CN106271265A - A kind of auto production line is welded spot welding robot's off-line system - Google Patents
A kind of auto production line is welded spot welding robot's off-line system Download PDFInfo
- Publication number
- CN106271265A CN106271265A CN201610878076.3A CN201610878076A CN106271265A CN 106271265 A CN106271265 A CN 106271265A CN 201610878076 A CN201610878076 A CN 201610878076A CN 106271265 A CN106271265 A CN 106271265A
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- robot
- production line
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- auto production
- spot welding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The present invention provides a kind of be welded auto production line of spot welding robot's technical field of auto production line that is applied to be welded spot welding robot's off-line system, auto production line be welded the 3D virtual module (1) of spot welding robot's off-line system, analog simulation module (2), program derive module (3) respectively with robot control parts (4) be connected, 3D virtual module (1) is configured to virtual memory auto production line (5) each equipment each position and the structure of mutual distance information；Analog simulation module (2) is configured to store robot initial point and the structure of working trajectory information；Program derives module (3) and is configured to generate robot initial point and working trajectory information the structure of robot identification language, the auto production line of the present invention is welded spot welding robot's off-line system, can effectively control auto production line robot and carry out, according to the working trajectory set, the spot welding work that is welded, reduce on-the-spot teaching robot's working strength, shorten body in white debugging cycle.
Description
Technical field
The invention belongs to auto production line be welded spot welding robot's technical field, more specifically, relate to a kind of automobile
Production line is welded spot welding robot's off-line system.
Background technology
Along with automobile industry develops rapidly, construction cycle and the prescription of body in white are more and more higher, in prior art, use
When robot replaces manually carrying out weld job, it is necessary in advance robot is sent instruction, it is stipulated that robot carries out completing
Action and the particular content of operation.This process is known as the programming of the teaching to robot.But, along with solder technology requirement
Improve constantly, teaching programming shortcoming highlight the most obvious: 1, teaching programming cycle is long, and efficiency is low；2, between robot
Interference region, teaching personnel are difficult to clearly distinguish, on-the-spot interference region is inconsistent with the interference region of emulation, causes the robot manipulating task time
Elongated；3, the precision of teaching relies on video, plate feature and the personal work experience of demonstrator, and precision is difficult to ensure that.
Summary of the invention
The technical problem to be solved is: for the deficiencies in the prior art, it is provided that a kind of simple in construction, it is possible to have
Effect is controlled auto production line robot and is carried out, according to the working trajectory set, the spot welding work that is welded, and shortens car body welding producing line point
The weldering robot teaching time, reduce on-the-spot teaching robot's working strength, the welding of the final body in white improving produced on-site line
The auto production line of quality and welding efficiency is welded spot welding robot's off-line system.
Techniques discussed above problem to be solved, the technical scheme that the present invention takes is:
The present invention is welded spot welding robot's off-line system for a kind of auto production line, and auto production line is welded spot welding robot
Off-line system includes that 3D virtual module, analog simulation module, program derive module, robot controls parts, 3D virtual module, mould
Intend emulation module, program derivation module controls parts with robot respectively and is connected, and 3D virtual module is configured to virtual memory
The each equipment of auto production line each position and the structure of mutual distance information；Analog simulation module is configured to store robot
Initial point and the structure of working trajectory information；Program derives module and is configured to robot initial point and working trajectory information
Generate the structure of robot identification language.
Described robot controls parts and is configured to control the structure of robot work, and robot controls component controls
Machine man-hour, robot controls parts and is configured to control robot according to the robot of storage in analog simulation module
Initial point and the structure of working trajectory information work.
After described program derives the language that robot working trajectory information is generated robot identification by module, robot sets
Being set to can be according to the structure of the working trajectory information work of storage in analog simulation module.
Described analog simulation module working trajectory information includes multiple operating points of robot and each operating point
Precedence information, when described Robot working trajectory works, robot is configured to start working from initial point, depends on
Secondary through multiple operating points, it is recycled back into the structure of initial point position.
During the work of described Robot working trajectory, initial point and multiple operating point of robot are configured to avoid vapour
The respective position of each equipment of car production line, from without forming, with each equipment, the structure interfered.
Described 3D virtual module is configured to each equipment of the auto production line each position stored and mutual distance
Information feeds back to robot and controls the structure of parts, and robot controls parts and is configured to control Robot working trajectory work
The structure of the respective position of each equipment can be avoided when making.
Use technical scheme, can obtain following beneficial effect:
Auto production line of the present invention is welded spot welding robot's off-line system, by offline mode at auto production line
The spot welding robot's off-line system that is welded is programmed, according to different production lines and the needs on opportunity of different automobile types, sets machine
The initial point of people and operating point, form reliable robot working trajectory accurately, and the off-line programing cycle be short, efficiency is high；With
This simultaneously, when setting robot working trajectory, machine human world interference region equipment position is clear, it is possible to effectively avoid respectively setting
Standby, and the working trajectory in robot actual motion keeps consistent completely with the working trajectory of setting, it is ensured that the essence of pad
Accuracy；Said structure, robot working trajectory is accurate, improves body in white weld job quality.In sum, of the present invention
Auto production line be welded spot welding robot's off-line system, simple in construction, low cost, it is possible to effectively control auto production line machine
People carries out, according to the working trajectory set, the spot welding work that is welded, and shortens car body welding producing line spot welding robot's teaching time, fall
Low Site Welding working strength, improves welding quality and the welding efficiency of the body in white of produced on-site line, meets and open body in white
The requirement that the time of sending out is shorter and shorter.
Accompanying drawing explanation
Content expressed by accompanying drawing each to this specification and the labelling in figure make brief description below:
Fig. 1 is that auto production line of the present invention is welded the structural representation of spot welding robot's off-line system；
Accompanying drawing acceptance of the bid note is respectively as follows: 1,3D virtual module；2, analog simulation module；3, program derives module；4, robot
Control parts；5, auto production line；6, robot.
Detailed description of the invention
Below against accompanying drawing, by the description to embodiment, each structure the most involved to the detailed description of the invention of the present invention
Mutual alignment and annexation, the effect of each several part and operation principle etc. between the shape of part, structure, each several part are made further
Detailed description:
As shown in Figure 1, the present invention is welded spot welding robot's off-line system for a kind of auto production line, described automobile production
Wire bonding dress spot welding robot's off-line system includes that 3D virtual module 1, analog simulation module 2, program derive module 3, robot control
Parts 4 processed, 3D virtual module 1, analog simulation module 2, program derivation module 3 controls parts 4 with robot respectively and is connected, and 3D is empty
Intend module 1 and be configured to each equipment of virtual memory auto production line 5 each position and the structure of mutual distance information；Simulation is imitative
True module 2 is configured to store robot initial point and the structure of working trajectory information；Program derives module 3 and is configured to
Robot initial point and working trajectory information are generated the structure of robot identification language.Automobile production wire bonding of the present invention
Dress spot welding robot's off-line system, is compiled in auto production line is welded spot welding robot's off-line system by offline mode
Journey, according to different production lines and the needs on opportunity of different automobile types, sets initial point and the operating point of robot, and it is reliable accurate to be formed
Robot working trajectory, and the off-line programing cycle is short, efficiency is high；Meanwhile, when setting robot 6 working trajectory,
Machine human world interference region equipment position is clear, it is possible to effectively avoid the work in each equipment, and robot actual motion
Track keeps consistent completely with the working trajectory of setting, it is ensured that the precision of pad；Said structure, robot working trajectory essence
Really, improve body in white weld job quality, and can adapt to different automobile types and different production line.In sum, the present invention
Described auto production line is welded spot welding robot's off-line system, simple in construction, low cost, it is possible to effectively control auto production line system
Robot carries out, according to the working trajectory set, the spot welding work that is welded, when shortening car body welding producing line spot welding robot's teaching
Between, reduce on-the-spot teaching robot's working strength, improve welding quality and the welding efficiency of the body in white of produced on-site line, meet
The requirement that the dialogue Vehicle Body Development time is shorter and shorter.
Described robot controls parts 4 and is configured to control the structure of robot work, and robot controls parts 4 and controls
Machine man-hour processed, robot controls parts 4 and is configured to control robot according to the machine of storage in analog simulation module 2
Device people's initial point and the structure of working trajectory information work.Component controls machine man-hour, robot control is controlled in robot
The initial point of the robot that parts processed set according to analog simulation module 2 and the information of each operating point, control robot at each
Operating point completes welding job, after an operating point completes, moves to next operating point and proceeds welding, completes to own
After the welding job of operating point, robot is recycled back into initial point, in order to carry out welding job next time.Such knot
Structure is arranged, it is possible to effectively control the track work that robot sets according to analog simulation module 2 so that the working trajectory of robot
More conform to track during planning simulation, improve production line integral solder quality.
After described program derives the language that robot working trajectory information is generated robot identification by module 3, robot
It is configured to according to the structure of the working trajectory information work of storage in analog simulation module 2.Said structure is arranged, and program is led
Go out module and the working trajectory set in analog simulation module 2 is generated the machine language that robot is capable of identify that, make robot
Working trajectory is operated fully according to the working trajectory set.
Described analog simulation module 2 working trajectory information includes multiple operating points of robot and each operating point
Precedence information, when described Robot working trajectory works, robot is configured to start working from initial point, depends on
Secondary through multiple operating points, it is recycled back into the structure of initial point position.Said structure is arranged, right by analog simulation module 2
The parameters of robot is configured, so that it is determined that the initial point of robot (HOME point) and carry out each work welded
Point, and determine the robot sequencing through each operating point, form the working trajectory of robot.Determining robot
When initial point and operating point, need to be adjusted according to the position of each equipment in 3D virtual module 1 virtual environment, it is ensured that robot
Each equipment all can be avoided in initial point during work and each operating point, finally determine the robot optimized the most initial point and
Each operating point, thus guaranteeing that robot is so that reliably position, will not while auto production line carries out welding job accurately
Equipment each with production line is formed interferes, and is effectively increased Site Welding quality.
When described Robot working trajectory works, initial point and multiple operating point of robot are configured to avoid
The respective position of each equipment of auto production line, from without forming, with each equipment, the structure interfered.So, machine had both been guaranteed
Device people can reliably working, on-the-spot interference, reliable working performance will not occur again.
Described 3D virtual module 1 be configured to by each equipment of auto production line 5 each position of storage and mutually away from
Feeding back to robot from information and control the structure of parts 4, robot controls parts 4 and is configured to control Robot work rail
The structure of the respective position of each equipment can be avoided during mark work.Said structure, the auto production line of input in 3D virtual module 1
5 each equipment each position and mutual distance information, import in 3D virtual module 1 by the layout created by 2D, form automobile
The 3D simulated environment of production line position, 3D virtual module 1 be in order to grasp accurately and reliably the position of each equipment of auto production line and
Distance between each parts, thus when robot works according to working trajectory, it is possible to effectively avoid each equipment, will not with respectively set
Interfering occur in standby and other associated components, it is ensured that robot can reliably carry out welding job.
Auto production line of the present invention is welded spot welding robot's off-line system, by offline mode at auto production line
The spot welding robot's off-line system that is welded is programmed, according to different production lines and the needs on opportunity of different automobile types, sets machine
The initial point of people and operating point, form reliable robot working trajectory accurately, and the off-line programing cycle be short, efficiency is high；With
This simultaneously, when setting robot working trajectory, machine human world interference region equipment position is clear, it is possible to effectively avoid respectively setting
Standby, and the working trajectory in robot actual motion keeps consistent completely with the working trajectory of setting, it is ensured that the essence of pad
Accuracy；Said structure, robot working trajectory is accurate, improves body in white weld job quality.In sum, of the present invention
Auto production line be welded spot welding robot's off-line system, simple in construction, low cost, it is possible to effectively control auto production line machine
People carries out, according to the working trajectory set, the spot welding work that is welded, and shortens car body welding producing line spot welding robot's teaching time, fall
Low Site Welding working strength, improves welding quality and the welding efficiency of the body in white of produced on-site line, meets and open body in white
The requirement that the time of sending out is shorter and shorter.
Above in conjunction with accompanying drawing, the present invention is carried out exemplary description, it is clear that concrete implementation of the present invention is not by above-mentioned
The restriction of mode, if the various improvement that the method design that have employed the present invention is carried out with technical scheme, or the most improved by this
Design and the technical scheme of invention directly apply to other occasions, the most within the scope of the present invention.
Claims (6)
1. an auto production line is welded spot welding robot's off-line system, it is characterised in that: described auto production line is welded spot welding
Robot off-line system includes that 3D virtual module (1), analog simulation module (2), program derive module (3), control portion of robot
Part (4), 3D virtual module (1), analog simulation module (2), program derive module (3) and control parts (4) even with robot respectively
Connecing, 3D virtual module (1) is configured to virtual memory auto production line (5) each equipment each position and mutual distance information
Structure；Analog simulation module (2) is configured to store robot initial point and the structure of working trajectory information；Program derives mould
Block (3) is configured to generate robot initial point and working trajectory information the structure of robot identification language.
Auto production line the most according to claim 1 is welded spot welding robot's off-line system, it is characterised in that: described machine
Device people controls parts (4) and is configured to control the structure of robot work, and robot controls parts (4) and controls robot work
Time, robot controls parts (4) and is configured to control robot according to the robot initial of storage in analog simulation module (2)
Point and the structure of working trajectory information work.
Auto production line the most according to claim 1 is welded spot welding robot's off-line system, it is characterised in that: described journey
After sequence derives the language that robot working trajectory information is generated robot identification by module (3), robot be configured to according to
The structure of the working trajectory information work of storage in analog simulation module (2).
Auto production line the most according to claim 1 is welded spot welding robot's off-line system, it is characterised in that: described mould
Intend emulation module (2) working trajectory information and include multiple operating points and the precedence information of each operating point of robot,
When described Robot working trajectory works, robot is configured to start working from initial point, sequentially passes through multiple work
Make a little, be recycled back into the structure of initial point position.
Auto production line the most according to claim 4 is welded spot welding robot's off-line system, it is characterised in that: described machine
Device people along working trajectory work time, the initial point of robot and multiple operating point are configured to avoid each of auto production line
The respective position of equipment, from without forming, with each equipment, the structure interfered.
Auto production line the most according to claim 1 is welded spot welding robot's off-line system, it is characterised in that: described 3D
Virtual module (1) is configured to anti-to auto production line (5) each equipment each position and the mutual distance information of virtual memory
Feed robot control parts (4) structure, robot control parts (4) be configured to control Robot working trajectory work
The structure of the respective position of each equipment can be avoided when making.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610878076.3A CN106271265A (en) | 2016-10-09 | 2016-10-09 | A kind of auto production line is welded spot welding robot's off-line system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610878076.3A CN106271265A (en) | 2016-10-09 | 2016-10-09 | A kind of auto production line is welded spot welding robot's off-line system |
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| CN106271265A true CN106271265A (en) | 2017-01-04 |
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| CN201610878076.3A Pending CN106271265A (en) | 2016-10-09 | 2016-10-09 | A kind of auto production line is welded spot welding robot's off-line system |
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Cited By (4)
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|---|---|---|---|---|
| CN107030360A (en) * | 2017-06-19 | 2017-08-11 | 张仲颖 | A kind of intelligent automobile production line is welded spot welding robot's Off-line control system |
| CN107350667A (en) * | 2017-06-23 | 2017-11-17 | 华南理工大学 | A kind of emulation mode of the automobile door plate welding flexible production line based on digital factory |
| CN109909650A (en) * | 2019-04-04 | 2019-06-21 | 重庆元创自动化设备有限公司 | White body automatic welding production line control system |
| CN111673251A (en) * | 2020-06-10 | 2020-09-18 | 东风柳州汽车有限公司 | Virtual debugging method and device for welding parameters and welding quality of robot spot welding |
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| CN111673251B (en) * | 2020-06-10 | 2022-03-29 | 东风柳州汽车有限公司 | Virtual debugging method and device for welding parameters and welding quality of robot spot welding |
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Application publication date: 20170104 |