of the multi-joint welding robot and the external axis at different stages, thereby improving the stability and reliability of the operation of the multi-joint welding robot.

[0017] Furthermore, in step S3, a cosine decelerator is used to gradually reduce the operating speed of the external shaft to zero.

[0018] The beneficial effects of adopting the above-mentioned further technical solution are as follows: Throughout the entire motion process, the multi-joint welding robot body and external axis can perform asynchronous or synchronous movements at different stages, avoiding the shaking problem during robot startup and termination, and preventing collisions between the robot and the ground due to excessive external axis movement angles and limited welding space. Simultaneously, it also satisfies the asynchronous movement requirements of the body and external axis required by the welding process throughout the entire motion process. It avoids problems such as poor welding results due to welding torch wobbling or collisions between the welding torch and the workpiece, thus improving welding quality.

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

[0020] The beneficial effects of adopting the above-mentioned further technical solutions are: It facilitates asynchronous or synchronous movement between the multi-joint welding robot body and its external axis at different stages, improving the stability and reliability of the multi-joint welding robot's operation. It avoids the shaking problem during robot startup and shutdown, and prevents collisions between the robot and the ground caused by excessive external axis movement angles and limited welding space.

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

[0022] The beneficial effects of adopting the above-mentioned further technical solutions are: it facilitates asynchronous or synchronous movement between the body of the multi-joint welding robot and the external axis 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 effects of adopting the above-mentioned further technical solutions are: it facilitates asynchronous or synchronous movement between the body of the multi-joint welding robot and the external axis at different stages, thereby improving the stability and reliability of the operation of the multi-joint welding robot.

[0025] The advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

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

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

[0028] Figure 3This is a schematic diagram of the starting posture of a multi-joint welding robot provided in an embodiment of the present invention.

[0029] Figure 4 This is a schematic diagram of the posture of the multi-joint welding robot at the end point, provided in an embodiment of the present invention. Detailed Implementation

[0030] The principles and features of the present invention are described below with reference to the accompanying drawings. The embodiments described are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0031] like Figure 1 As shown, this embodiment of the invention provides a welding method for a multi-joint welding robot, including: S1, starting the multi-joint welding robot with an external axis, wherein the position and orientation of the welding torch 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, coordinating the multi-joint welding robot to run synchronously with the external axis; 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 torch tip reaches the end point.

[0032] The beneficial effects of adopting the technical solution of this invention are as follows: Throughout the entire motion process, the multi-joint welding robot body and its external axis can perform asynchronous or synchronous movements at different stages, avoiding the shaking problem during robot startup and termination, and preventing collisions between the robot and the ground due to excessive external axis movement angles and limited welding space. Simultaneously, the asynchronous movement of the body and external axis required by the welding process can also be satisfied throughout the entire motion process. This avoids problems such as poor welding results due to welding torch wobbling or collisions between the welding torch and the workpiece, thus improving welding quality.

[0033] The welding method of a multi-joint welding robot provided in this embodiment of the invention can effectively avoid the shaking problem of the robot (multi-joint welding robot) at the start and end, 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, it can also meet the asynchronous movement of the body and the external axis required by the welding process during the entire movement process.

[0034] Furthermore, 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-mentioned further technical solutions are: It facilitates asynchronous or synchronous movement between the multi-joint welding robot body and its external axis at different stages, improving the stability and reliability of the multi-joint welding robot's operation. It avoids the shaking problem during robot startup and shutdown, and prevents collisions between the robot and the ground caused by excessive external axis movement angles and limited welding space.

[0036] Furthermore, the range of the first velocity is 50–75 mm / s.

[0037] The beneficial effects of adopting the above-mentioned further technical solutions are: It facilitates asynchronous or synchronous movement between the multi-joint welding robot body and its external axis at different stages, improving the stability and reliability of the multi-joint welding robot's operation. It avoids the shaking problem during robot startup and shutdown, and prevents collisions between the robot and the ground caused by excessive external axis movement angles and limited welding space.

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

[0039] The beneficial effects of adopting the above-mentioned further technical solutions are: it facilitates the welding of the pipes to be welded and improves 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 angle of movement of the welding torch tip relative to the center of the cross-section of the pipe to be welded.

[0041] The beneficial effects of adopting the above-mentioned further technical solutions are: it facilitates the welding of the pipes to be welded and improves the stability and reliability of the operation of the multi-joint welding robot.

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

[0043] The beneficial effects of adopting the above-mentioned further technical solutions are: it facilitates asynchronous or synchronous movement between the body of the multi-joint welding robot and the external axis at different stages, thereby improving the stability and reliability of the operation of the multi-joint welding robot.

[0044] Furthermore, in step S3, a cosine decelerator is used to gradually reduce the operating speed of the external shaft to zero.

[0045] The beneficial effects of adopting the above-mentioned further technical solution are as follows: Throughout the entire motion process, the multi-joint welding robot body and external axis can perform asynchronous or synchronous movements at different stages, avoiding the shaking problem during robot startup and termination, and preventing collisions between the robot and the ground due to excessive external axis movement angles and limited welding space. Simultaneously, it also satisfies the asynchronous movement requirements of the body and external axis required by the welding process throughout the entire motion process. It avoids problems such as poor welding results due to welding torch wobbling or collisions between the welding torch and the workpiece, thus improving welding quality.

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

[0047] The beneficial effects of adopting the above-mentioned further technical solutions are: It facilitates asynchronous or synchronous movement between the multi-joint welding robot body and its external axis at different stages, improving the stability and reliability of the multi-joint welding robot's operation. It avoids the shaking problem during robot startup and shutdown, and prevents collisions between the robot and the ground caused by excessive external axis movement angles and limited welding space.

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

[0049] The beneficial effects of adopting the above-mentioned further technical solutions are: it facilitates asynchronous or synchronous movement between the body of the multi-joint welding robot and the external axis 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 effects of adopting the above-mentioned further technical solutions are: it facilitates asynchronous or synchronous movement between the body of the multi-joint welding robot and the external axis at different stages, thereby improving the stability and reliability of the operation of the multi-joint welding robot.

[0052] This invention provides a welding method for a multi-joint welding robot, such as... Figure 1 As shown, it includes the following steps:

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

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

[0055] The initial velocity can be 50–75 mm / s.

[0056] S2, the multi-joint welding robot begins to move, such as Figure 3 As shown, the multi-joint welding robot is coordinated to operate synchronously with the external axis.

[0057] S3. When the operating angle of the multi-joint welding robot reaches the first angle with the operating angle of the external axis, the operating speed of the external axis is gradually reduced until the external axis stops when the tip of the welding torch reaches the endpoint. Figure 4 As shown; where, on the cross-section of the pipe to be welded, the angle of movement of the welding torch tip relative to the center of the cross-section of the pipe to be welded is the operating angle.

[0058] The first angle can be 150°.

[0059] Cosine deceleration of the external shaft can be used to gradually reduce the operating speed of the external shaft to zero.

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

[0061] The welding torch of a multi-joint welding robot can operate at an angle of 180° to 185°. Figure 2 As shown, the operating angle of the external shaft can be 140° to 145°, and the operating angle of the external shaft is as follows: Figure 4 As shown.

[0062] Figure 2 The angle of the welding torch movement is indicated by a double-headed arrow. Figure 3 The angles of coordinated and synchronized motion are indicated by double-headed arrows. Figure 4 The external axis motion angle is indicated by a double-headed arrow.

[0063] Throughout the entire process, the multi-joint welding robot body and external axis can move asynchronously or synchronously at different stages, avoiding the shaking problem of the multi-joint welding robot when starting and stopping. This effectively avoids problems such as poor welding effect caused by welding torch shaking or collision between welding torch and welding workpiece, thereby further improving welding quality.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 of a multi-joint welding robot, characterized by, Comprise: S1, start the multi-joint welding robot with external shaft, the position and attitude of the welding torch tip of the multi-joint welding robot relative to the pipe to be welded remain unchanged; S2, after the external shaft moves a certain angle, the multi-joint welding robot starts to move, and the multi-joint welding robot and the external shaft are coordinated to run synchronously; S3, when the multi-joint welding robot and the external shaft run to a first angle, the external shaft is stopped when the welding torch tip reaches the end point in a manner of gradually reducing the running speed of the external shaft; The external shaft is parallel to the pipe to be welded; The running angle of the multi-joint welding robot is the moving angle of the welding torch 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; The first angle is 150°; The running angle range of the welding torch of the multi-joint welding robot is 180°~185°; The running angle range of the external shaft is 140°~145°.

2. The welding method of a multi-joint welding robot according to claim 1, characterized by, In step S1, the external shaft of the multi-joint welding robot is kept at a first speed.

3. The welding method of a multi-joint welding robot according to claim 2, characterized by, The range of the first speed is 50~75mm / s.

4. The welding method of a multi-joint welding robot according to claim 1, characterized by, In step S3, the acceleration of the external shaft is decelerated using cosine to gradually reduce the running speed of the external shaft to zero.

5. The welding method of a multi-joint welding robot according to claim 1, characterized by, The running speed of the external shaft is coordinated internally by the multi-joint welding robot according to the running speed of the welding torch.

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