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3D printing welding method using multi-degree-of-freedom robot

A 3D printing and welding method technology, applied in welding equipment, manipulators, arc welding equipment, etc., can solve problems such as poor welding quality, and achieve the effects of stable welding, convenient operation and low cost

Inactive Publication Date: 2015-12-23
NANJING UNIV OF TECH +1
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a 3D printing welding method using a multi-degree-of-freedom robot, which avoids the problem of poor welding quality caused by welding seam tracking and image recognition of current welding robots

Method used

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0019] like figure 1 As shown, a 3D printing welding method using a multi-degree-of-freedom robot, the equipment used in this welding method includes a computer and a workshop welding robot controlled by it, and the following steps are used:

[0020] Step 1: Turn on the computer, create or import the 3D model of the weldment in proportion, and place the required weldment model on the computer simulation workbench, which is consistent with the position of the physical weldment on the auxiliary workbench in the workshop;

[0021] Step 2: Determine the position of the weld; find the part to be welded on the weldment, place the mouse pointer on one end of the weld, press and drag the mouse to draw the track of the weld, and release the mouse when finished; At this time, you can choose to weld according to the manually specified weld trajectory, or...

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Abstract

The invention discloses a 3D printing welding method using a multi-degree-of-freedom robot. A computer and a workshop welding robot are included, and the computer controls a welding arm of the workshop welding robot; by means of the novel 3D printing technology, a welding part 3D model is built in the computer, and then a welding line required to be welded in the model is assigned, the computer will extract welding line trajectory coordinates, and the trajectory coordinates are compiled into execution stage robot language commands which are output to the workshop welding robot; and after simulation is free of errors, 3D printing welding is achieved. Through the method, the condition that according to a modern automatic welding robot, due to problems of welding line tracing, image processing and the like, the welding quality is poor is avoided, welding is stable, operation is convenient, a large number of sensors are not needed, and the cost is low.

Description

technical field [0001] The invention relates to a multi-degree-of-freedom welding robot, which belongs to the field of robots, and in particular to a 3D printing welding method using a multi-degree-of-freedom robot. Background technique [0002] Among the existing automatic welding robots, most of them are "teaching-reproducing" robots. In the actual arc welding process, the welding conditions are often changed, often due to factors such as deformation, misalignment, gap change, heat dissipation, workpiece processing errors and assembly errors, etc., which cause changes in the position and size of the weld seam, resulting in weld seam and The teaching track deviates. At present, technologies such as welding vision sensing and image processing are mainly used to solve the problem of seam tracking. Seam tracking, visual sensing and image processing technologies have also become hot and difficult points in the research of automatic welding robots. However, the welding robot ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B23K9/16B23K9/02
CPCB23K9/02B23K9/16B25J9/1664
Inventor 周剑秋杨晶歆潘燕萍吴波朱建威
Owner NANJING UNIV OF TECH
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