CN101108439A - All-directional robot welding system and computing method of the same - Google Patents
All-directional robot welding system and computing method of the same Download PDFInfo
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- CN101108439A CN101108439A CNA2007100376912A CN200710037691A CN101108439A CN 101108439 A CN101108439 A CN 101108439A CN A2007100376912 A CNA2007100376912 A CN A2007100376912A CN 200710037691 A CN200710037691 A CN 200710037691A CN 101108439 A CN101108439 A CN 101108439A
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Abstract
The invention discloses an all-position welding robot equipment, which is able to walk by the robot itself. By transmitting the positioning signals from jobs to a computer of the robot, and in conjunction with a sensor system, the computer can process the video signals and the signals form the sensor system. And by a programming software based on corresponding mathematic models, through calculation and judgment by the software, the programs can be preset. The 361-degree all-position video monitoring signals are coaxially shielded through mercury, the electrical signals are transmitted to the computer of the robot through the liquid conductive mercury. With a method inporting the procedure into a Reset state circuit, the programme is avoided from losing, so the robot can work trouble freely under high frequency and high voltage interference.
Description
Technical field
The present invention relates to the computational methods of a kind of all-directional robot welding system and this system, specifically be exactly the computational methods of welding robot by system, with the program code that is preset in the welding robot human brain, what become welding robot has from the welding behavior of taking action, and makes to weld become more quantification, more standardization.Be particularly suitable for being applied to the remote control voluntarily of metal tube and metallic plate and metal tube and metal tube welding and line traffic control robot voluntarily.
Technical background
Metal solder is the product manufacturing process that generally uses, and arc welding is the method for the most generally using at present, the starting the arc is the requisite operation of welding work pieces in the arc welding, in the TIG welding, use high frequency, high-voltage arc strike, also be the most effective, reliable means, and high frequency, high-voltage arc strike have very large injury to the person, and long-term close contact high frequency, high pressure ray can produce ill-effect to the person.And replace the people to propose and develop by the inventor as welding job by welding robot.This type is divided into shaking controls self-moving robot and line traffic control self-moving robot.
General Welder finishes welding job by hand, and the present invention has become welding data by micro computer action, the location welding of axle hydraulic pressure interlock by high-precision ccd video camera, BYOC high speed processing, generation welding data.Its welding correctness and speed are welding correctness and the speed greater than the people.Further function, it can be connected with the master controller of production line, by data-interface, the master controller signal is become the welding code of welding robot self, the characteristic that implementation procedure is controlled, and have more marketing character.
Summary of the invention:
The present invention In view of the foregoing its objective is the control method that a kind of all-directional robot welding is provided, and the computational methods of this system.
The present invention has obtained a kind of full position TIG welding robot control method, and the numerical method of this system, wherein the brain of this robot is by many micro computer CPU, internal memory ROM, RAM, I/O circuit, the high-frequency arc strike numerical controller, and control high power frequency conversion power supply numerical controller circuit, high-precise synchronization motor numerical controller, and the hi-Fix numerical controller of motor interlock.
For a concrete example; in TIG welding robot one example of full position; high-frequency arc strike seriously influences computer system; current most IC chip is based on the MOS circuit; and voltage-type MOS chip; very responsive to electromagnetic wave; be easy to generate fault; make welding robot produce misoperation; introduce the Reset state when the present invention passes through to adopt striking, computer program is entered in the Reset circuit of high frequency, high voltage protective, computer program is introduced in the slave mode; avoided monitoring programme walk to fly, cause computer crash.
Welding process output is a bright spot of arc welding robot, can produce powerful light during arc welding.This light has very big nocuity to eye.The present invention is sent to welding process in the computer of arc welding robot by high accuracy, high-resolution ccd video camera, and it is presented on the arc welding robot.And 361 ° of rotating welding send out the signal of ccd video camera simultaneously, it is impossible to advance to become theoretically, the present invention is by the coaxial method that adds shielding of mercury, high frequency electrical signal is transferred signals in the computer of arc-welding robot by liquid mercury lead, finished the transmission of 361 ° of all-position welding vision signals.
During the welding of a large amount of pipe tube sheet to being positioned with very high requirement.The present invention uses the method for laser positioning, makes welding robot can independently finish whole welding job.At first send beam of laser in the position pipe that will weld, the light accepting part position of robot produces a welding signal, makes welding robot reach the welding positioning function.
From the action welding robot, its power adopts 4 phase step motors, stepper motor is the motor device that data signal is converted to mechanical energy, pulse signal of every input, stepper motor rotates a fixedly stepping angle, (Step angle) this welding robot adopts 0.45 degree stepper motor specification, if 800 pulse signals of input, stepper motor will rotate 800 stepping angles, and (800*0.45 degree=360 degree) just turns around, the pulse number of control input has precision positioning and accurate constant speed in order to allow from the welding robot of taking action, as long as can be controlled the stepper motor rotational angle.Because stepper motor angle of rotation and input pulse number are directly proportional, therefore, adapt to and open circuit controls, improved the flexibility of the welding robot of taking action certainly.
Description of drawings
Fig. 1, according to the present invention a welding robot device schematic diagram.
The brain circuit block diagram of Fig. 2, welding robot.
The comprehensive visual angle of the 360 degree device schematic diagram of Fig. 3, welding robot.
Fig. 4, welding robot location schematic diagram.
The structural representation of Fig. 5, welding robot.
Fig. 6, welding robot power motor clockwise direction and counter clockwise direction input pulse schematic diagram
Fig. 7, mercury coaxial shielding device structure chart
Fig. 8, welding robot numerical computations flow chart.
Fig. 9, welding robot interface operation system concept figure.
Figure 10, welding robot network program flow chart.
The specific embodiment
The specific embodiment of the present invention below is described with reference to the accompanying drawings
Referring to Fig. 1, the main body of agent structure reference number 11 expression welding robots of the present invention, it forms in the following manner.Reference number 13 is all brain structures of welding robot, the formation of all brain structures is finished rule treatments to welding robot by many cpu central processing units circuit, and bus data is handled, the bus program code is handled, and CPU carries out the program code of ROM and the data among the execution RAM.Further, comprise that data signal, optical signal, mechanical action signal become the signal of telecommunication, enter CPU by mould/number circuit and digital/analog circuitry and handle, finish the effect of brain just with the signal of all.
Ear's device reference number 16, mouth device reference number 17, constituted the audio-frequency unit of welding robot, it is ear's device reference number 16 and mouth device reference number 17 that the audio frequency processing is divided into audio frequency input one, reference number 16 is according to the collection audio signal that provides from microphone microphone reference number 18, become the audio file that reference number 13 can be discerned by outside mould/number circuit, simultaneously audio signal is entered reference number 13 brain hardware systems by bus B us and handle, form welding robot ear device.Reference number 17 is the signals after reference number 13 brain hardware systems are handled, pass the die change piece by D/A, convert data signal to analog signal, analog signal is sent by boombox, formed the mouth function of welding robot by reference number 19.
Wherein 3 locomotory apparatus of reference number 1E hydraulic pressure are controlled by robot motion voluntarily, after reference number 11 robot bodies receive the signal of laser automatic station-keeping system, by 3 locomotory apparatus of hydraulic pressure, make welding manipulator arrive the location of workpiece, finish robot work.Reference number IC welding robot 4 phase step motor equipment are robot power-equipments, by controlled digitlization CD-ROM drive motor, and can accurate in-position.
Wherein reference number 15 software systems are the persons of sending of all behavior appointments, and different behavior requirements has different Mathematical Modelings, and the structure of Mathematical Modeling, have determined the level of intelligence of welding robot.
With reference to shown in Figure 2, as the computer feature of welding robot, its circuit hardware device is the IC circuit, and analog circuit is formed, in order to meet welding process requirement, and must the memory welding process requirement.Internal memory memory writes down welding process requirement, and welding is become robot can memory style, is recorded in the internal memory in binary mode, by central processing unit circuit and internal memory composition data bus and address bus.
The welding process requirement note is at memory address reference number 25﹠amp specifically; 1001AOOH, reference number 26 receives the signal of input/output circuitry, through numerical operation the signal of telecommunication is returned to reference number 26 and goes to carry out.Say that further reference number 21 receives from the signal of reference number 22 from the central processing unit circuit.
With reference to shown in Figure 3, as the core of welding robot supervisory signal, its core is a reference number 3D-CCD camera system, by the coaxial shielding controller that adds of reference number 31 mercurys, has formed a complete omnibearing vision device.
At first ccd video camera is input to reference number 31 controllers with vision signal.By by the corresponding reference number 32 software distribution programs of reference number 31 controllers.By reference number 27 moulds/number circuit, reference number 29 digital/analog circuitry are sent to reference number 22 from the central processing unit circuit with signal data.After the form preliminary treatment, send into reference number 21 host CPU circuit.While is sent into reference number 26 by the direct signal of the sensor circuit acquisition of reference number 26 primary inputs/output circuit, and reference number 21 host CPU processing of circuit are shown by reference number 31 controllers, reference number 26 primary inputs/output circuit, data, signal.Convert the cable video signal to by the wireless video signal transmission, signal is presented on the main liquid crystal display panel of welding robot.Simultaneously, can pass through the welding robot human body,, in the control room, this comparatively dangerous welding job of workpiece welding process can be finished by robot fully the long-range control room that is sent to of signal.
Specifically: shooting soldering process is as follows:
At first reference number 21 main central controller circuit obtain a location welding signal, handle simultaneously by reference number 38 vision signals, reference number 32 software Mathematical Modelings are located the welding image target, by above step, just can welding image, and the transmission of welding image signal is crucial, because the welding route is 361 degree rotation weld seams, with the method for routine, it is impossible to become theoretically.The present invention is sent to 21 host CPU circuit by the coaxial method that shields controller that adds of mercury with signal data, cooperation is by the signal of reference number 26 primary inputs/output circuit, through reference number 21 host CPU processing of circuit, draw a concrete true welding process.
As shown in Figure 4: reference number 44 mainly is divided into two kinds of localization methods, wireless remote control location and wired remote control location as the welding robot navigation system.The wireless remote control location comprises reference number 42 parts and reference number 41 parts, and the above part is welded to form part as controlled in wireless.At first in the pipe of welding work pieces; send beam of laser; and this Shu Jiguang is the laser signal by the laser code transmitter codes; the information of each welding is coded in the chip, and information comprises welding current, weldingvoltage; gas shield flow etc.; and these basic welding information by receiving with reference to No. 41 laser decoding chips, are confirmed its true welding position by No. 44 welding robots of reference number.And locate, after welding job finishes, welding robot will write down and confirm that this pad work finishes, and reach automatic welding function.
The wired remote control location has the attribute of remote manual control, and the method for its location is comparatively simple, and the wired remote control location comprises reference number 45 parts and reference number 46 parts, and the above part is as wired part that is welded to form.At first in the pipe of welding work pieces; send beam of laser; and this Shu Jiguang is the laser signal by the laser code transmitter codes; the information of each welding is coded in the chip, and information comprises welding current, weldingvoltage; gas shield flow etc.; and these welding essential informations by receiving with reference to No. 46 laser decoding chips, are confirmed its true welding position by No. 44 welding robots of reference number.And locate, after welding job finishes, welding robot will write down and confirm that this pad work finishes, the welding function is more practical.
Robot physical unit as shown in Figure 5, wherein reference number 52 robot brains and reference number 57 robot numerical controllers have been formed the key component of welding robot, and the robot numerical controller has been determined the process of the physical behavio(u)r of welding robot by Mathematical Modeling.According to the decision of welding actual conditions, the parameter of actual conditions is by welding current usually for its numerical value, and speed of welding under the situation that needs the sealing weld silk, has the speed of sending welding wire, the direction of sealing weld silk, compositions such as gas shield.Reference number 56 robot vision devices are that the process that is controlled by reference number 52 its physics of robot brain is that welding manipulator rotates to appointed positions, and sighting device is followed the tracks of that position, accomplished to perceive in real time function, reference number 53 robot bodies in, by hydraulic control, make it have action up and down in the physical space of setting, reference number 54 robot power set, the function that welding robot is had move between level, under the cooperation of reference number 55 robot positioners, make the entire machine people possess the attribute of flexibility and accuracy.
As Fig. 6 power motor clockwise direction with counterclockwise shown in the input pulse schematic diagram, 4 mutually excitatory be any time, have two groups of stator line charts excitatory simultaneously, shown in figure clockwise direction (CW).Among the figure excitatory phase sequence according to (A, B) → (B, C) → (C, D) → (D, A) → (A B) in proper order, all has two-phase simultaneously excitatory at every turn, and the waveform forward position changes in proper order according to A → B → C → D, and then stepper motor is docile and obedient clockwise and is rotated; Figure counterclockwise in (CCW) excitatory order according to (D, C) → (C, B) → (B, A) → (A, D) → (D C) in proper order, all has two-phase simultaneously excitatory at every turn, and the waveform forward position changes in proper order according to D → C → B → A, and stepper motor is that counterclockwise rotates.Use 4 phase excitation modes to drive, the output torque ratio 2 of stepper motor is mutually excitatory big.4 phase step motors make usually in this way and drive.Mutually excitatory employing half-phase excitatory with mutually excitatory being used alternatingly entirely, this kind mode drives stepper motor can reach the control of half step to increase the positioning resolution of stepper motor.For example, be the stepper motor of 400 steps (stepping angle 0.9 degree) if adopt excitatory whenever the turning around of half-phase, if adopt full phase excitation mode to drive, then revolving turns around became for 800 steps, stepping angle becomes 0.45 degree.Among the figure excitatory phase sequence be (D, A) → (A) → (A, B) → (B) → (B, C) → (C) → (C, D) → (D) in proper order, per 16 step circulations, stepper motor is docile and obedient clockwise and is rotated.When being the inverse clock rotation, excitatory phase sequence is opposite.
As the coaxial method that shields controller that adds of the said mercury of Fig. 7 be: at the additional layer insulating of the skin of the motion metal shaft of level, in the outside of insulating barrier is the aqueous water silver layer, in the outside of liquid mercury is the metal outer of fixing, when metal shaft during in axially-movable, signal has been formed a signal circuit by axially-movable metal shaft and fixing metal outer by liquid mercury, has reached the purpose of 361 ° of rotation transmissions of level data.
Fig. 8 illustrates the software flow pattern of welding robot, comprises key-course, boundary layer and application layer.
Configuration is the control of the hardware and software of welding robot as the said key-course S3 of Fig. 8, and other data that initial data such as the reception of key-course such as view data, language data and sensor detect, and handle these data paragraphs.According to some passage of information of input, carry out image canvas identification, attitude detection, position-finding etc., thus obtain recognition result, by the control program interface, recognition result is reported in application program, be used for working method and determine.Application layer is the access interface system, comprises three sub-application layers, and application layer A represents the position application layer, application layer B presentation video application layer, and application layer C represents to weld application layer.Whether application layer is to handle interlude code from reference number 26 primary inputs/output circuit module by signal and fixed storage apparatus EPROM by the CPU that carries, judge and weld.ROM is identical with the fixed storage apparatus, changeable storage device E
2But PROM is the mnemonic that electricity is installed to robot with dismantling, and this device is a boxlike storage medium, as memory bar (stick), and in use, installs in the predetermined accumulator groove, so use changeable storage E
2PROM supplies with the software program that upgrades, and the softwares relevant with hardware configuration such as centre are stored in removable storage arrangement E
2On the PROM, so that make its version set the hardware configuration (default settings) of delivering goods, or the standard hardware configuration is compatible with robot.Ideal is that the middleware and the application combination of operating environment are provided to the used hardware configuration of application program, and stores changeable storage device E subsequently into
2On the PROM.Application layer A, application layer B, application layer C handle from reference number 26 primary inputs/output circuit module by signal by the CPU that carries, and reference number 27 moulds/number circuit, reference number 29 digital/analog circuitry signals, microprocessor (MCU), memory (ROM, E
2PROM).And application layer code modules processing signals source is current amplification circuit (AMP), voltage signal comparison circuit (VCP), mould/number circuit (27), digital/analog circuitry (29).
Reference number S5 is that welding is selected, and the welding Mathematical Modeling Boolean matrix of setting by Mathematical Modeling during welding is set.In the micro computer that carries, set up the welding flag bit, introduced middleware A, introduced middleware B, introduce middleware C according to flag bit, wherein, the corresponding application A of middleware A, the corresponding application program B of middleware B.The corresponding application program C of middleware C.By the application of these corresponding programs, drawn introducing application A steady job mode, introduce application program B optimum Match working method, introduce the compatible working method of application program C.
Fig. 9, described as welding robot and extraneous tie of getting in touch, 11A application layer program is according to the welding procedure Mathematical Modeling, writes the application layer program code, makes robot have the welding attribute.11B monitors BIOS, makes robot have function storage, signal 23 modules, 25 modules of brain.Determination information-21 module, 22 modules.Make robot have function-36 module of mouth, the function of ear-38 module.Function-12 module of eye.The 11D interactive program(me), it has and the extraneous attribute that exchanges, and a kind of close friend's interface is the key that welding robot is understood, is familiar with by the people.The present invention adopts the robot body liquid crystal display to show, has simplified operating procedure.The end user is easily understood.
The pairing application A of middle A spare, as the program of robot from action, the control method of its program all adopts PPM (pulsion phase should be modulated) or PWW (pulse width modulation) mode to send the signal of autobiography sensor, reference number 54 robot power set, general every 40ms once, by the converter in the system position signalling is converted to the pulse that width is 3.0～5.0ms, pulse signal is presented to the motor servo appartus that is used to reply, and just can control robot and move to new position.Stablize constant signal if present one, can make robot keep stable state, do not move.When robot when stop position travels forward, speed control will cause motor stall and reverse movement.The cyclelog of principal velocity is set up the control impuls width, and provide forward, the contact between the waveform backward, basic numerical value change interval is 2.0～5.0ms, Mathematical Modeling as a program, if pulsewidth changes to 3.5ms from 2.5m, motor speed is forward quickened gradually, and to receive pulsewidth long more and change to the 4.5ms servomechanism from 3.5ms, and motor will slow down gradually.
In order to use the Thomas to reach driving, the present invention uses a kind of monostable circuit that can change pulse width, the driving force that it can balance reaches for the Thomas of robot, under four-wheel motor driving situation, there are a plurality of drive units in the driving force source, and the Boolean matrix of the monostable circuit of pulse width by Mathematical Modeling set, and comes the ability to act of balancing motor, make the robot freedom of movement forward, backward, left, action to the right.
Program is carried out amplifier, basically form by two parts, a part is used for producing electric current and increases current load ability, be amplifier section, another part is the polarity device that is used to detect original driving signal, when principal velocity controller signals (-) polarity upset is detected, simultaneously, when the Mathematical Modeling boolean of robot sets set, motor oppositely must be connected, when principal velocity control signal (+) polarity upset was detected, when the Mathematical Modeling boolean of robot set set simultaneously, the motor forward must be connected.This is because the speed control of robot Mathematical Modeling has forward, Yun Dong function backward, and signal polarity must be arrived by principal velocity controller degree detecting.
The pairing application program B of middleware B, as the robot important component part, 361 ° of programs that full position video shows, the method of program Mathematical Modeling of the present invention is the coaxial shielding controller transmission baseband video signal that adds again of mercury, with the single-ended transmission mode of ordinary video is the uneven transmission means of 75 Ω, conversion by Mathematical Modeling, be converted to the balance transmission mode about 100 Ω, vision signal is through reference number 56 robot vision devices, the opposite amplification again of vision signal handled, deliver to video display terminal, actual mercury is coaxial to add shielding transmitter characteristic impedance and non-constant, decide on its structure, and the impedance magnitude of reality is difficult to accurate Calculation, therefore be difficult to satisfy desirable difference balance transmission condition in transmission course, the resistance matching problem that causes thus is more outstanding.Impedance mismatching can make common-mode rejection ratio descend, even produce serious reflection distortion, therefore at the transmitting terminal that transmits signal, by the transmit driver of programme-control differential signal, with the single-ended uneven video baseband signal of unbalanced input, by following mathematical formulae: V
01=K (Z
1/ ZT) V
In, V
02=-K (Z
2/ Z
T) V
In, become the output of both end voltage gain difference.At the difference video signal of receiving terminal, by the Mathematical Modeling conversion, become single-ended video baseband signal, and the internal frequency equilibrium, colour signal promotes, and the controllable gain vision signal is all finished by reference number 56, and open loop amplifier voltage gain mathematical formulae is V
Out=K (Z
1/ Z
T) V
In, the present invention proposes the coaxial method that adds the shielding transmission of liquid mercury, designed impedance matching adjusting and gain control, transmission state signal is rationally regulated, satisfy the use under different situations and the condition.
The pairing application program C of middleware C, the method for its Mathematical Modeling is reference number 57 robot numerical controllers, its part is by reference number 1F main memory circuit, reference number 1G modulus circuit, many cpu circuits of reference number 1H and reference number 1I I/O circuit are formed.Wherein the execution of reference number 1F application program is based on ROM and RAM, and the method for operating of software is ROM circuit of welding robot design, has determined ROM software address in whole welding robot people according to the ROM circuit.The ROM operational order of welding robot of the present invention is to instruct based on the MOV class, method is the input instruction, latch PCL with the ALE latch signal, each machine in each CPU (CentralProcessing Unit) is with interim latch address ALE, when trailing edge, latch PCL, the frequency of ale signal is 1/6 of a frequency of oscillation, can be used to do external clock or commutator pulse, when carrying out MOV, the S state in uniform machinery cycle, the port address that ALE latchs no longer is the least-significant byte of memory under program (stick), but the data-storing address.For data memory RAM, mainly as the internal memory of on-the-spot welding robot, its operational order is mainly based on the MOV instruction, effect is to deposit various on-the-spot welding data in, as everybody position of welding robot, the operating process of welding manipulator etc., ROM deposits welding parameter, welding process requirement.Reference number 1I I/O circuit provides an I/O passage in the application of system, mainly is to instruct based on Input and output.Reference number 1H is made up of many cpu circuits, and it mainly is in order to improve the deal with data ability of robot that the inventor adopts many CPU.Specifically as follows with 3 CPU processing methods, host CPU begins to be provided with the address load mode.Beginning to send No. 1 slave from initial address shakes hands successfully.Beginning and No. 1 slave swap data can be set then from data mode.After if main frame sends slave addresses, receives back address code and the transmission address code does not wait, then the slave of the address code failure of shaking hands therewith.Beginning to send No. 2 slaves from the starting point from initial address shakes hands successfully.Beginning and No. 2 slave swap datas can be set then from data mode.After if main frame sends slave addresses, receives back address code and the transmission address code does not wait, then the slave of the address code failure of shaking hands therewith.Beginning to send No. 3 slaves from initial address shakes hands successfully.Beginning and No. 3 slave swap datas can be set then from data mode.After if main frame sends slave addresses, receives back address code and the transmission address code does not wait, then the slave of the address code failure of shaking hands therewith.
Reference number 11B and be the tissue of system, and the tissue of system is divided into 1, no control person system with reference to 11D, 2, single control person system, 3, many controls person system.
1, in the no control person system, interactive program(me) is that the immediate data that is limited to from a speaker to one or more hearers transmits.These transmit by manually placing " only send " or " only get " working method: their constitute a very no control person system of basic fixed.
At this moment, reference number 11B monitoring BIOS is in datamation mode (ANT=vacation) always." send " device has a source side and hangs structure function and a send function in its interface, " get " device then has recipient's function in certain interface, and other ability is impossible exist.
2, single control person system:
In this system, possible reference number 11D interactive program(me) mode has: (1) directly transmits data (datamation mode) between a speaker who receives a mandate and one or more hearer who receives a mandate.(2) send control person to from a device, once and status information working method in search sequence or the status information working method in serial search sequence.(3) send a device data working method to from control: data byte or programmed instruction, the working method of order: order and address.(4) between the control person of system and other device, transmit interface management information.To each device addressing, then controlling function must act on CPU before making aforesaid operations.VSCL requirement system control in this locality can be used for making the control person of system to enter its active state.Just might produce an interface clear (IFC) message by system control function then, the control function of device then also will become and be in active state, and therefore the control person in single control person system must be a control person of system.
3, many controls person system:
In many controls person system, reference number 11d interactive program(me) mode is the same with having only a control person system, and system makes system's control powers and functions be given to another control person from a control person.Wherein must there be a control person to be designated as the control person of system.So the control person of this system is exactly unique in system can make interface line REN (far may) and IFC (interface clear) device that works.In many controls person system, that the CPU control is as follows from the process that A control person is given to B control person:
(1) A control person is in effect, and all other control persons (comprising B) person is inoperative.
(2) A control person makes it to receive a mandate to B control person addressing and is control person (command job mode).
(3) A control person provides bus order TCT (getting control) (command job mode).
(4) A control person makes ATN=vacation (datamation mode).Become true time as ATN now, B control person is with regard to effect and all other control persons are then all inoperative.
In IFC order of reference number 11B monitoring BIOS outbreak, then all devices all will be received a mandate, and the control person of system then obtains the control of system once more.
Have 2 kinds of service request inquiries in reference number 11 application programs, in welding robot system after a weld task begins, it is ignorant often when to finish this, therefore CPU must have the ability of service request inquiry, and this task is divided two kinds of modes: 1, serial inquiry, 2, parallel query.
1, serial inquiry: a device will just must have the service request function by the service request of reference number 11B, BIOS in port, and in order to participate in a serial search sequence, it also must have a decoding part.During a serial search sequence, its main incident is as follows: (1) represents that to control person it is asking service when BIOS monitoring is worked.(2) control person finds out and a service request occurred as " send "=very, then control person can begin an interruption subroutine.The characteristic of control person's device function (software) is then depended in the processing of interrupting.(3) if there are many instruments can produce a request in this system, then control person just must check in fact which device is in the request service.For this purpose, control makes system place serial inquiry working method by bus order SPE (serial inquiry possibility).This just makes each device prepare to participate in serial inquiry.(4) control person checks device singly, finds out the device of request service, and control person makes it to receive a mandate to a certain device addressing and is the speaker, checks the state (state Bit) of each data wire then in the datamation mode, comes this device inquiry by such mode.If a device has been asked service, it will make DIO place true state to respond, and other each condition line also can place true state to represent service request character.(5) when all devices have been inquired about, then control person makes action with each device of bus service request, and the character of these action will depend on the characteristic of sending the service request device.
2, parallel query: the method for parallel query is for checking 8 devices simultaneously, to determine a certain state of these devices.This state is " service request " normally, but it also can be used for " welding is ready to " or " warning " etc.The operator is assigned to a data wire (DI to each device
01To DI
08), during the parallel query program, if device needs service, it just puts the corresponding data line is true state.
One may need to ask the device of serving by parallel query, and it has the function of parallel query.Before control person begins once parallel each sequence of point, must meet the following conditions:
(1) device must place the state that can respond parallel query.(2) device assigns a DIO line to respond parallel query; (3) detect reference number S6 welding Mathematical Modeling Boolean matrix, and correspondingly give a value.Arrange device A and device B, so that carry out parallel query.The inquiry of its welding robot is based on the serial inquiry in the present invention.
The network attribute of welding robot improves the function of welding robot of the present invention greatly.The robot workplace mostly is the deathtrap, and makes the staff can understand working condition and working result in real time by Net, also can make the staff understand the course of work by network remote in real time.As shown in Figure 8, A2 formatting, setting IP address by A3 network main program, make weld information, are sent to server, the A4 of interface operation system, and the A3 that is sent to robot reaches network function.Make robot become the IP robot.
IP robot has and can be subjected to far to control and can be subjected to local control function.This relates to and some or all control of robot need be converted to far or local control, the present invention to device be equipped with one far/the local interface function.Here function allows device to make one's options between two kinds of control data sources.If place " this locality ", then this robot just receives control data from robot itself, when it places " far ", then receives control data according to the IP address.
Far/local function can be controlled with bus order GTL (entering this locality) and LLO (the local blockade) by control person, and be controlled with general-purpose interface message REN (control possibility far away) by the control person of system.
When the REN=fictitious time, device always places local state.Some device have on its panel at this one far/local switch, to produce local message RT1 (returning this locality).
Such device by receiving a mandate to the hearer and making the true and RT1=vacation of REN=, makes this device switch to far from this locality and controls.
When RT1=is true, or when it has been received a mandate to the hearer and has received bus order GTL, then can turn back to local state of a control.RT1 remains very, and then this device can not switch to far with said method and control.Yet local command RT1 can make it hand by bus order LLO and imitate.Order LLO at first takes place, and makes instrument receive a mandate then and is the hearer.REN=is true simultaneously, so just can reach far state of a control.
Conclusion
The abilities that this robot is observed peculiar 361 ° of full positions have surpassed people's visual performance on the eyesight.Cooperate ability, make it in dangerous fields such as nuclear power industry, chemical engineering industry, can well be used from action.
The reference number explanation
1A-laser automatic station-keeping system, the 1B-welding manipulator, 1D-device people is motion voluntarily, the 11C-phase Stepper motor equipment, 1E-hydraulic pressure 3 axle clutches, 1F-main memory circuit, 1G-modulus circuit, 1H-Many cpu circuits, 1I-I/O circuit, 11-robot body, 12-eye device, 13-brain Hardware system, 14-welding robot hydraulic system, 15-software systems, 16-ear device, 17-mouth Device, the 18-microphone, the 19-loudspeaker, 21-host CPU circuit, 22-is from the central processing unit electricity The road, 23-is from the MEMORY circuit, 24-lattice network, 25-master MEMORY circuit, 26-primary input/output Circuit, 27-mould/number circuit, 28-ray machine electric transducer, the 29-digital/analog circuitry, 2A-is from I/O Circuit, the coaxial shielding controller that adds of 31-mercury, 32-software distribution program, the 35-wireless video signal transmits, 34-cable video signal transmits, and the 33-remote video signal receives, 37-camera power supply mercury supply power coaxially system, The 38-video signal transmission system, 3D CCD camera system. The decoding of 41-wireless laser receives, and 42-is wireless to be swashed The wired laser code of light coded excitation 45-is sent out, and 46-has the line laser decoding to receive 44-welding robot, 51-robot mechanical arm, 52-robot brain, 53-robot trunk, 54-robot power set, 55-robot positioner, 56-robot vision device, 57-robot numerical controller, S1-begins, S2 initializes setting, the S3-key-course, and S4-access interface system, S5-welds selection, the S6-welding The Mathematical Modeling Boolean matrix is set, the 11A-application program, and the 11C-hardware configuration, 11B monitors BIOS, 11D-interactive program(me), A1-initial setting up, A2-formatting, A3-network main program, A4-interface behaviour Make system, A5-selects network system, and A6-waits for.
Claims (10)
1. the numerical computation method of welding robot control system and this system comprises: the robot body, and brain: by CPU, main memory circuit, the I/O circuit, D/A and mould/number circuit, the ray machine electric transducer is formed.Eye: form by high accuracy CCD camera.Skin: form by laser positioning emission sensor and laser positioning receiving sensor.Four limbs welding robot manipulator.Syncmotor four-wheel drive trunk device.Ear: stereo Micro Phone forms by binary channels.The digital emulation people of mouth-multichannel loudspeaker are formed.
2. software systems-welding robot control system software.The interface operation systems soft ware.
3. as the numerical computation method of claim 1, described welding robot control system and this system, its midbrain is characterised in that: the hardware by brain is formed, and cooperates writing of software, according to each welding process requirement, forms the welding robot human brain.Core-cpu central processing unit of robot brain, memory internal storage Memory.Use core CPU, Memory that the welding procedure various requirement is recorded among the internal memory ROM, make welding robot have universal method.
4. as claim 1, described welding robot human brain part, wherein said I/O device, its device are brain and extraneous handing-over information, and method is the 8bit-32bit data wire.Wherein said D/A device, its device are brain and extraneous exchange message, according to different Mathematical Modelings, distinguish different welding objects, and its method is that different objects are set at different Mathematical Modelings.
5. as the numerical method of claim 1, described welding robot control system and this system, wherein said eye feature is to use high-precision ccd video camera.
Wherein 360 degree rotating welding ccd video camera signals transmit, and are by the coaxial method that adds shielding of liquid mercury, and vision signal is sent out.
As claim 1, as described in laser positioning, wherein the pulse code emission is used in emission location, receives the method for position pulse decoding.
7. introduce the Reset state during welding robot striking, make computer program enter method in the Reset circuit of high frequency, high voltage protective.
8. as claim 6, the coaxial method that adds shielding of described liquid mercury, level 360 degree that undertaken by this method axially transmit, and the power supply and the signal of telecommunication transfer approach of X-axis, Y-axis, Z-direction motion.
As claim 1, as described in four-wheel drive trunk power set, to 1.8 degree stepper motor specifications, 800 pulse to 200 pulses are adopted in pulse to motor stepper motor specification at 0.45 degree, the motor control loop adopts leaves circuit controls.
10. according to claim 2, described welding robot software systems, welding robot control system software approach wherein, this method relates to monitoring programme method, method for connecting network.Welding robot interface operation systems soft ware method wherein, this method relates to human-computer dialogue of the present invention, interface formats.
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| CNA2007100376912A CN101108439A (en) | 2007-02-25 | 2007-02-25 | All-directional robot welding system and computing method of the same |
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| CN102971106A (en) * | 2010-07-14 | 2013-03-13 | 伊利诺斯工具制品有限公司 | Welding parameter control |
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