Curved surface welding robot and TIG wire filling automatic welding method thereof

Abstract

The invention relates to a curved surface welding robot and a TIG wire filling automatic welding method thereof. The curved surface welding robot comprises a mechanical arm and a positioner. The rotating assembly comprises a clamping frame, the top of the clamping frame is fixedly connected with the execution tail end of the mechanical arm, a stepping motor is fixedly connected to the inner wall of the bottom of the clamping frame, the bottom of the clamping frame is rotationally connected with a wire feeding rotary disc, and the wire feeding rotary disc is in transmission connection with the output end of the stepping motor; the bottom of the wire feeding rotary disc is fixedly connected with a rotary support, the tail end of the rotary support is fixedly connected with a wire feeding pipe, and a gun clamp used for clamping a welding gun is arranged on the inner wall of the bottom of the clamping frame. According to the curved surface welding robot and the TIG wire filling automatic welding method, the stepping motor drives the rotary support to rotate for wire feeding welding, so that when a curved surface workpiece is welded, the welding efficiency and reliability of the curved surface workpiece are improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding, in particular to a curved surface welding robot and a TIG wire-filling automatic welding method thereof. Background Art

[0002] TIG welding uses filler wire to improve the weld deposition speed and weld quality.

[0003] When using robots to weld curved workpieces, due to the particularity of the curved surface, it is more difficult to perform mechanical welding on the curved workpiece, resulting in poor welding quality. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a curved surface welding robot and its TIG wire filling automatic welding method, so as to solve the problem raised in the above background technology that when using a robot to weld curved surface workpieces, due to the particularity of the curved surface, it is difficult to perform mechanical welding of the curved surface workpiece, resulting in poor welding quality.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical solution: a curved surface welding robot, comprising a robotic arm (1), a rotating component (2), an identification component (3) and a positioner (4); The rotating assembly (2) includes a clamping frame (201), the top of the clamping frame (201) is fixedly connected to the execution end of the robot arm (1), a stepping motor (202) is fixedly connected to the bottom inner wall of the clamping frame (201), the bottom of the clamping frame (201) is rotatably connected to a wire feeding rotary disk (203), and the wire feeding rotary disk (203) is transmission-connected to the output end of the stepping motor (202), the bottom of the wire feeding rotary disk (203) is fixedly connected to a rotary bracket (205), the end of the rotary bracket (205) is fixedly connected to a wire feeding tube (206), and a gun clamp (204) for clamping a welding gun is provided on the bottom inner wall of the clamping frame (201); The identification component (3) comprises a laser sensor (301), and one side of the laser sensor (301) is fixedly connected to one side of the wire feeding rotary disc (203).

[0006] In a preferred embodiment: the robot arm (1) is a FANUC M-10iD / 12 model, the clamping frame (201) holds a welding gun, and the welding gun is a WP-18 water-cooled welding gun and is equipped with a WP-101 cooling water tank, and the welding gun uses 99.99% argon as a shielding gas.

[0007] In a preferred embodiment, the laser sensor (301) is a SERVO-ROBOTICUBE 100LSTD model, and the laser sensor (301) extracts features from the target image contour, identifies a given contour, and measures its geometric feature quantity.

[0008] The present invention also provides a TIG wire-filling automatic welding method based on a curved surface welding robot, which uses the curved surface welding robot and includes the following steps: S1: When in use, the curved surface welded part is fixed on the turning platform of the positioner (4); S2: driving the wire feeding rotary disc (203) by the stepping motor (202) to rotate the wire feeding rotary disc (203) in different directions to feed the wire in rotation; S3: while welding, the laser sensor (301) scans the welding track, and the robot arm (1) controls the rotation of the stepper motor (202) to ensure that the wire feeding position is always at the front end of the welding gun's travel track during the welding process of the curved surface weldment; S4: When welding is completed, the wire feeder stops feeding the wire first, and the stepper motor (202) rotates to a certain angle to a safe position before stopping welding to avoid welding wire adhesion and collision with the workpiece.

[0009] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, a stepping motor is used to drive the rotary bracket to rotate for wire feeding welding, thereby improving the welding efficiency and reliability when welding a curved workpiece.

[0010] In the present invention, the adaptive filling model image processing algorithm based on ZOA-RF in the laser sensor has a good prediction effect on the welding process parameters, so that the welding quality is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of a partially enlarged structure of the present invention.

[0012] In the figure: 1. Robotic arm; 2. Rotating assembly; 3. Identification assembly; 4. Positioner; 201. Clamping frame; 202. Stepping motor; 203. Wire feeding turntable; 204. Gun clamp; 205. Rotating bracket; 206. Wire feeding tube; 301. Laser sensor. DETAILED DESCRIPTION

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0014] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0015] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application; as used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form, and it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0016] See also Figure 1-Figure 2 , the present invention provides a technical solution: a curved surface welding robot, comprising a robotic arm 1 and a positioner 4; Rotating assembly 2, which includes a clamping frame 201. The top of the clamping frame 201 is fixedly connected to the execution end of the robot arm 1. A stepping motor 202 is fixedly connected to the bottom inner wall of the clamping frame 201. The bottom of the clamping frame 201 is rotatably connected to a wire feeding turntable 203, and the wire feeding turntable 203 is transmission-connected to the output end of the stepping motor 202. The bottom of the wire feeding turntable 203 is fixedly connected to a rotary bracket 205, and the end of one of the rotary brackets 205 is fixedly connected to a wire feeding tube 206. A gun clamp 204 for clamping the welding gun is provided on the bottom inner wall of the clamping frame 201; The identification component 3 includes a laser sensor 301 , one side of the laser sensor 301 is fixedly connected to one side of the wire feeding rotary disk 203 .

[0017] In this embodiment, Figure 1 and Figure 2 As shown, the robot arm 1 is a FANUC M-10iD / 12 model, the clamping frame 201 is used to clamp a welding gun, and the welding gun is a WP-18 water-cooled welding gun and is equipped with a WP-101 cooling water tank. The welding gun uses 99.99% argon as the shielding gas.

[0018] In this embodiment, Figure 1 and Figure 2 As shown, the laser sensor used is the SERVO-ROBOTICUBE 100LSTD model. The laser sensor 301 can extract features from the target image contour, identify a given contour, and measure its geometric feature quantities. The laser sensor 301 is also equipped with an adaptive parameter table method based on ZOA-RF to ensure its robustness and strong adaptability, and can perform weld tracking according to different joint forms. Adaptive parameter table method based on ZOA-RF: The gap range set in this application is 0-1.5mm, with an interval of 0.1mm, the front weld width range is 3-6mm, with an interval of 0.1mm, the back weld width and the front reinforcement are fixed at 2mm and 0.4mm respectively, and the output process parameters: peak current, welding speed and wire feed speed are in the last three columns, thereby obtaining 480 sets of corresponding process parameters. The process parameters are saved as a 480x3 array using the FANUC robot Karel language, and the index corresponding to each process parameter is recorded. When the butt gap value from the laser sensor is between two values ​​in the adaptive parameter table, an interpolation operation is performed to obtain the corresponding appropriate parameter, and one decimal place is retained as the output signal, which is transmitted to the robot and welding power supply; Below we set the gap to 0.75mm and the weld width to 4.1mm. The interpolation operation is as follows: in , The peak current, welding speed, and wire feed speed are output respectively. Combining the formula and the adaptive parameter table based on Table 5, the final output is 94.7A, 21.4cm / min, and 53.9cm / min, while the direct output of the ZOA-RF model is 94.5A, 21.4cm / min, and 53.8cm / min. The errors are 0.2, 0, and 0.1, which can be ignored. It can be seen that the adaptive parameter table method based on ZOA-RF not only has a fast calculation speed but also can obtain sufficient accuracy.

[0019] A TIG wire-filling automatic welding method comprises the following steps: S1: When in use, fix the curved surface weldment on the turning platform of the positioner 4; S2: The stepping motor 202 drives the wire feeding rotary disk 203 to rotate in different directions to control the wire feeding rotary disk 203 to rotate and feed the wire; S3: While welding, the laser sensor 301 scans the welding track, and the robot arm 1 controls the rotation of the stepper motor 202 to ensure that the wire feeding position is always at the front end of the welding gun's travel track during the welding process of the curved surface weldment; S4: When welding is completed, the wire feeder stops feeding the wire first, and the stepper motor 202 rotates a certain angle to a safe position before stopping welding to avoid welding wire adhesion and collision with the workpiece.

[0020] The FANUC robot communicates with the welding power source, positioner 4 and rotating component 2 via Profinet to control the movements of each part, set process parameters and receive feedback information.

[0021] The use method and advantages of the present invention: When the curved surface welding robot and TIG wire-filling automatic welding method are used, the working process is as follows: like Figure 1 and Figure 2 As shown, when in use, the curved surface welding part is fixed on the flip platform on the positioner 4, and the wire feeding turntable 203 is driven by the stepper motor 202 to rotate in different directions to control the wire feeding turntable 203 to rotate and feed the wire. During welding, the welding trajectory scanned by the laser sensor 301 is used to control the rotation of the stepper motor 202 through the robot arm 1 to ensure that during the welding process of the curved surface welding part, the wire feeding position is always at the front end of the welding gun's travel trajectory. When the stepper motor 202 rotates, the rotary bracket 205 and the wire feeding tube 206 rotate, and at the same time the wire feeder pulls the welding wire in the wire channel to complete the wire feeding. When the welding is completed, the wire feeder stops feeding the wire first, and the stepper motor 202 rotates to a certain angle to a safe position, and then stops welding to avoid welding wire adhesion and collision of the workpiece.

[0022] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A curved surface welding robot, characterized in that: It comprises a mechanical arm (1), a rotating component (2), an identification component (3) and a positioner (4); The rotating assembly (2) comprises a clamping frame (201), the top of the clamping frame (201) is fixedly connected to the execution end of the robot arm (1), a stepping motor (202) is fixedly connected to the inner wall of the bottom of the clamping frame (201), a wire feeding rotary disk (203) is rotatably connected to the bottom of the clamping frame (201), and the wire feeding rotary disk (203) is drivingly connected to the output end of the stepping motor (202), a rotating bracket (205) is fixedly connected to the bottom of the wire feeding rotary disk (203), a wire feeding tube (206) is fixedly connected to the end of the rotating bracket (205), and a gun clamp (204) for clamping a welding gun is provided on the inner wall of the bottom of the clamping frame (201); The identification component (3) comprises a laser sensor (301), and one side of the laser sensor (301) is fixedly connected to one side of the wire feeding rotary disc (203).

2. A curved surface welding robot according to claim 1, characterized in that: The robot arm (1) is of the FANUCM-10iD / 12 type, the clamping frame (201) holds a welding gun, and the welding gun is a WP-18 water-cooled welding gun and is matched with a WP-101 cooling water tank, and the welding gun uses 99.99% argon as a shielding gas.

3. A curved surface welding robot according to claim 1, characterized in that: The laser sensor (301) is a SERVO-ROBOTICUBE 100LSTD model. The laser sensor (301) extracts features from the target image contour, identifies a given contour and measures its geometric feature quantity.

4. A TIG wire-filling automatic welding method based on a curved surface welding robot, characterized in that: A curved surface welding robot according to any one of claims 1 to 3 is used, comprising the following steps: S1: When in use, the curved surface welded part is fixed on the turning platform of the positioner (4); S2: driving the wire feeding rotary disc (203) by a stepping motor (202) to rotate the wire feeding rotary disc (203) in different directions to feed the wire in rotation; S3: while welding, the welding track is scanned by the laser sensor (301), and the rotation of the stepper motor (202) is controlled by the robot arm (1), so as to ensure that the wire feeding position is always at the front end of the welding gun's travel track during the welding process of the curved surface weldment; S4: When welding is completed, the wire feeder stops feeding the wire first, and the stepper motor (202) rotates a certain angle to a safe position before stopping welding to avoid welding wire adhesion and collision with the workpiece.

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