CN108436315A - The long inclined ladder production-line technique of robotic cutting-weldedization - Google Patents
The long inclined ladder production-line technique of robotic cutting-weldedization Download PDFInfo
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- CN108436315A CN108436315A CN201810273738.3A CN201810273738A CN108436315A CN 108436315 A CN108436315 A CN 108436315A CN 201810273738 A CN201810273738 A CN 201810273738A CN 108436315 A CN108436315 A CN 108436315A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000005520 cutting process Methods 0.000 claims abstract description 109
- 238000003466 welding Methods 0.000 claims abstract description 95
- 238000012545 processing Methods 0.000 claims abstract description 13
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 9
- 239000010959 steel Substances 0.000 claims abstract description 9
- 239000002184 metal Substances 0.000 claims abstract description 7
- 229910052751 metal Inorganic materials 0.000 claims abstract description 7
- 238000000465 moulding Methods 0.000 claims abstract description 6
- 238000004021 metal welding Methods 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 8
- 239000000463 material Substances 0.000 abstract description 6
- 238000005299 abrasion Methods 0.000 abstract description 2
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 230000010354 integration Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- BSYNRYMUTXBXSQ-UHFFFAOYSA-N Aspirin Chemical compound CC(=O)OC1=CC=CC=C1C(O)=O BSYNRYMUTXBXSQ-UHFFFAOYSA-N 0.000 description 1
- 229910000906 Bronze Inorganic materials 0.000 description 1
- 101100008049 Caenorhabditis elegans cut-5 gene Proteins 0.000 description 1
- 229910001209 Low-carbon steel Inorganic materials 0.000 description 1
- 206010054949 Metaplasia Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000010974 bronze Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- KUNSUQLRTQLHQQ-UHFFFAOYSA-N copper tin Chemical compound [Cu].[Sn] KUNSUQLRTQLHQQ-UHFFFAOYSA-N 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
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- 230000014759 maintenance of location Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K28/00—Welding or cutting not covered by any of the preceding groups, e.g. electrolytic welding
- B23K28/02—Combined welding or cutting procedures or apparatus
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Arc Welding In General (AREA)
Abstract
The invention discloses a kind of long inclined ladder production-line technique of robotic cutting weldedization, step is：Processing model is set, the welding route and welding parameter of the cutting route and cutting parameter and welding robot of cutting robot are obtained；Cutting power supply is opened, according to cutting route, driving cutting robot walks by the cutting route, cuts to rectangle steel workpiece, cut by predetermined length；The workpiece of well cutting is edge-on on jig, it is used in combination fixture positioning to clamp, open the source of welding current, according to welding route, drive welding robot by welding route walking, when welding, arc automatic starting when welding robot touches workpiece surface, metal welding wire is melted, molten metal silk voluntarily cooled and solidified；Cutting and welding process are repeated, until completing the molding of long inclined ladder.In technique of the present invention, cutting cooperates with welding, avoids base material abrasion in handling process back and forth on more machines to a certain extent, improves element precision, while decreasing process time, improve work efficiency.
Description
Technical field
The present invention relates to intelligent welding fields, and in particular to a kind of long inclined ladder production of robotic cutting-weldedization
Wiring technology.
Background technology
It is an essential process during modern industrial production to carry out welding to workpiece, and existing cutting welding
Mode is typically to be realized using artificial, and not only labor intensity is big for this cutting welding manner, and working efficiency is low, welds matter
Amount is unable to get guarantee.With the development of science and technology, robotic cutting welding is gradually adopted to replace traditional manual operation.
Plasma cut is to generate high temperature with plasma-arc, makes to be melted by cutting material, meanwhile, it is blown using compressed gas
It walks to be melted material row into slot, completes final cutting process.Plasma cut have kerf quality is good, kerf width is narrow,
The advantages that precision is high, cutting is quick, safe and clean, is a kind of advanced processing method of current plate cutting.
PLASMA ARC WELDING be one kind using plasma arc as heat source, with alloy material (wire, the conjunction of certain ingredients
Bronze) as the welding manner for filling metal.PLASMA ARC WELDING belongs to high-quality welding method, depth/wide ratio of weld seam
Greatly, heat affected area is narrow, workpiece deformation it is small, weldable material type is more, especially pulse current plasma arc welding (PAW) and consumable electrode etc. from
The development of subarc weldering, more expands the use scope of plasma arc welding (PAW), has many advantages, such as construction efficiency height, at low cost.
Ship's ladder is made of ladder and square steel, first has to cut ladder, and cut out square hole, then could carry out ladder
It is welded with square steel, processing forms ship's ladder.Single cutting or welder largely affects ship's ladder processing efficiency.And
Ship's ladder length is longer, has been more than robot arm limitation, and mobile ship's ladder affects the precision added, procedure of processing in processing
It is excessively cumbersome.How to improve this case, adapt to needs of the modern society to cutting field of welding processing, improves equipment and be applicable in
Property, just become this field and is badly in need of the technical barrier solved.
Invention content
The object of the present invention is to provide a kind of long inclined ladder production-line techniques of robotic cutting-weldedization.
Realize the technical scheme is that：
The long inclined ladder product line device of robotic cutting-weldedization, including cutting robot and welding robot；Cutting machine
People is arranged with welding robot on guide rail, and cutting stock platform is arranged in parallel in cutting robot and weldering respectively with jig
The both sides of welding robot, and connect with guide rail, the cutting robot is with welding robot respectively in cutting stock platform and weldering
It connects in platform region and walks.
Further, cutting robot is connected to the control system respectively with welding robot.
Further, cutting robot is connected with cutting power supply；Welding robot is connected with the source of welding current.
Further, cutting stock platform includes single-shaft position changing machine, fixture and clear rifle station with jig.
Further, control system uses system integration switch board.
Further, cutting power supply uses plasma cutting system；The source of welding current is using totally digitilized pulsating welder.
The method of the long inclined ladder of processing based on above-mentioned apparatus, includes the following steps：
Step 1, processing model is set, the welding of the cutting route and cutting parameter and welding robot of cutting robot is obtained
Route and welding parameter；
Step 2, power on, wait for control system and cutting robot and welding robot communication signal are ready；
Step 3, cutting power supply, the cutting route set according to step 1 are opened, driving cutting robot presses the cutting route
Walking, cuts rectangle steel workpiece, is cut by predetermined length；
Step 4, the workpiece of step 3 well cutting is edge-on on jig, it is used in combination fixture positioning to clamp, opens the source of welding current,
The welding route set according to step 1, driving welding robot is by welding route walking, when welding, welding robot
Arc automatic starting when touching workpiece surface, metal welding wire is melted, molten metal silk voluntarily cooled and solidified；
Step 5, step 3 and step 4 are repeated, until completing the molding of long inclined ladder.
Preferably, cutting parameter includes cutting speed, cutting current voltage, the throughput and cutting ruler for cutting protective gas
It is very little；Welding parameter includes speed of welding, welding current voltage, the throughput of welding protection gas, wire feed rate and layer height.
Preferably, processing model is using any one in STL, STEP, OBJ, VRML and IGES format.
Preferably, the clear rifle station for the workpiece of step 3 well cutting being moved to cutting stock platform is cleared up；By step 5
The clear rifle station that molding long inclined ladder is moved to jig is cleared up.
Compared with prior art, the present invention its remarkable advantage is：
（1）Using the long inclined ladder product line device of robotic cutting-weldedization provided by the invention, cutting cooperates with work with welding
Make, avoids base material abrasion in handling process back and forth on more machines to a certain extent, improve element precision, simultaneously
Process time is decreased, is improved work efficiency.
（2）The welded metaplasia producing line of cutting-that the present invention uses, using guide rails of robots, tooling length may be configured as
1m ~ 20m avoids the mismachining tolerance that position large-scope change is brought.
（3）The present invention uses a kind of rotation pallet changer of two stations, and workpiece wheel is streamed to cutting area and welding section,
Greatly improve work efficiency the accuracy with loading and unloading.
Description of the drawings
Fig. 1 is the long inclined ladder product line device structural schematic diagram of robotic cutting-weldedization of the present invention.
Fig. 2 is guide rail of the present invention and robot architecture's schematic diagram.
Fig. 3 is specific implementation case finished figure.
Meaning representated by figure label is：1- cutting robots；2- welding robots；3- cutting stock platforms；4- is welded
Connect platform；5- guide rails；6- system integration switch boards；7- cutting power supplies；The 8- sources of welding current.
Specific implementation mode
It is clear in order to make the purpose of the present invention, scheme and advantage be more clear, below in conjunction with schematic device and specifically
Example, to the detailed description of the invention.The specific example told about below is used merely to explain the present invention, and the present invention is not limited to this
A kind of application approach.
Embodiment：
Using the long inclined ladder product line device of above-mentioned robotic cutting-weldedization, this example is as follows：
Step 1, processing model is set, the weldering of the cutting route and cutting parameter and welding robot 2 of cutting robot 1 is obtained
Connect route and welding parameter；
Step 2, power on, wait for control system 6 and cutting robot 1 and 2 communication signal of welding robot ready；
Step 3, cutting power supply 7 is opened, the cutting route set according to step 1, using guide rail 5, driving cutting robot 1 is pressed
The cutting route walking, cuts the rectangle steel workpiece on cutting stock platform 3, is cut by predetermined length；
Step 4, the workpiece of step 3 well cutting is edge-on on jig 4, it is used in combination fixture positioning to clamp, opens the source of welding current
8, the welding route set according to step 1, using guide rail 5, driving welding robot 2 is walked by the welding route, welding
When, arc automatic starting when welding robot 2 touches workpiece surface melts metal welding wire, and molten metal silk is voluntarily cooling solidifying
Gu；
Step 5, step 3 and step 4 are repeated, until completing the molding of long inclined ladder.
Cutting robot 1 as described in step 1-5 and welding robot 2 are Kawasaki RA10L robots, with automatic
Seek bit function.The artificial articulated robot of the machine, degree of freedom 6, maximum load 10kg, maximum extension distance 1925mm,
Arm rotates ± 180 °, and wrist rotates ± 270 °, and maximum speed is 190-610 °/s, quality itself is 230kg.
Cutting speed 200mm/min, cutting parameter as described in step 1 cutting current 300A, voltage 25V, is cut
The square that pure Ar that the throughput for cutting protective gas is 25L/min, cut lengths are 30mm*30mm.
Welding parameter as described in step 1, speed of welding 300mm/min, using MAG automatic weldings special process, welding wire
A diameter of Φ 1.2mm, welding current 200A, voltage 18V, welding protection gas throughput be the 80%Ar+ of 25L/min
20%CO2, wire feed rate 8m/min.
Control system 6 as described in step 2, the system integration switch board driven using full-digital servo.Its feature is as follows：
（1）Surprising compact by reducing mounting area, and makes high-density arrangement.Compared with Traditional control cabinet, substantially reduce
Volume.The switch board can reduce installation space with right angle setting；（2）Comfortable operation system, optimization traditional operation system
System so that more easily operate.It can start motor and order robot sampling action by teaching machine.Various displays can be with
Show two kinds such as position and signal combined information；（3）Abundant function, it is simultaneous with a variety of application programs based on material is carried
Hold.It can be leisurely and carefree by option combination system upgrade.High machine can be achieved using standardization program author language " AS language "
Human action and sequential control；（4）State-of-the-art technology is used, the high speed of more accurate TRAJECTORY CONTROL and high-speed procedure execution is possessed
CPU so that data preserve and loading is rapidly completed.The extension of memory size is so that storable program capacity obtains conspicuousness
It is promoted.As external memory, USB storages can also use；（5）The raising of maintainability, maintenance unit and conducting wire are simple
The characteristics of change, the compact switch board to realize that maintainability is high.The switch board possesses such as self diagnosis DIAG functions, not only applies
Traditional hardware fault can also apply the function of other maintenance supports, and realize the work(for safeguarding network server of remote diagnosis
Energy；（6）Enhanced scalability, by installing additional amplifier, E7X switch boards can correspond to most two additional shafts.As periphery
The control of equipment, it is compatible with multiple buses.From tutorial program software for editing SEQ sequencer function（KLogic）Or user's customization
Interface panel, can easily build an advanced system.
Cutting power supply 7 as described in step 3, using Powermax125 plasma cutting systems, Powermax125
Plasma cutting system is the diced system that power is maximum in air plasma product line, performance is most powerful, can quickly be cut
Cut thick metal.The system provides 100% arcing time factor, the machine piercing capability of 25mm and quick metal gouge ability, can be fast
Speed completes most arduous cutting and gouge operation.In addition, the system also uses newest innovative technology, such as automatically adjusting
The Smart Sense intelligent-induction technologies of gas pressure.Ten a Duramax Hyamp cutting torches are shared for choosing
It selects, can adapt to more purposes, can be used for hand-held cutting, portable automatic is cut, X-Y cutting bed vises are cut, extended type is cut
It cuts and robotic cutting and gouge.Its feature is as follows：（1）High production efficiency：When cutting 12 mm mild steel, cut
5 times faster than gas flame cuttiug of speed is cut, to be more quickly completed cutting operation；Outstanding cutting and gouge quality reduces and beats
The time of mill and edge treated；100% arcing time factor maximizes clipping time；A variety of styles, wieldy cutting torch, can make
Various operations are handled with same system.（2）It is easy to use suitable for cutting and gouge：Without changing air pressure-Smart
Sense intelligent-induction technologies can ensure that technological parameter setting is correct always；SpringStart spring electrode technologies
The starting the arc that can ensure that stable and consistent makes the reliability of cutting torch be promoted to new level；Using the protective cap technology for winning patent, energy
It is enough that dragging cutting is carried out under the conditions of maximum power output, slag accumulation is reduced, realization is more smoothly cut.（3）Operating cost
It is lower：Within the scope of suitable amperage, the vulnerable part service life at most grows four times than other systems；Electrode life exhausts detection technique
It can be automatically powered off when electrode excessively uses, prevent damage cutting torch and workpiece.
The source of welding current 8 as described in step 4, using meter Jia Nike SIGMA500A total digitalization pulsating welders.The machine is specified
500 amperes of electric current, arcing time factor 60%, the welding system use advanced IGBT inverters, are the welding productions of new-generation digital formula
Product have good stability height, welding quality, strong antijamming capability, the energy saving and environment friendly product that noise is small, scalable.The welding
Power supply is furnished with the special communication control interface of obstacle avoidance sensor and Kawasaki robot exclusively for Design of Arc Welding Robot.Its feature
It is as follows：（1）The welding quality of the starting the arc and blow-out is improved.Wire feeder may be used as no splashing starting the arc by encoder.Arc
The automatic filling function in hole can weld out the smooth weld without toe crack.（2）Splashing when welding is few.It is welded by controlling
The waveform of electric current and voltage, and in the droplet transfer, by the high speed processing of DSP, the wink of molten drop short circuit can be detected rapidly
Between, to control the output of the energy of electric arc, so that molten drop is transitioned into molten bath naturally, realization is seldom splashed short
It welds on road.（3）Stable pulse can be used to realize the welding of high quality.Either low current welding or high current are welded all
The weld seam of high quality can be obtained.
Guide rails of robots 5 as described in step 3-4, length 6m, robot can be free to slide along guide rail, to meet difference
The work piece cut of length and welding.
Cutting stock platform 3 as described in step 3, cutting tool platform carry out clamping to workpiece to be cut, and complete
At the whole assembly of progress after cutting.Land lengths 6.5m, using air-actuated jaw clamping workpiece, fixture positions rigging position simultaneously,
Clamped one time is formed, cutting is completed.Platform is furnished with roller way system, and after the completion of cutting, fixture unclamps, the band iron that can complete cutting
It is sent on jig with angle steel sliding.
Jig 4 as described in step 4 cuts the ship's ladder side plate of completion（Band iron or angle steel）, it is transmitted to welding tooling
After upper, clamped by air-actuated jaw, then manually wear square steel, after the completion of assembly, started to weld, pass through displacement in welding process
Machine overturning makes all weld seams once weld completion, is not necessarily to secondary clamping.
It is as shown in Figure 3 to shape sample.
It will be understood by those skilled in the art that foregoing invention example be only one of preferable example of the present invention and
, it is not intended to limit the expanded application of the present invention；It is all within spirit of that invention and principle made by it is any modification, replace and improve
Deng within the scope of the present invention.
Claims (4)
1. the long inclined ladder production-line technique of robotic cutting-weldedization, which is characterized in that include the following steps：
Step 1, processing model is set, the welding of the cutting route and cutting parameter and welding robot of cutting robot is obtained
Route and welding parameter；
Step 2, power on, wait for control system and cutting robot and welding robot communication signal are ready；
Step 3, cutting power supply, the cutting route set according to step 1 are opened, driving cutting robot presses the cutting route
Walking, cuts rectangle steel workpiece, is cut by predetermined length；
Step 4, the workpiece of step 3 well cutting is edge-on on jig, it is used in combination fixture positioning to clamp, opens the source of welding current,
The welding route set according to step 1, driving welding robot is by welding route walking, when welding, welding robot
Arc automatic starting when touching workpiece surface, metal welding wire is melted, molten metal silk voluntarily cooled and solidified；
Step 5, step 3 and step 4 are repeated, until completing the molding of long inclined ladder；
Wherein, the long inclined ladder product line device of robotic cutting-weldedization, including cutting robot and welding robot
People；Cutting robot is arranged with welding robot on guide rail, and cutting stock platform is arranged in parallel in respectively with jig to be cut
The both sides of robot and welding robot are cut, and are connect with guide rail, the cutting robot is being cut respectively with welding robot
It walks in platform of blanking and jig region.
2. the method as described in claim 1, which is characterized in that cutting parameter includes cutting speed, cutting current voltage, cutting
The throughput and cut lengths of protective gas；Welding parameter include speed of welding, welding current voltage, welding protection gas gas
Flow, wire feed rate and layer height.
3. the method as described in claim 1, which is characterized in that processing model uses STL, STEP, OBJ, VRML and IGES lattice
Any one in formula.
4. the method as described in claim 1, which is characterized in that the workpiece of step 3 well cutting is moved to cutting stock platform
Clear rifle station cleared up；The clear rifle station that the molding long inclined ladder of step 5 is moved to jig is cleared up.
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| CN201810273738.3A CN108436315A (en) | 2018-03-29 | 2018-03-29 | The long inclined ladder production-line technique of robotic cutting-weldedization |
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| CN201810273738.3A CN108436315A (en) | 2018-03-29 | 2018-03-29 | The long inclined ladder production-line technique of robotic cutting-weldedization |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110076499A (en) * | 2019-05-21 | 2019-08-02 | 安徽奥维斯智能设备科技有限公司 | A kind of cutting of two column of steel, welder |
| CN115673625A (en) * | 2022-12-30 | 2023-02-03 | 江苏远望起重机械制造有限公司 | Welding tool for inclined ladder of port crane |
| CN116000555A (en) * | 2023-02-07 | 2023-04-25 | 中国机械总院集团哈尔滨焊接研究所有限公司 | A flexible production line for automatic inspection and welding of railway wagon body |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110076499A (en) * | 2019-05-21 | 2019-08-02 | 安徽奥维斯智能设备科技有限公司 | A kind of cutting of two column of steel, welder |
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| CN116000555A (en) * | 2023-02-07 | 2023-04-25 | 中国机械总院集团哈尔滨焊接研究所有限公司 | A flexible production line for automatic inspection and welding of railway wagon body |
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Application publication date: 20180824 |
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