CN-122007622-A - Automatic welding system and welding method of welding robot

CN122007622ACN 122007622 ACN122007622 ACN 122007622ACN-122007622-A

Abstract

The invention relates to an automatic welding system of a welding robot, which comprises a mechanical arm, a welding gun arranged at the tail end of the mechanical arm, a control system, a multi-channel welding wire feeding assembly, a welding wire splicing assembly, a buffering wire storage assembly, a detection assembly and a control system, wherein the multi-channel welding wire feeding assembly comprises at least two groups of welding wire feeding units, the welding wire splicing assembly is arranged between the welding wire feeding assembly and the welding gun, the welding wire connecting mechanism is arranged between a first clamping mechanism and a second clamping mechanism, the buffering wire storage assembly is used for storing or releasing the welding wire length by changing the path length, the detection assembly comprises a welding wire length detection unit or a rotating speed detection unit, the welding wire tension detection unit is electrically connected with the welding wire feeding assembly, the welding wire splicing assembly and the detection assembly respectively, the second clamping mechanism is controlled to clamp the welding wire to be connected when the current welding wire reaches a preset residual threshold value, the welding wire connecting mechanism is controlled to complete the welding wire connection, and the buffering wire storage assembly is controlled to release the welding wire in the connection process so as to maintain the continuous wire feeding of the welding gun end.

Inventors

LIU FEI
Wei Zhaobang
XU YUANFEI

Assignees

青岛精宇智能科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260410

Claims (10)

1. The utility model provides an automatic weld system of welding robot, includes the arm, installs in the terminal welder of arm and control system, its characterized in that still includes: The multichannel welding wire feeding assembly comprises at least two groups of welding wire feeding units, an active wire feeding driving mechanism, a pressing wheel, a welding wire feeding mechanism and a welding wire feeding mechanism, wherein each welding wire feeding unit comprises a welding wire roller; the welding wire splicing assembly is arranged between the welding wire feeding assembly and the welding gun and comprises a linear guide channel, a first clamping mechanism and a second clamping mechanism which are arranged at two sides of the linear guide channel, and a welding wire connecting mechanism which is arranged between the first clamping mechanism and the second clamping mechanism; Wherein: the first clamping mechanism is used for clamping the current welding wire; The second clamping mechanism is used for clamping the welding wire to be connected; the welding wire connecting mechanism is used for welding or crimping the end parts of the two welding wires to form a continuous welding wire; The buffer wire storage assembly is arranged between the welding wire splicing assembly and the welding gun and comprises at least one deformable wire storage path structure, wherein the wire storage path structure stores or releases the length of welding wires by changing the path length; The welding wire tension detection unit is used for detecting the tension of the welding wire; The control system is respectively and electrically connected with the welding wire feeding assembly, the welding wire splicing assembly and the detection assembly and is used for judging the current welding wire residual state according to the detection assembly signals, controlling the second clamping mechanism to clamp the welding wire to be connected when the current welding wire reaches a preset residual threshold value, controlling the welding wire connecting mechanism to complete welding wire connection, and controlling the buffering wire storage assembly to release the welding wire in the connecting process so as to maintain continuous wire feeding of a welding gun end.
2. The automatic welding system of the welding robot according to claim 1, wherein the welding wire connecting mechanism comprises a two-electrode clamping unit and a pulse current generating unit, wherein the two electrodes are respectively contacted with the end parts of the welding wire, and the resistance welding is realized through the pulse current.
3. The automated welding system of welding robot of claim 2, wherein the wire attachment mechanism is a laser welding device comprising a laser emitter and an optical path focusing assembly.
4. The automated welding system of welding robot of claim 1, wherein the first and second clamping mechanisms each comprise a fixed clamp block, a movable clamp block, and a cylinder or electric pushrod driving the movable clamp block to move.
5. The automatic welding system of a welding robot of claim 1, wherein the linear guide channel is a straight pipe with smooth inner wall or a guide groove structure with a low friction bushing.
6. The automatic welding system of the welding robot according to claim 1, wherein the buffer wire storage assembly is of a swing arm type structure, and comprises a swing arm capable of rotating around a pivot and a wire guide wheel arranged on the swing arm, and the path length of the welding wire is changed through swing of the swing arm.
7. The automated welding system of welding robot of claim 1, wherein the buffer wire storage assembly is an annular wire storage structure, and the welding wire forms at least one loop of annular storage path.
8. The welding robot automatic welding system according to claim 7, wherein the wire feed drive mechanism comprises a servo motor, an encoder, and a closed loop speed control unit.
9. The automatic welding system of welding robot of claim 8, wherein the welding wire tension detection unit is a strain type tension sensor, and the control system adjusts a rotation speed of the wire feed motor according to the tension signal.
10. An automatic welding method of an automatic welding system employing the welding robot according to any one of claims 1 to 9, characterized by comprising the steps of: step1, driving a first welding wire feeding unit to convey welding wires to a welding gun; step 2, detecting the feeding length or the residual quantity of the welding wire in real time; Step3, when the residual quantity of the welding wire is lower than a preset threshold value, driving a second welding wire feeding unit to feed the welding wire to a welding wire splicing assembly; step 4, clamping the end parts of the two welding wires through a first clamping mechanism and a second clamping mechanism respectively; step 5, controlling a welding wire connecting mechanism to finish welding wire connection; Step 6, releasing welding wires through a buffer wire storage assembly in the connecting process; And 7, continuing to supply wires by the second welding wire feeding unit after the connection is completed.

Description

Automatic welding system and welding method of welding robot Technical Field The invention relates to the technical field of welding automation, in particular to a continuous wire supply automatic welding system suitable for an industrial robot welding scene and a control method thereof, and particularly relates to an automatic system for realizing continuous supply of welding wires in a welding process based on a multi-channel welding wire supply and welding wire splicing technology. Background With the continuous improvement of the industrial automation level, the welding robot is widely applied to the fields of automobile manufacturing, pressure vessels, rail transit, aerospace and the like. In particular, in argon arc welding (TIG) and precision welding processes, higher requirements are placed on welding continuity, stability and weld quality. The existing welding robot generally adopts a single welding wire feeding mode, namely, welding wires are wound on a welding wire roller, and the welding wires are conveyed to a welding gun through a wire feeding mechanism for welding. When the welding wire on the welding wire roller is consumed, the welding wire roller needs to be replaced manually and threaded again, and the process has the following problems that the welding interruption is serious, the welding is stopped in the process of replacing the welding wire to influence the production beat, the manual intervention is frequent, the operation personnel is required to participate frequently, the labor intensity is high, the safety risk is high, the risks of high temperature, electric shock and the like exist in the replacement process, the welding quality is unstable, and the welding seam defect can be caused by restarting. Part of the prior art tries to realize automatic replacement by arranging a plurality of welding wire rollers and performing mechanical switching, but the scheme still has the defects that the welding wire supply is interrupted in the switching process, the real continuous welding cannot be realized, the mechanical structure is complex, the reliability is limited, the automatic connection of the end parts of the welding wire cannot be realized, and an intelligent prediction and control mechanism is lacked. Therefore, there is a need for an automatic welding system that can achieve continuous supply of welding wire without interruption of welding to improve production efficiency and welding quality Disclosure of Invention The invention aims to solve the technical problems of overcoming the defects of the prior art and providing an automatic welding system and a welding method of a welding robot. The technical scheme adopted by the invention is as follows: According to a first aspect of the present application, there is provided an automatic welding system of a welding robot, including a robot arm, a welding gun mounted at an end of the robot arm, and a control system, further comprising: The multichannel welding wire feeding assembly comprises at least two groups of welding wire feeding units, an active wire feeding driving mechanism, a pressing wheel, a welding wire feeding mechanism and a welding wire feeding mechanism, wherein each welding wire feeding unit comprises a welding wire roller; the welding wire splicing assembly is arranged between the welding wire feeding assembly and the welding gun and comprises a linear guide channel, a first clamping mechanism and a second clamping mechanism which are arranged at two sides of the linear guide channel, and a welding wire connecting mechanism which is arranged between the first clamping mechanism and the second clamping mechanism; Wherein: the first clamping mechanism is used for clamping the current welding wire; The second clamping mechanism is used for clamping the welding wire to be connected; the welding wire connecting mechanism is used for welding or crimping the end parts of the two welding wires to form a continuous welding wire; The buffer wire storage assembly is arranged between the welding wire splicing assembly and the welding gun and comprises at least one deformable wire storage path structure, wherein the wire storage path structure stores or releases the length of welding wires by changing the path length; The welding wire tension detection unit is used for detecting the tension of the welding wire; The control system is respectively and electrically connected with the welding wire feeding assembly, the welding wire splicing assembly and the detection assembly and is used for judging the current welding wire residual state according to the detection assembly signals, controlling the second clamping mechanism to clamp the welding wire to be connected when the current welding wire reaches a preset residual threshold value, controlling the welding wire connecting mechanism to complete welding wire connection, and controlling the buffering wire storage assembly to release the welding wire in the connecting process so as