CN105328699A - Intelligent robot welding system and method - Google Patents

Intelligent robot welding system and method Download PDF

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Publication number
CN105328699A
CN105328699A CN201410381663.2A CN201410381663A CN105328699A CN 105328699 A CN105328699 A CN 105328699A CN 201410381663 A CN201410381663 A CN 201410381663A CN 105328699 A CN105328699 A CN 105328699A
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CN
China
Prior art keywords
welding
robot
current
parameter
intelligent robot
Prior art date
Application number
CN201410381663.2A
Other languages
Chinese (zh)
Inventor
M·丹尼尔
赵鑫
S-S·迪特里希
B·扬
庞晶宇
Original Assignee
罗伯特·博世有限公司
博世汽车部件(苏州)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 罗伯特·博世有限公司, 博世汽车部件(苏州)有限公司 filed Critical 罗伯特·博世有限公司
Priority to CN201410381663.2A priority Critical patent/CN105328699A/en
Publication of CN105328699A publication Critical patent/CN105328699A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08Devices involving relative movement between laser beam and workpiece
    • B23K26/0869Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/003Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to controlling of welding distortion

Abstract

The invention relates to an intelligent robot welding system. The welding system comprises a robot capable of executing welding operation in the welding process and a real-time monitoring device integrated in the robot. The real-time monitoring device is configured to be used for monitoring the current welding operation, obtaining actual values of all welding parameters in terms of the current time point of the current welding operation, analyzing the actual values and providing optimization values of the welding parameters so as to enable the robot to execute the current welding operation with the optimization values of the welding parameters at the next time point. The invention further provides a method for carrying out welding by the intelligent robot through the intelligent robot welding system.

Description

Intelligent robot welding system and method

Technical field

The application relates to welding field, the welding field of such as electronic device.More particularly, the application relates to the system and method for intelligent robot welding.

Background technology

Existing welding process, such as, be welded on leg on printed circuit board (PCB) (PCB), is the process do not regulated.Automatic Arc Welding or manual welding process can be used.

But, for automatic Arc Welding, as solder welding, wave soldering or many wave solderings, weld first in a first step, then complete inspection welding quality in the second step.Whenever detecting defect in the second step, just needing to carry out repair and needing correlated parts to discard, thus causing manufacturing cost to rise.

Above-mentioned automatic Arc Welding does not also have specific welding parameter, the weld interval of such as each solder joint and welding capacity.Therefore, the subject matter caused is: for device or PCB structure (such as 2,4, the 6 and 8 layers) welding of number of different types, weld interval and welding capacity must be suitable for all different demands.Welding parameter for the solder joint of a type is carried out adjustment and the welding result of another solder joint will be caused to worsen, and the welding parameter for the goods of a type is carried out adjustment and the welding result of another goods will be caused to worsen.

For manual welding process, welding parameter, the position of such as weld interval, welding capacity, welding or exposure level etc., more difficult control, this causes a large amount of or defect and thus causes doing over again in a large number or high disqualification rate.

Therefore, there is the demand solving problem as above.

Summary of the invention

The object of the application overcomes above-described defect and thus provides a kind of novelty and the welding process improved.

In the first aspect of the application, provide a kind of intelligent robot welding system, it comprises the robot of the welding operation performing welding process; And the real time monitoring apparatus be integrated in robot, it is disposed for monitoring current welding operation, obtain the actual value for the current point in time of current welding operation of welding parameter, analyze described actual value, and the optimal value of welding parameter is provided, sentence the optimal value of welding parameter to perform current welding operation to make robot at future time point.

According to preferred embodiment, robot comprises mechanical arm and is attached to the welding gun of mechanical arm, and welding gun is disposed for utilizing welding wire supply unit to perform welding operation.

According to preferred embodiment, welding wire supply unit is the controlled welding wire supply unit that welding wire quantity delivered can regulate.

According to preferred embodiment, real time monitoring apparatus comprises and is arranged in robot and is disposed for checking the automated optical inspection device of all welding operations.

According to preferred embodiment, automated optical inspection device is video camera, image camera or automatic X-ray procedure device.

According to preferred embodiment, real time monitoring apparatus comprises the memory of the actual value for storing information and the welding parameter preset for real time monitoring apparatus.

According to preferred embodiment, real time monitoring apparatus comprises and comparing and calculation element, and described comparison is disposed for welding parameter to compare and the optimal value providing put next weld interval for current welding operation of welding parameter in the actual value at current point in time place and its optimal value with calculation element.

According to preferred embodiment, real time monitoring apparatus also comprises the pressure sensor be arranged on the robotic arm between mechanical arm and welding gun.

According to preferred embodiment, robot is articulated robot.

According to preferred embodiment, it is one or more that welding parameter comprises in following parameter: the image reflecting the welded condition of current welding operation, perform the x-y position of the actual solder joint of current welding operation, for the welding wire quantity delivered of current welding operation, welding gun whether with the information of workpiece good contact, and the welding physical dimension formed during current welding operation.

In the second aspect of the application, provide a kind of utilization intelligent robot welding system as described above to carry out the method for intelligent robot welding, wherein said method comprises: i) utilize robot to perform welding operation on workpiece; Ii) monitor current welding operation, utilize real time monitoring apparatus to obtain the actual value for the current point in time of current welding operation of welding parameter; Iii) analyze described actual value and the optimal value of welding parameter is provided, utilizing real time monitoring apparatus with the optimal value of welding parameter to perform next of the point of current welding operation to make robot weld interval; Iv) perform next of point with optimal value weld interval; And v) repeat step I for all welding operations of welding process) to iv).

Accompanying drawing explanation

According to the description of the preferred embodiment of the application and the above and other feature and advantage of this will be best understood by reference to the accompanying drawings the application, wherein:

Fig. 1 is the rough schematic view of the automatic welding hair style welding system of embodiment as the intelligent robot welding system according to the application; And

Fig. 2 is the flow chart of the intelligent robot welding method that the application is shown.

Detailed description of the invention

According to the application, intelligent robot welding system is provided and utilizes the method for described intelligent robot welding system for welding process.Welding process in the application is any welding process can accessed by optical device, such as with soldering tip welding, laser weld or other solder technology.

Usually the field of electronic installation welding is applied to according to the intelligent robot welding system of the application and method, electronic installation includes but not limited to the electronic device in vehicle, the electronic device etc. in the electronic device in such as instrument board, the electronic device in audio system, warning system.As embodiment, intelligent robot welding system and method are for welding device leg and PCB.

Utilize intelligent robot welding system and method, the inspection of welding quality can perform in real time during welding process.The welding operation of monitoring and adjustment welding process performs, constantly to guarantee not occur potential defect or flaw in welding process.This amount at solder joint is particularly advantageous very large.

In addition, term " robot " should be understood to any robot welding system that those skilled in the art know as used herein, includes but not limited to articulated robot, such as six prosthetic robots, four prosthetic robots etc.

The embodiment of intelligent robot welding system is shown in Figure 1 and will be described in detail.

Fig. 1 is the rough schematic view of automatic welding hair style welding system 10, described automatic welding hair style welding system is the embodiment of the intelligent robot welding system according to the application, wherein automatic welding hair style welding system 10 mainly comprises the robot for performing the welding operation on the workpiece (PCB in Fig. 1) that indicated by the Reference numeral 40 in Fig. 1, and to be arranged in robot so that the real time monitoring apparatus of the constantly and in real time welding process of supervisory-controlled robot.

In FIG, the funtion part 20 of robot is schematically shown by shadow region, and funtion part 20 can be some other funtion parts of such as mechanical arm or robot.

Also shown in Figure 1 is welding gun or soldering tip 26 and welding wire supply unit 28, and welding gun 26 and welding wire supply unit 28 are both attached to robot.

Such as, welding gun 26 can be attached to mechanical arm 22 and be driven by mechanical arm 22, to perform the welding operation of welding process.Welding wire supply unit 28 can be attached to other funtion part any of mechanical arm 22 or robot, and controlled automatically to supply welding wire.

Alternatively, welding wire supply unit 28 can be controlled welds supply, can regulate to make the amount of the welding applied for welding operation.As embodiment, automatic welding head welding system 10 comprises the automatic supply of the welding wire known.

Real time monitoring apparatus will describe hereinafter.

Be disposed for monitoring constantly welding process and quality according to the real time monitoring apparatus of the application and for adjusting welding operation in real time.Open intelligent robot welding system and automatically start real time monitoring apparatus.

Particularly, real time monitoring apparatus comprises according to the application and is arranged in robot and is disposed for checking the Optical devices 32 of whole welding process.Optical devices 32 can be any suitable automated optical inspection device or imaging device, such as video camera, image camera and X-ray procedure device etc.

Alternatively, real time monitoring apparatus also comprises the pressure sensor 34 that can be arranged on mechanical arm 22 between mechanical arm 22 and welding gun 26.Pressure sensor 34 can be the pressure sensor of any type, such as capacitance pressure transducer, variable magnetic resistive pressure sensor, Hall type pressrue transducer, optical fiber type pressure sensor etc.Described pressure sensor can be used for such as based on the pressure exported from pressure sensor 34 determine welding gun 26 whether with workpiece 40 good contact.

Utilize Optical devices 32 and optional pressure sensor 34, real time monitoring apparatus 30 monitors the welding operation performed, and the welding parameter obtaining current welding operation puts the actual value at TP place in current weld interval.

As used herein, term " welding parameter " includes but not limited to, reflect and just put the image of the welded condition of the current welding operation that TP place performs in current weld interval, perform the x-y position of the actual solder joint of current welding operation, for the welding wire quantity delivered of current welding operation at actual solder joint place, about welding gun whether with the information of workpiece 40 good contact, and the welding physical dimension particularly formed during welding operation.Perform when welding between PCB with device leg (such as being illustrated by the Reference numeral 42 in Fig. 1), welding parameter also comprises position and the exposure level of welding gun, welding wire, PCB and device leg.

As an alternative, real time monitoring apparatus can also comprise memory, memory is disposed for storing the information preset for real time monitoring apparatus, such as procedure parameter and other parameter to be monitored, the optimal value of the welding parameter of each time point of each welding operation and allowable range (such as upper and lower bound), described memory is also disposed for storing the actual value of the monitored welding parameter with obtaining as above.Term " other " means project that is to be monitored and that cannot be reflected by welding parameter as used herein, includes but not limited to possible weld defect or possible quality of materials problem.Weldering bridge between rosin joint and two solder joints that directly must remove on one's own initiative during welding operation or is afterwards the embodiment of possible weld defect.Remedial measure for any weld defect can pre-determine and be stored in robot, and can perform when weld defect is detected.

As an alternative, real time monitoring apparatus can also comprise and comparing and calculation element, described comparison to be disposed for the optimal value of the monitored and actual value of welding parameter that stores as above and corresponding welding parameter (or its upper limit or lower limit) to compare with calculation element, and the new value providing put next weld interval for current welding operation of welding parameter.

When the actual value of the welding parameter be recorded as above falls in its allowable range or when dropping between its upper and lower bound, these actual values be recorded will provide as the new value put next weld interval.

When the actual value of the welding parameter be recorded as above drops on outside its allowable range, or any deviation between preferred plan is when being recognized by intelligent robot welding system, real time monitoring apparatus inconsistently will be made a response and provide best solution for this.Particularly, real time monitoring apparatus analysis and adjust welding process, to be provided as the new value put next weld interval by the optimal value for welding parameter.

As mentioned above, intelligent robot welding system is not only made a response for record, and learns from its reaction, to improve welding process in ensuing welding operation.

Alternatively, the output of real time monitoring apparatus can be power, pressure, moment of torsion or other suitable variable any.

As mentioned above, can guarantee that each welding operation has higher-quality welding result, defects detection can perform constantly during welding process.Compared with prior art, avoid after whole welding process, finding weld defect and doing over again subsequently.

Intelligent robot welding method according to the possible embodiment of the application that can be implemented by intelligent robot welding system above briefly will be described with reference to Fig. 2.According to described method, perform following step.

In step sl, intelligent robot welding system is opened and the weld task be ready in target workpiece, and meanwhile real time monitoring apparatus starts.Pending weld task comprises one or more welding operation, and will monitor point one or more weld interval in each welding operation.

In step s 2, set welding parameter to be monitored and other parameter, the optimal value of the welding parameter put each weld interval of each welding operation and allowable range are (such as, its upper and lower bound) set and be stored in the memory of robot, and provide welding parameter for first weld interval point currency for the first welding operation;

In step s3, start to perform the first welding operation with currency, and step S41 (comprising S41-1 and S41-2) and step S42 performs after S3 simultaneously.

In step S41-1, detect the weld defect that cannot be reflected by welding parameter, described weld defect includes but not limited to the weldering bridge between rosin joint and two solder joints that must remove on one's own initiative during welding operation or afterwards.If testing result is "Yes" and detect any weld defect, then described method moves to S41-2, if testing result is "No" and does not detect weld defect, then described method moves to S5.

In step S41-2, any possible remedial measure for the weld defect detected in S41-1 can perform in time, to avoid any potential welding flaw in the finished product in future, wherein remedial measure can pre-determine and be stored in advance in robot.

In the step S42 simultaneously performed with step S41-1 and S41-2, obtain and the actual value of record welding parameter at current point in time TP place;

In step s 5, perform and judge to operate to determine whether current welding operation completes, and if result is yes, then enters to rapid S9, otherwise enter step S6;

In step s 6, the best of the point of the future time for current welding operation of the actual value gone on record of welding parameter and welding parameter or allowable range compare by real-time monitoring system.

In the step s 7, real-time monitoring system analysis and determining whether needs the value regulating welding parameter.The best of welding parameter or allowable range are met for the actual value of welding parameter or for being between the upper and lower bound of welding parameter, the value gone on record remains unchanged and is set as the new value for future time point of these welding parameters; And for outside the allowable range that the value of welding parameter drops on welding parameter or for dropping on outside the upper limit of welding parameter or lower limit, intelligent robot welding system will be made a response for inconsistent and provide optimal value as the new value for future time point of these welding parameters, and this is also referred to as optimizes and adjustment welding process.

In step s 8, the new value provided in the step s 7 is set to the currency of welding parameter at the future time point TP+1 place of current welding operation.

Now, described method returns step S3, and for current welding operation weld interval point subcycle repeat, until determine that current welding operation will complete in the judgement operation of S5, and enter step S9 subsequently.

In step s 9, perform further judgement operation to have determined whether all welding operations for weld task, and if result is yes, then enter the step S11 as end step, otherwise enter step S10 and enter in the circulation of welding operation;

In step 10, obtain the value being stored in all welding parameters in S2 and set it to the currency of the point of the very first time for next welding operation of welding parameter.

Repeat each step until determine that in S9 all welding operations complete, described method terminates.

Weld task in target workpiece or welding process can comprise multiple welding operation, and all welding operations can be identical or different.Utilize and comprise the intelligent robot welding system of real time monitoring apparatus as above, carry out welding between the welding process for different target goods optimizing with between other welding operation a welding operation during whole welding process.

By monitoring whole welding process and quality constantly by real time monitoring apparatus, monitor each welding operation particularly, following advantage can be realized by intelligent robot welding system, described advantage comprises higher-quality welding result and the waste material therefore reduced and does over again, extra check work need not be carried out for welding quality, make for feedstock quality tolerance high due to study and adjustment welding process, make due to self-teaching and self-control process manufacture and development cost low, and because procedure regulation completes in the mill, the required time that puts goods on the market for goods is reduced.

More than the application describe with reference to preferred embodiment.But it is not limited to detailed configuration that is shown and that describe and form.Various amendment, transformation or remodeling can be made by those of skill in the art when not deviating from spirit and the protection domain of the application be defined by the following claims.

Claims (11)

1. an intelligent robot welding system, it comprises:
Perform the robot of the welding operation of welding process; And
Be integrated in the real time monitoring apparatus in robot, it is disposed for monitoring current welding operation, obtain the actual value of each welding parameter for the current point in time of current welding operation, analyze described actual value, and the optimal value of welding parameter is provided, sentence the optimal value of welding parameter to perform current welding operation to make robot at future time point.
2. intelligent robot welding system according to claim 1, wherein, robot comprises mechanical arm and is attached to the welding gun of mechanical arm, and welding gun is disposed for utilizing welding wire supply unit to perform welding operation.
3. intelligent robot welding system according to claim 2, wherein, welding wire supply unit is the controlled welding wire supply unit that welding wire quantity delivered can regulate.
4. intelligent robot welding system according to claim 3, wherein, real time monitoring apparatus comprises and is arranged in robot and is disposed for checking the automated optical inspection device of all welding operations.
5. intelligent robot welding system according to claim 4, wherein, automated optical inspection device is video camera or automatic X-ray procedure device.
6. intelligent robot welding system according to claim 5, wherein, real time monitoring apparatus comprises the memory of the actual value for storing information and the welding parameter preset for real time monitoring apparatus.
7. intelligent robot welding system according to claim 6, wherein, real time monitoring apparatus comprises and comparing and calculation element, described comparison is disposed for the actual value of welding parameter at current point in time place to compare with its optimal value with calculation element, and the optimal value of the welding parameter providing put next weld interval for current welding operation.
8. intelligent robot welding system according to claim 7, wherein, real time monitoring apparatus also comprises the pressure sensor be arranged on the robotic arm between mechanical arm and welding gun.
9. intelligent robot welding system according to claim 8, wherein, robot is articulated robot.
10. intelligent robot welding system according to claim 8, wherein, it is one or more that welding parameter comprises in following parameter: the image reflecting the welded condition of current welding operation, perform the x-y position of the actual solder joint of current welding operation, for the welding wire quantity delivered of current welding operation, welding gun whether with the information of workpiece good contact, and the welding physical dimension formed during current welding operation.
11. 1 kinds of methods utilizing the intelligent robot welding system according to any one of claim 1-10 to carry out intelligent robot welding, described method comprises:
I) robot is utilized to perform welding operation on workpiece;
Ii) monitor current welding operation, utilize real time monitoring apparatus to obtain the actual value of each welding parameter for the current point in time of current welding operation;
Iii) analyze described actual value and the optimal value of welding parameter is provided, utilizing real time monitoring apparatus with the optimal value of welding parameter to perform next of the point of current welding operation to make robot weld interval;
Iv) perform next of point with optimal value weld interval; And
V) all welding operations for welding process repeat step I) to iv).
CN201410381663.2A 2014-08-05 2014-08-05 Intelligent robot welding system and method CN105328699A (en)

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CN201410381663.2A CN105328699A (en) 2014-08-05 2014-08-05 Intelligent robot welding system and method
DE102015214683.9A DE102015214683A1 (en) 2014-08-05 2015-07-31 Intelligent robot welding system and process

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Cited By (2)

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CN107414273A (en) * 2017-09-13 2017-12-01 长沙展朔轩兴信息科技有限公司 Spot welding method, spot-welding equipment and spot welding robot
CN108115682A (en) * 2016-11-29 2018-06-05 发那科株式会社 Rote learning device, robot system and learning by rote

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CN103846606A (en) * 2014-02-17 2014-06-11 华南理工大学 Special testing device and method for correcting welding track based on machine vision
CN103934571A (en) * 2014-04-11 2014-07-23 上海交通大学 Thick plate robot welding system and multilayer multiple-pass weld real-time tracking and planning method

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JP2003094183A (en) * 2001-09-19 2003-04-02 Sanyo Electric Co Ltd Laser beam welding method and laser beam welding apparatus
CN1782659A (en) * 2004-12-02 2006-06-07 中国科学院自动化研究所 Welding seam tracking sight sensor based on laser structure light
CN102699534A (en) * 2012-06-26 2012-10-03 哈尔滨工业大学 Scanning type laser vision sensing-based narrow-gap deep-groove automatic laser multilayer welding method for thick plate
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CN108115682A (en) * 2016-11-29 2018-06-05 发那科株式会社 Rote learning device, robot system and learning by rote
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