CN105983802A - Control system and method for welding robot - Google Patents
Control system and method for welding robot Download PDFInfo
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- CN105983802A CN105983802A CN201510101230.1A CN201510101230A CN105983802A CN 105983802 A CN105983802 A CN 105983802A CN 201510101230 A CN201510101230 A CN 201510101230A CN 105983802 A CN105983802 A CN 105983802A
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Abstract
The invention provides a control system for a welding robot. The control system comprises a laser vision component, a controller, a servo driver and a robot station, wherein the laser vision component is used for scanning the shape of a to-be-welded workpiece to acquire workpiece shape data; the controller is connected with the laser vision component, and is used for processing the workpiece shape data to acquire corresponding weld joint track data; the servo driver is connected with the controller and the robot station, and is used for driving a linkage motion mechanism in the robot station to perform three-dimensional space motion according to the weld joint track data; the linkage motion mechanism, a swinging component and a welding gun arranged on the swinging component are arranged in the robot station; the linkage motion mechanism performs three-dimensional space motion; the swinging component is connected with the linkage motion mechanism, and can rotate and swing in the height direction in a three-dimensional space; the to-be-welded workpiece is erected and fixed to the robot station; and the linkage motion mechanism and the swinging component drive the welding gun to weld the workpiece according to the weld joint track data of the workpiece. Through the adoption of the control system, the welding robot is applicable to workpieces with various shapes, and can accurately weld the workpieces with different shapes.
Description
Technical field
The present invention relates to field of automatic welding, particularly to a kind of welding robot control system and method.
Background technology
The welding of workpiece is mostly realized by human weld, and when carrying out human weld and being welded to certain length, welding personnel must move step, to proceed welding, but, this will have impact on the stationarity in welding process, easily cause that weld appearance is uneven, leaks, light leak and welding bead joint highlight the phenomenon of outer rim, therefore, workpiece is welded must use automatic welding technique.
But, it is difficult to during workpiece being welded by automatic welding technique accurately weld for the workpiece of various shapes, it is impossible to be applicable to the workpiece welding of various shapes.
Summary of the invention
It is an object of the present invention to solution prior art to be applicable to the defect of the workpiece welding of various shapes and the control method of a kind of welding robot is provided.
Further object is that offer a kind of workpiece being applicable to various shapes, and the workpiece of various shapes accurately can be welded welding robot control system.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that
A kind of welding robot control system, including:
Laser vision assembly, in order to scan workpiece configurations to be welded, obtains workpiece configurations data；
Controller, it is connected with laser vision assembly, obtains corresponding seam track data in order to process described workpiece configurations data；
Servo-driver, it is connected with described controller and robot workstation respectively, in order to according to the ganged movement in robot workstation described in described seam track data-driven,
Robot workstation, it is provided with ganged movement mechanism, wobble component and the welding gun being arranged on described wobble component, described ganged movement mechanism carries out three-dimensional space motion, and described wobble component is associated with described ganged movement mechanism, and can be around the short transverse rotary oscillation in three dimensions；
Described workpiece to be welded is holded up and is fixed on described robot workstation, and described robot workstation is in order to drive described welding gun to weld described workpiece according to the seam track data of described workpiece by ganged movement mechanism and wobble component.
Preferably, described laser vision assembly is arranged on described robot workstation, is moved by described robot workstation.
Preferably, described laser vision assembly includes that the first laser head, the second laser head and support, described first laser head and the second laser head are arranged on the movable end of support, and the fixing end of described support is removably secured on described robot workstation.
Preferably, the angle between described first laser head and the second laser head is 25 degree ~ 75 degree, and described second laser head becomes 90 degree with described workpiece to be welded, and described first laser head becomes 25 degree ~ 75 degree with the aerofoil of described workpiece.
Preferably, also include the limit sensors being connected respectively with described controller and robot workstation, described limit sensors is the most in place in order to detect workpiece to be welded in described robot workstation, treats that described workpiece backward described controller in place sends signal in place；
Described controller triggers the scanning controlling described laser vision assembly execution workpiece configurations after receiving signal in place.
Preferably, described controller includes:
Workpiece configurations recognition unit, in order to be smoothed described workpiece configurations data, eliminates the workpiece configurations data that singular point obtains revising；
Parameter storage unit, in order to preserve welding parameter；
Welding track computing unit, in order to the workpiece configurations data of matching correction, and calculates interpolation numerical value according to the welding parameter of described preservation, forms seam track data.
Preferably, also including the input equipment being connected with described controller, described input equipment is in order to input described welding parameter.
A kind of welding robot control method, workpiece to be welded holds up and is fixed on robot workstation, and described method comprises the steps:
By the workpiece configurations that laser vision component scans is to be welded, obtain workpiece configurations data；
Controller processes the workpiece configurations data genaration corresponding seam track data that described laser vision component scans obtains；
The servo-driver being connected with described controller and robot workstation respectively will carry out three-dimensional space motion according to the ganged movement mechanism in robot workstation described in described seam track data-driven, to drive the wobble component being associated in described robot workstation with described ganged movement mechanism；
Welding gun is driven according to the seam track data of described workpiece, described workpiece to be welded by the three-dimensional motion of described wobble component and the rotary oscillation on three dimensions camber direction.
Preferably, the step of the workpiece configurations data genaration corresponding seam track data that the described laser vision component scans of described controller process obtains includes:
Described controller obtains the workpiece configurations data that described laser vision component scans obtains；
Described workpiece configurations data are smoothed, eliminate the workpiece configurations data that singular point obtains revising；
The workpiece configurations data of matching correction, and obtain the welding parameter of preservation, calculate interpolation numerical value according to described welding parameter, to form seam track data.
Preferably, described being smoothed described workpiece configurations data, the step eliminating the workpiece configurations data that singular point obtains revising includes:
Obtain the workpiece drawing data that workpiece to be welded is corresponding；
The sweep spacing being calculated in horizontal direction according to the horizontal movement velocity in the three-dimensional system of coordinate of robot workstation and trace interval；
According to the sweep spacing in described horizontal direction, described workpiece drawing data is carried out sliding-model control to obtain benchmark data；
Contrast described benchmark data identification and obtain the singular point in described workpiece configurations data；
Revise the workpiece configurations data that described singular point obtains revising.
As shown from the above technical solution, advantages of the present invention and having the active effect that
nullIn the present invention，By laser vision assembly, workpiece to be welded is carried out profile scanning and obtain workpiece configurations data，Controller gets workpiece configurations data and carries out process and obtain corresponding seam track data，Watch service driver to be connected with controller and robot workstation respectively，With according to the ganged movement in seam track data-driven robot work station，Workpiece to be welded is holded up and is fixed on robot workstation，The ganged movement mechanism arranged in robot workstation drives wobble component to carry out three-dimensional space motion，Thus wobble component drives welding gun to be welded by three-dimensional space motion during welding workpiece，And can under the effect of wobble component the short transverse rotary oscillation in three dimensions，Welding gun moves flexibly，And then it is applicable to the workpiece of various shapes，Achieve the accurate welding of the workpiece of various shapes.
Accompanying drawing explanation
Fig. 1 is the structural representation of welding robot control system in an embodiment；
Fig. 2 is the structural representation of robot workstation in Fig. 1；
Fig. 3 is the structural representation of laser vision assembly in Fig. 1；
Fig. 4 is the workpiece configurations data comprising singular point in an embodiment；
Fig. 5 is revised workpiece configurations data in Fig. 4；
Fig. 6 is the structural representation of motion in Fig. 2；
Fig. 7 is the structural representation positioning clamping tool in an embodiment；
Fig. 8 is the structural representation of the location clamping tool holding up fixing workpiece in Fig. 7；
Fig. 9 is the top view positioning clamping tool in Fig. 7.
Description of reference numerals is as follows: 10, laser vision assembly；110, the first laser head；130, the second laser head；150, support；20, controller；210, workpiece configurations recognition unit；220, parameter storage unit；230, welding track computing unit；240, boolean unit；30, servo-driver；40, robot workstation；410, ganged movement mechanism；411, linear servo-actuator；413, straight line executing mechanism；4131, slide rail；4133, slide block；4135, flat board；420, wobble component；421, axle reductor；423, axle servomotor；425, welding gun jaw；430, welding gun；440, pedestal；450, turntable driving motor；460, mechanical arm；461, mechanical arm main body；463, adapter；50, limit sensors；60, input equipment；70, location clamping tool；713, location claw；720, clamp system；721, the first frame；723, the second frame；725, assembly is driven；7251, slider roller；7253, clamping motor；730, mechanism is holded up；740, height adjusts assembly；741, height adjusts push pedal；743, push rod；745, push pedal motor；750, underframe；770, position sensor.
Detailed description of the invention
Embodiment feature of present invention will describe the most in detail with the exemplary embodiment of advantage.Iting should be understood that the present invention can have various changes on different embodiments, it neither departs from the scope of the present invention, and explanation therein and be shown in and be substantially treated as purposes of discussion, and is not used to limit the present invention.
In one embodiment, as it is shown in figure 1, a kind of welding robot control system, including laser vision assembly 10, controller 20, servo-driver 30 and robot workstation 40.
Laser vision assembly 10, in order to scan workpiece configurations to be welded, obtains workpiece configurations data.
Laser vision assembly 10 may be provided on robot workstation 40, is scanned holding up fixing workpiece to facilitate, the profile of perception workpiece, in order to accurately know the seam track corresponding to workpiece according to the profile of workpiece.
Wherein, laser vision assembly 10 can be laser distance sensor, and workpiece to be welded can be the object that corrugated plating etc. needs to carry out welding processing.
Controller 20 electrically connects with laser vision assembly 10, obtains corresponding seam track data processing workpiece configurations data.
Controller 20 can use Simition CU320(Siemens multijoint control unit) realize, it is possible to utilize industrial computer or ARM(Advanced
RISC Machines) controller realization, for carrying out input/output signal process and sequence logical control works fine.Concrete, after controller 20 acquires the workpiece configurations data that laser vision assembly 10 generates, generating corresponding seam track data, these seam track data are corresponding with three dimensions, will indicate the welding track in three dimensions.
Servo-driver 30, it is connected with controller 20 and robot workstation 40 respectively, with according to the ganged movement in seam track data-driven robot work station 40.
Concrete, servo-driver 30 receives and is processed, by controller 20, the seam track data obtained, and knows robot workstation 40 motion in three dimensions according to seam track data, and then driven machine people's work station 40 carries out three-dimensional ganged movement.
Incorporated by reference to refering to Fig. 2, robot workstation 40 is provided with ganged movement mechanism 410, wobble component 420 and welding gun 430.
Ganged movement mechanism 410 may be provided on a stationary plane, and such as, robot workstation 40 may also include a pedestal 440, and this pedestal 440 is fixed, and ganged movement mechanism 410 is arranged on pedestal 440, carries out three-dimensional space motion with opposite base 440.
Concrete, rectilinear movement on rectilinear movement that the three-dimensional space motion that ganged movement mechanism 410 is carried out includes on fore-and-aft direction, left and right directions and the rectilinear movement in short transverse, welding needs according to workpiece, ganged movement mechanism 410 can carry out the linear motion in either direction as above respectively, it is possible to carry out the linear motion at least two direction as above simultaneously.
That is, three-dimensional coordinate system will be pre-build, this three-dimensional coordinate system includes x coordinate axle, y-coordinate axle and z coordinate axle, accordingly, ganged movement mechanism 410 is provided with x to mobile platform, y to mobile platform and z to mobile platform, with respectively in order to realize the movement on x direction, y direction and z direction.
Wobble component 420 is associated with ganged movement mechanism 410, to carry out three-dimensional space motion under the drive of ganged movement mechanism 410, and can be around the short transverse rotary oscillation in three dimensions.
Concrete, wobble component 420 is in order to realize installation and the rotary oscillation of welding gun 430, and carries out three-dimensional space motion by ganged movement mechanism 410.
Wobble component 420 carries out the movement on x direction, y direction and z direction under the drive of ganged movement mechanism 410, and the short transverse in three dimensions as required, i.e. z coordinate axle carry out rotary oscillation.
Welding gun 430 is arranged on wobble component 420, and realizes its motion in three dimensions and rotary oscillation by the cooperation of wobble component 420 and ganged movement mechanism 410, and then drastically increases motility, can weld with regard to variously-shaped different workpiece.
Above-mentioned robot workstation 40 accurately identifies the profile of workpiece to obtain optimal welding track by laser vision assembly 10, and carry out the movement in three dimensions and rotary oscillation according to this welding track under the cooperation of controller 20 and servo-driver 30, to complete the steady welding of workpiece, greatly improve the stationarity in welding process, do not result in that weld seam is uneven, leak, light leak and the prominent situation of welding bead joint, effectively reduce hand labor intensity.
Under the cooperation of ganged movement mechanism 410 as above, wobble component 420 and welding gun 430, need not the shape according to workpiece pre-set and adjust, having only to during welding move and/or rotary oscillation according to the shape of workpiece, it is applicable to various work pieces process occasion.
In one embodiment, above-mentioned laser vision assembly 10 is arranged on robot workstation 40, is realized the movement of laser vision assembly 10 by robot workstation 40.
Concrete, laser vision assembly 10 at the uniform velocity moves under the driving of robot workstation 40, to complete the accurate scanning of workpiece.
In one embodiment, as it is shown on figure 3, above-mentioned laser vision assembly 10 includes the first laser head the 110, second laser head 130 and support 150.
Support 150 is rotatably solid on robot workstation 40, first laser head 110 and the second laser head 130 are arranged at the movable end of support 150, so that the first laser head 110 and the second laser head 130 rotate along with the rotation of support 150, and then workpiece is carried out accurate scanning.This support 150 is revolution rod member, and it can turn round around fixing end.
Accordingly, being provided with turntable driving motor 450 in robot workstation 40, this turntable driving motor 450 is installed in ganged movement mechanism 410, and is connected with laser vision assembly 10, to control at the uniform velocity moving of laser vision assembly.
Angle between first laser head 110 and the second laser head 130 is 25 degree ~ 75 degree, and the second laser head 130 becomes 90 degree with workpiece to be welded, and the first laser head 110 becomes 25 degree ~ 75 degree with the aerofoil of workpiece.
In a preferred embodiment, the angle between the first laser head 110 and the second laser head 130 is 45 degree, and the first laser head 110 becomes 45 degree with the aerofoil of workpiece.
In one embodiment, welding robot control system as above further comprises limit sensors 50.This limit sensors 50 is connected with controller 20, robot workstation 40 respectively, the most in place in order to workpiece to be welded in measuring robots work station 40, treats that workpiece backward controller 20 in place sends signal in place.
Limit sensors 50 is arranged on workpiece in robot workstation 40 and carries out the on-station position of the final position of feeding transmission, i.e. workpiece.Whether perception workpiece is sent to the on-station position arranged by limit sensors 50, if it has, then produce signal in place, and sends to controller 20, in order to notification controller 20 currently can carry out the profile scanning of workpiece.
Controller 20 triggers control laser vision assembly 10 and performs the scanning of workpiece configurations after receiving signal in place.
Therefore, carry out automatic sensing by arranging the limit sensors 50 feeding automatically to workpiece, thus automatically begin to carry out the profile scanning of workpiece, greatly improve the automaticity of welding, further reduce the cost of labor spent by welding.
As it is shown on figure 3, in one embodiment, controller noted above 20 includes workpiece configurations recognition unit 210, parameter storage unit 220 and welding track computing unit 230.
Workpiece configurations recognition unit 210, in order to be smoothed workpiece configurations data, eliminates the workpiece configurations data that singular point obtains revising.
In the present embodiment, workpiece configurations recognition unit 210 will receive the workpiece configurations data that laser vision assembly 10 is transmitted, and pass through the singular point that carried out smoothing processing elimination causes due to workpiece fineness in scanning process, with the accuracy of the workpiece configurations data that further guarantee scanning obtains.
Concrete, the workpiece drawing data that workpiece configurations recognition unit 210 is corresponding by obtaining workpiece to be welded, the sweep spacing that the horizontal movement velocity in three-dimensional system of coordinate according to robot workstation 40 and trace interval are calculated in horizontal direction, according to the sweep spacing in horizontal direction, workpiece drawing data is carried out sliding-model control to obtain benchmark data, contrast benchmark data identification obtains the singular point in workpiece configurations data, revises the workpiece configurations data that this singular point i.e. can obtain revising.
It is to say, prestored the workpiece drawing data corresponding to each workpiece, and call stored workpiece drawing data when this class workpiece is carried out welding processing.
Laser vision assembly 10 have recorded vertical dimension y between itself and workpiece, and preserves, the sweep spacing Δ x being calculated in horizontal direction according to the horizontal movement velocity v of default trace interval t and laser vision assembly 10, i.e. Δ x
。
Wherein, workpiece configurations data are three-dimensional datas, and are stored as the form of array, i.e. { x0,x1…xn, { y0,y1…yn, { z0,z1…zn, wherein ynFor the vertical dimension between laser vision assembly 10 and workpiece, xnFor the position that sweep spacing each in horizontal direction is corresponding, znAirfoil height for each workpiece.
For the workpiece drawing data { X1 after sliding-model control0, X11…X1n, { Y10,
Y11…Y1n, { Z10, Z11…Z1n, in theory should be identical with workpiece configurations data, i.e. { X10,
X11…X1n}={ x0,x1…xn, it is necessary to set workpiece configurations data are modified by threshold value k.
Further, { X1 is judged respectively0, X11…X1n}-{ x0,x1…xn, { Y10, Y11…Y1n}-{ y0,y1…ynAnd { Z10, Z11…Z1n}-{ z0,z1…znWhether the difference between } is more than k, if it has, then explanation { xn, yn, znIt is singular point, will use a bit, i.e. { xn-1, yn-1, zn-1I.e. substitute correction, as shown in Figure 4 and Figure 5.
Parameter storage unit 220, in order to preserve welding parameter.
In the present embodiment, parameter storage unit 220 will receive the welding parameter of input, and preserve.
Welding track computing unit 230, in order to the workpiece configurations data of matching correction, and calculates interpolation numerical value according to the welding parameter preserved, forms seam track data.
In the present embodiment, welding track computing unit 230 carries out segment processing to the workpiece configurations data revised, to obtain multistage workpiece configurations data, welding parameter is acquired by parameter storage unit 220, each section of workpiece configurations data are calculated its corresponding interpolation numerical value according to welding parameter, to form seam track data.
As a example by corrugated plating, if workpiece is corrugated plating, then carry out segmentation according to the corrugated periodic in corrugated plating, to obtain multistage curve and line segment, i.e. G8-G1 line segment, G1-G2 curve, G2-G3 line segment, G3-G4 curve, G4-G5 line segment, G5-G6 curve, G6-G7 line segment and G7-G8 curve.
Then welding track computing unit 230 is acquired welding parameter by parameter storage unit 220, i.e. welding gun length and soldering angle, to calculate the interpolation numerical value corresponding to each section of curve and line segment according to welding gun length and soldering angle, to form seam track data { x1、x2…xn
, y1、y2…yn, z1、z2…zn ,α1、α2…αn ,v1、v2…vn}.Wherein { x1、x2…xn It is each X-axis displacement absolute coordinate, { y1、y2…ynIt is Y-axis displacement absolute coordinate, { z1、z2…znIt is Z axis displacement absolute coordinate, { α1、α2…αnIt is gyroscopic pendulum moving axis α axial displacement absolute coordinate, { v1、v2…vnIt is 4 axle linkage interpolation rates.
Additionally, controller noted above 20 further comprises the boolean unit 240 electrically connected with limit sensors 50.This boolean unit 240 is in order to perform boolean operation to limit sensors 50.
In another embodiment, above-mentioned welding robot control system also includes the input equipment 60 being connected with controller 20, and this input equipment 60 is in order to input welding parameter, welding parameter to be transferred in parameter storage unit 220.
According to the needs on using, this input equipment 60 can be touch screen, to be realized the input of welding parameter by the control panel in touch screen, but may also be the combination etc. of other equipment, such as display screen and keyboard, does not limits at this.
In one embodiment, above-mentioned workpiece can be corrugated plating, corrugated plating is widely used in industrial building, container and road transport car compartment etc., the biggest then shear behavior of its ripple knuckle is the best, but ripple knuckle is excessive, such as when ripple knuckle is more than 60 degree, welding gun 430 is unfavorable for accurately welding with corrugated plating angulation, and then have a strong impact on welding quality, and welding gun 430 can carry out the rotary oscillation in three-dimensional space motion and short transverse under the cooperation of ganged movement mechanism 410 and wobble component 420 in robot workstation as above, it is tracked welding with the weld seam to corrugated plating, realize the corrugated plating welding of big ripple knuckle.
Incorporated by reference to refering to Fig. 2, in one embodiment, described robot workstation 40 further comprises mechanical arm 460, and this mechanical arm 460 is connected with ganged movement mechanism 410, and wobble component 420 is then arranged on the end of mechanical arm 460.
Concrete, mechanical arm 460 includes mechanical arm main body 461, and this mechanical arm main body 461 is connected with ganged movement mechanism 410, in order to drive wobble component 420 to carry out three-dimensional space motion, thus provides the function of three-dimensional space motion for wobble component 420.
Wherein, wobble component 420 may be provided at the free end of mechanical arm main body 461.
Further, mechanical arm 460 as above further comprises adapter 463, and this adapter 463 is with thinking that welding gun 430 provides adjustable installation position, to improve the accuracy of workpiece welding.
Adapter 463 is arranged on the free end of mechanical arm main body 461, in order to provide the installation position of wobble component 420, and can be adjusted the setting angle of welding gun 430 in wobble component 420, and then Butt welding gun 430 carries out position adjustment in advance before welding workpiece.
Concrete, adapter 463 will include housing, gear shaft (not shown) and lock nut (not shown), and housing is in order to encapsulate gear shaft, and is connected with the free end of mechanical arm main body 461, and gear shaft is rotatably arranged in housing, to provide rotary drive.And wobble component 420 is connected with rotating gear shaft, to be realized the rotation of wobble component 420 by the rotary drive of gear shaft, and then adjusted the setting angle of welding gun 430 in wobble component 420.
Lock nut is arranged on gear shaft and matches with housing, screwing out housing by lock nut, to unclamp the gear shaft of locking, gear shaft is in free state and can be rotated at random, therefore, by the rotation of gear shaft, the wobble component 420 being arranged on gear shaft end can be adjusted.
Accordingly, after treating that the adjustment that wobble component 420 is carried out completes, lock nut is screwed in, and lock under the cooperation of housing, thus locking teeth wheel shaft, the setting angle of welding gun 430 in current oscillation assembly 420 is locked.
In one embodiment, wobble component 420 includes axle reductor 421 and axle servomotor 423, and axle reductor 421 is connected with axle servomotor 423.
Concrete, axle reductor 421 can be connected with the free end of mechanical arm main body 461, to realize four-axle linked along with mechanical arm main body 461 and ganged movement mechanism 420, i.e. and three-dimensional space motion and its rotary oscillation in short transverse.
Further, axle reductor 421 also can be arranged on mechanical arm 460 by being connected with adapter 463, owing to can be adjusted by the setting angle of adapter 463 Butt welding gun 430, therefore, by arranging adapter 463 between mechanical arm main body 461 and axle reductor 421, further Butt welding gun 430 is carried out position optimization, further increase the quality of welding.
Further, wobble component 420 as above also includes welding gun jaw 425, and this welding gun jaw 425 is arranged on bottom axle reductor 421, in order to clamp welding gun 430.
It is to say, welding gun jaw 425 will rotate around three-dimensional short transverse under the drive of axle reductor 421, and then the welding gun 430 of clamping is driven to carry out rotary oscillation around three-dimensional short transverse.
Incorporated by reference to refering to Fig. 6, in one embodiment, ganged movement mechanism 410 includes servomotor and actuator.Servomotor is connected with actuator, to drive actuator to carry out three-dimensional space motion.
Concrete, owing to three-dimensional movement includes the rectilinear movement on three directions, therefore, servomotor includes three linear servo-actuators 411, accordingly, actuator also includes three straight line executing mechanisms 411, and each linear servo-actuator 411 will be connected with a straight line executing mechanism 413, and linear servo-actuator 411 is also corresponding with the three-dimensional space motion that it is carried out with the setting of straight line executing mechanism 413.
It is to say, three linear servo-actuators 411 will constitute with a straight line executing mechanism 413 respectively a mobile platform, i.e. x to mobile platform, y to mobile platform and z to mobile platform, with realize respectively x in three dimensions to movement, y to mobile and z to movement.
Pre-set the weld start position in robot workstation and three-dimensional work coordinate system, the initial point of three-dimensional work coordinate system is weld start position, three linear servo-actuators 411 are corresponding with the coordinate axes in three-dimensional work coordinate system respectively, and straight line executing mechanism 413 also will move along corresponding coordinate axes.
Further, straight line executing mechanism 413 includes slide rail 4131, the slide block 4133 that is slidably arranged on slide rail 4131 and the flat board 4135 being installed in slide block 4133 top, to realize smooth and easy slip.
In a preferred embodiment, in the mobile platform being made up of linear servo-actuator 411 and straight line executing mechanism 413, x will be cascading, to meet length, width and the height requirement related in workpiece welding process with pedestal 440 for initial to mobile platform to mobile platform and z to mobile platform, y.
By robot workstation as above, welding gun 430 will be made to be able to the most mobile, for the welding of corrugated plating, precision and the concordance of welding will be drastically increased, avoid that weld appearance is uneven, leak, the appearance of the situation such as light leak, reduce hand labor intensity, significantly improve welding surroundings.
Under the effect of robot workstation as above so that the corrugated plating of bigger ripple knuckle also is able to most preferably be welded, improve crudy and the process velocity of the corrugated plating of bigger ripple knuckle simultaneously.
As shown in Figure 7 to 9, in one embodiment, robot workstation as above is also provided with positioning clamping tool 70, this location clamping tool 70 is corresponding with welding gun 430, workpiece to be welded is holded up for location, to make work to be welded can automatically achieve default welding position in welding process, it is not necessary to any manual operation can directly be welded.
Concrete, location clamping tool 70 includes loading assemblies (not shown), clamp system 720 and holds up mechanism 730.
Being provided with the on-station position of workpiece in loading assemblies, clamp system 720 is oppositely arranged with on-station position, in order to clamping reaches the workpiece of on-station position；Hold up mechanism 730 and be then arranged on below clamp system 720, the workpiece that clamped mechanism 720 clamps to be holded up to welding position, and then welded by welding gun 430.
Further, location clamping tool 70 also includes that height adjusts assembly 740, and it is arranged on the lower section of clamp system 720, to carry out workpiece just adjusting.
It is to say, after workpiece reaches on-station position, height adjusts assembly 740 will carry out workpiece just adjusting.
In one embodiment, loading assemblies includes conveyer belt (not shown), location claw 713 and alignment sensor (not shown).
Conveyer belt is used for conveying work pieces, and the location relative conveyer belt of claw 713 is configured, for stopping the transmission of workpiece in conveyer belt, say, that claw 713 position, location is the end position that workpiece transmits.
Being provided with alignment sensor in the claw 713 of location, it is the most in place that this alignment sensor is used for detecting workpiece, if it has, then send corresponding signal, in order to realize Automated condtrol.
By loading assemblies as above, the automatic charging in welding process will be achieved, drastically increase welding efficiency.
In one embodiment, above-mentioned clamp system 720 includes the first frame 721 being fixedly installed, slidably the second frame 723 and the driving assembly 725 driving the second frame 723 to slide.
Location clamping tool 70 is provided with underframe 750, loading assemblies, clamp system 720 and hold up mechanism 730 and be arranged on underframe 750.
The first frame 721 in clamp system 720 will be installed on underframe 750, second frame 723 is then slidably arranged on underframe 750, and realize sliding by the driving assembly 725 that is attached thereto, slide ordering about the second frame 723 when workpiece is in place, and then clamping workpiece.
Further, assembly 725 is driven to include slider roller 7251, feed screw nut (not shown) and clamping motor 7253.
For realizing the slip of the second frame 723, slider roller 7251 is arranged on bottom the second frame 723, second frame 723 is connected with clamping motor by feed screw nut, and orders about the second frame 723 under the effect of feed screw nut and clamping motor 7253 and pass through slider roller 7251 and slide.
In one embodiment, the assembly 740 that just adjusts as above includes height adjustment push pedal 741, push rod 743 and push pedal motor 745, with the cooperation by height adjustment push pedal 741, push rod 743 and push pedal motor 745, workpiece in place is carried out height and adjusts.
Concrete, the bottom that push rod 743 adjusts push pedal 741 with height is connected, and push pedal motor 745 is connected with push rod 743, and the drive lower push rod 743 at push pedal motor 745 promotes height to adjust push pedal 741, and then the height realizing workpiece adjusts.
In one embodiment, location as above clamping tool 70 further comprises position sensor 770, and this position sensor 770 is arranged on default welding position, to detect whether workpiece has been placed on welding position.
In one embodiment, robot workstation as above further comprises the wire-feed motor (not shown) being connected with welding gun 430, and this wire-feed motor is in order to control welding gun 430 starting the arc and blow-out, and then realizes automatic welding.
Additionally, there is a need to provide a kind of welding robot control method, workpiece to be welded is holded up and is fixed on robot workstation, and the method comprises the steps:
By the workpiece configurations that laser vision component scans is to be welded, obtain workpiece configurations data；
Controller processes the workpiece configurations data genaration corresponding seam track data that laser vision component scans obtains；
The servo-driver being connected with controller and robot workstation respectively will carry out three-dimensional space motion according to the ganged movement mechanism in seam track data-driven robot work station, to drive the wobble component being associated in robot workstation with ganged movement mechanism；
Welding gun is driven according to the seam track data of workpiece, workpiece to be welded by the three-dimensional motion of wobble component and the rotary oscillation on three dimensions camber direction.
Further, the step of the workpiece configurations data genaration corresponding seam track data that controller as above process laser vision component scans obtains includes:
Controller obtains the workpiece configurations data that laser vision component scans obtains；
Workpiece configurations data are smoothed, eliminate the workpiece configurations data that singular point obtains revising；
The workpiece configurations data of matching correction, and obtain the welding parameter of preservation, calculate interpolation numerical value according to welding parameter, to form seam track data.
Further, being smoothed workpiece configurations data as above, the step eliminating the workpiece configurations data that singular point obtains revising includes:
Obtain the workpiece drawing data that workpiece to be welded is corresponding；
The sweep spacing being calculated in horizontal direction according to the horizontal movement velocity in the three-dimensional system of coordinate of robot workstation and trace interval；
According to the sweep spacing in horizontal direction, workpiece drawing data is carried out sliding-model control to obtain benchmark data；
Contrast benchmark data identification obtains the singular point in workpiece configurations data；
Revise the workpiece configurations data that singular point obtains revising.
Although describing the present invention with reference to several exemplary embodiment, it is to be understood that, term used is explanation and exemplary and nonrestrictive term.Owing to the present invention can be embodied as the spirit without deviating from invention or essence in a variety of forms, it is to be understood that, above-mentioned embodiment is not limited to any aforesaid details, and should explain widely in the spirit and scope that appended claims are limited, therefore fall into the whole changes in claim or its equivalent scope and remodeling all should be appended claims and contained.
Claims (10)
1. a welding robot control system, it is characterised in that including:
Laser vision assembly, in order to scan workpiece configurations to be welded, obtains workpiece configurations data；
Controller, it is connected with laser vision assembly, obtains corresponding seam track data in order to process described workpiece configurations data；
Servo-driver, it is connected with described controller and robot workstation respectively, in order to according to the ganged movement in robot workstation described in described seam track data-driven,
Robot workstation, it is provided with ganged movement mechanism, wobble component and the welding gun being arranged on described wobble component, described ganged movement mechanism carries out three-dimensional space motion, and described wobble component is associated with described ganged movement mechanism, and can be around the short transverse rotary oscillation in three dimensions；
Described workpiece to be welded is holded up and is fixed on described robot workstation, and described robot workstation is in order to drive described welding gun to weld described workpiece according to the seam track data of described workpiece by ganged movement mechanism and wobble component.
Welding robot control system the most according to claim 1, it is characterised in that described laser vision assembly is arranged on described robot workstation, is moved by described robot workstation.
Welding robot control system the most according to claim 1, it is characterized in that, described laser vision assembly includes the first laser head, the second laser head and support, described first laser head and the second laser head are arranged on the movable end of support, and the fixing end of described support is removably secured on described robot workstation.
Welding robot control system the most according to claim 3, it is characterized in that, angle between described first laser head and the second laser head is 25 degree ~ 75 degree, and described second laser head becomes 90 degree with described workpiece to be welded, and described first laser head becomes 25 degree ~ 75 degree with the aerofoil of described workpiece.
Welding robot control system the most according to claim 1, it is characterized in that, also include the limit sensors being connected respectively with described controller and robot workstation, described limit sensors is the most in place in order to detect workpiece to be welded in described robot workstation, treats that described workpiece backward described controller in place sends signal in place；
Described controller triggers the scanning controlling described laser vision assembly execution workpiece configurations after receiving signal in place.
Welding robot control system the most according to claim 1, it is characterised in that described controller includes:
Workpiece configurations recognition unit, in order to be smoothed described workpiece configurations data, eliminates the workpiece configurations data that singular point obtains revising；
Parameter storage unit, in order to preserve welding parameter；
Welding track computing unit, in order to the workpiece configurations data of matching correction, and calculates interpolation numerical value according to the welding parameter of described preservation, forms seam track data.
Welding robot control system the most according to claim 6, it is characterised in that also include the input equipment being connected with described controller, described input equipment is in order to input described welding parameter.
8. a welding robot control method, it is characterised in that workpiece to be welded is holded up and is fixed on robot workstation, and described method comprises the steps:
By the workpiece configurations that laser vision component scans is to be welded, obtain workpiece configurations data；
Controller processes the workpiece configurations data genaration corresponding seam track data that described laser vision component scans obtains；
The servo-driver being connected with described controller and robot workstation respectively will carry out three-dimensional space motion according to the ganged movement mechanism in robot workstation described in described seam track data-driven, to drive the wobble component being associated in described robot workstation with described ganged movement mechanism；
Welding gun is driven according to the seam track data of described workpiece, described workpiece to be welded by the three-dimensional motion of described wobble component and the rotary oscillation on three dimensions camber direction.
Welding robot control method the most according to claim 8, it is characterised in that described controller processes the step of the workpiece configurations data genaration corresponding seam track data that described laser vision component scans obtains and includes:
Described controller obtains the workpiece configurations data that described laser vision component scans obtains；
Described workpiece configurations data are smoothed, eliminate the workpiece configurations data that singular point obtains revising；
The workpiece configurations data of matching correction, and obtain the welding parameter of preservation, calculate interpolation numerical value according to described welding parameter, to form seam track data.
Welding robot control method the most according to claim 9, it is characterised in that described described workpiece configurations data are smoothed, the step eliminating the workpiece configurations data that singular point obtains revising includes:
Obtain the workpiece drawing data that workpiece to be welded is corresponding；
The sweep spacing being calculated in horizontal direction according to the horizontal movement velocity in the three-dimensional system of coordinate of robot workstation and trace interval；
According to the sweep spacing in described horizontal direction, described workpiece drawing data is carried out sliding-model control to obtain benchmark data；
Contrast described benchmark data identification and obtain the singular point in described workpiece configurations data；
Revise the workpiece configurations data that described singular point obtains revising.
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