CN106393112B - A kind of multirobot welding method and system - Google Patents
A kind of multirobot welding method and system Download PDFInfo
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- CN106393112B CN106393112B CN201611004749.9A CN201611004749A CN106393112B CN 106393112 B CN106393112 B CN 106393112B CN 201611004749 A CN201611004749 A CN 201611004749A CN 106393112 B CN106393112 B CN 106393112B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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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
Abstract
The present invention provides a kind of multirobot welding control method, belongs to automatic welding and mounting technology field, is suitable for controlling a plurality of robots；A plurality of robots include working group of multiple groups robot, every group of robot centering includes an individual robot and neighbours corresponding with individual robot robot, first operation area of each individual machine man-hour has the interference region to overlap between the second operation area of corresponding neighbours' machine man-hour respectively, and method includes: that individual robot and/or neighbours robot are requested to controller transmission operation；Controller reception operation request simultaneously requests the individual robot of control and neighbours robot to be subjected in interference region to workpiece according to operation, and collision is generated during being subjected to avoid individual robot and neighbours robot.Beneficial effects of the present invention: guarantee work at the same time in individual robot and neighbours robot it is non-interference, improve working efficiency.
Description
Technical field
The present invention relates to automatic welding and mounting technology field more particularly to a kind of multirobot welding method and it is
System.
Background technique
Robot welding at present mainly with single robot welding based on, usually by programmable logic controller (PLC)
(Programmable Logic Controller, PLC) control cabinet controls the operation of robot.Although passing through individual machine
People is higher than artificial come the efficiency welded, but for producing in enormous quantities, production efficiency or lower.In addition, more
When robot carries out operation to same product simultaneously, if there is the interference region of coincidence in the operating area of Liang Tai robot, need
Liang Ge robot is avoided to collide in interference region.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides one kind can more robots of effective coordination simultaneously it is right
The same product carries out operation and can be avoided the multirobot welding system that robot generates collision in interference region.
The present invention adopts the following technical scheme:
A kind of multirobot welding control method is suitable for controlling a plurality of robots；A plurality of robots include
Working group of multiple groups robot includes an individual robot and neighbour corresponding with the individual robot in robot described in every group
Robot is occupied, the first operation area of each individual machine man-hour works with the corresponding neighbours robot respectively
When the second operation area between there is the interference region that overlaps, which comprises
Step S1, the described individual robot and/or the neighbours robot, which send operation to a controller, to be requested；
Step S2, the described controller receives the operation request and according to the operation request control individual robot
Workpiece is subjected in the interference region with the neighbours robot, to avoid the individual robot and the neighbour
It occupies robot and generates collision during carrying out welding operation.
Preferably, in the step S1, if the operation request is the individual robot outside the interference region
It issues, then the step S2 is specifically included:
Step S21a, the described controller receives the operation request and sends the first inquiry to the neighbours robot and asks
It asks；
Step S22a, the described neighbours robot receives first inquiry request and believes the state of the neighbours robot
Breath is sent to the controller；
Step S23a, the described controller receives the status information and judges neighbours' machine according to the state information
Whether people is located in the interference region:
If the determination result is YES, then S24a is gone to step；
If judging result be it is no, go to step S25a；
Step S24a, the described controller sends the first control instruction to the individual robot, and the individual robot connects
State is remained waiting for after receiving first control instruction and goes to step S21a；
Step S25a, the described controller sends the second control instruction to the individual robot, the individual robot into
Enter the interference region and complete interference region described in the welding operation backed off after random, with backed off after random.
Preferably, in the step S1, if the operation request is the individual robot outside the interference region
It is sent with the neighbours robot to the controller, then the step S2 is specifically included:
Step S21b, the controller receives the operation request and to the individual robot and the neighbours robot
The second inquiry request is sent respectively；
Step S22b, the described individual robot and the neighbours robot receive second inquiry request and by described
The status information of body robot and the neighbours robot is sent respectively to the controller；
Step S23b, the described controller, which receives the status information and handles according to the state information, obtains third control
The third control instruction and the 4th control instruction are sent respectively to institute by instruction and the 4th control instruction, the controller
State individual robot and the neighbours robot；
Step S24b, the described individual robot remains waiting for state, neighbours' machine after receiving the third control instruction
Device people receives the 4th control instruction and enters the interference region, and the neighbours robot completes the welding operation retrogressing
The interference region out；
Step S25b, the described individual robot, which enters the interference region, to be completed to interfere described in the welding operation backed off after random
Area, with backed off after random.
Preferably, in the step S1, if the operation request is the individual robot in the interference region
It issues, then the step S2 is specifically included:
Step S21c, the described controller, which receives the operation request and sends the 5th control to the neighbours robot, to be referred to
It enables；
Step S22c, the described neighbours robot enters the interference region after receiving the 5th control instruction and reaches in advance
Positioning postpones to the controller and sends prompting message；
Step S23c, to the individual robot and the neighbours robot after the controller reception prompting message
The 6th control instruction and the 7th control instruction are sent respectively；
Step S24c, the described individual robot and the neighbours robot receive the 6th control instruction and described respectively
Synchronous after 7th control instruction to carry out the welding operation, the individual robot and the neighbours robot are respectively completed described
Welding operation backed off after random.
Preferably, at least one individual robot, each individual robot respectively correspond one first operation area；
At least one neighbours robot, each neighbours robot respectively correspond one second operation area；
One controller, the controller are separately connected the individual robot and the neighbours robot, the controller
Include:
Receiving unit, the receiving unit are used to receive the operation that the individual robot and the neighbours robot are sent
Request；
Control unit, described control unit connect the receiving unit, for according to the operation request control described
Body robot and the neighbours robot are subjected to workpiece in interference region；
The overlapping region of first operation area and second operation area is the interference region；
It is corresponded between the individual robot and the neighbours robot and constitutes working group of robot.
Preferably, the receiving unit includes:
First receiving module, first receiving module is for receiving and exporting the individual outside the interference region
The operation request that robot is sent, and receive and export the status information of the neighbours robot.
Preferably, described control unit includes:
First processing module, the first processing module connect first receiving module, ask for receiving the operation
It asks and the first inquiry request of output is requested according to the operation, and receive the status information and sentence according to the state information
Whether the neighbours robot that breaks is located in the interference region, defeated when judging that the neighbours robot is located in the interference region
First control instruction out exports the second control instruction when judging that the neighbours robot is located at outside the interference region；
First control instruction is to remain waiting for state；
Second control instruction is to enter the interference region to complete interference region described in the welding operation backed off after random.
Preferably, the controller includes:
First sending module, first sending module connect the first processing module, ask for receiving described first
It asks request and first inquiry request is sent to the neighbours robot, and receive first control instruction and by institute
It states the first control instruction and is sent to the individual robot, and receive second control instruction and refer to second control
Order is sent to the neighbours robot.
Preferably, the receiving unit includes:
Second receiving module, second receiving module is for receiving and exporting the individual outside the interference region
The operation request that robot and the neighbours robot are sent, and receive and export the individual robot and the neighbour
Occupy the status information of robot.
Preferably, described control unit includes:
Second processing module, the Second processing module connect second receiving module, ask for receiving the operation
It asks and is instructed according to operation request the second inquiry of output, and receive and the status information and according to the state information
Export third control instruction and the 4th control instruction；
The third control instruction is to remain waiting for state；
4th control instruction is to enter the interference region to complete interference region described in the welding operation backed off after random.
Preferably, the controller includes:
Second sending module, second sending module connect the Second processing module, ask for receiving described second
It asks instruction and the second inquiry instruction is sent respectively to the individual robot and the neighbours robot, and receive
The third control instruction is simultaneously sent to the individual robot by the third control instruction, and receives the 4th control
It instructs and the 4th control instruction is sent to the neighbours robot.
Preferably, the receiving unit includes:
Third receiving module, the third receiving module is for receiving and exporting the individual in the interference region
The operation request that robot is sent, and receive and export the neighbours' machine for reaching predetermined position in the interference region
The prompting message that human hair is sent.
Preferably, described control unit includes:
Third processing module, the third processing module connect the third receiving module, ask for receiving the operation
It asks and the 5th control instruction of output is requested according to the operation, and receive the prompting message and defeated according to the prompting message
6th control instruction and the 7th control instruction out；
5th control instruction is to enter the interference region and reach the predetermined position；
6th control instruction is to synchronously complete the welding with the neighbours robot to operate interference described in backed off after random
Area；
7th control instruction is to synchronously complete the welding with the individual robot to operate interference described in backed off after random
Area.
Preferably, the controller includes:
Third sending module, second sending module connect the Second processing module, for receiving the 5th control
5th control instruction is simultaneously sent to the neighbours robot by system instruction, and receives the 6th control instruction and by described the
Six control instructions are sent to the individual robot, and receive the 7th control instruction and send out the 7th control instruction
Give the neighbours robot.
The beneficial effects of the present invention are: guarantee work at the same time in individual robot and neighbours robot it is non-interference, association
Same work, optimization design structure, raising production efficiency, save the cost, and also it is safe and reliable, improve the output of unit time
Than.
Detailed description of the invention
Fig. 1 is the functional block diagram of multirobot welding system in a preferred embodiment of the present invention；
Fig. 2 is the flow chart of system in a preferred embodiment of the present invention；
Fig. 3 is one of the flow chart of step S2 in a preferred embodiment of the present invention；
Fig. 4 is in a preferred embodiment of the present invention the two of the flow chart of step S2；
Fig. 5 is in a preferred embodiment of the present invention the three of the flow chart of step S2；
Fig. 6 is the functional block diagram of embodiment one；
Fig. 7 is the functional block diagram of embodiment two；
Fig. 8 is the functional block diagram of embodiment three.
Specific embodiment
It should be noted that in the absence of conflict, following technical proposals be can be combined with each other between technical characteristic.
A specific embodiment of the invention is further described with reference to the accompanying drawing:
As shown in Figs. 1-2, a kind of multirobot welding control method is suitable for controlling a plurality of robots；Above-mentioned plural number
A robot includes working group of multiple groups robot, include in every group of above-mentioned robot an individual robot 2 and with above-mentioned individual
Corresponding neighbours robot 3 of robot 2, the first operation area when each above-mentioned individual robot 2 works respectively with it is corresponding
There is the interference region to overlap, the above method includes: between the second operation area when above-mentioned neighbours robot 3 works
Step S1, above-mentioned individual robot 2 and/or above-mentioned neighbours robot 3, which send operation to a controller 1, to be requested；
Step S2, above controller 1 receives above-mentioned operation request and according to the above-mentioned individual machine of above-mentioned operation request control
People 2 and above-mentioned neighbours robot 3 are subjected to workpiece in above-mentioned interference area, to avoid 2 He of above-mentioned individual robot
Above-mentioned neighbours robot 3 generates collision during carrying out above-mentioned welding operation.
In the present embodiment, each working group of robot respectively includes an individual robot 2 and a neighbours robot 3, together
Individual robot 2 and neighbours robot 3 in one working group are constituted signal interlocking structure with controller 1 for intermediary, i.e., individual machine
Device people 2 and neighbours robot 3 are required to send operation request in advance to controller 1 before being subjected into interference region,
By interlocking crossbar signal between individual robot 2 in same working group and neighbours robot 3, location confirmation, control are carried out
Whether device 1 enters interference region according to the individual robot 2 of actual condition control and neighbours robot 3 and whether carries out welding behaviour
Make, thus guarantee work at the same time in it is non-interference.One controller 1 can control working group of multiple groups robot, greatly improve
Production efficiency, working group of multiple groups robot cooperate under the control of above controller 1, optimizing structure design, save the cost.
When specifically used, holder part is located at center, and holder part surrounding is distributed more above-mentioned robots and carries out including welding to equipment
The operations such as operation.
In preferred embodiments of the present invention, as shown in figure 3, in above-mentioned steps S1, if above-mentioned operation request is positioned at above-mentioned
What the above-mentioned individual robot 2 outside interference region issued, then above-mentioned steps S2 is specifically included:
Step S21a, above controller 1 receives above-mentioned operation request and sends the first inquiry to above-mentioned neighbours robot 3 and asks
It asks；
Step S22a, above-mentioned neighbours robot 3 receives above-mentioned first inquiry request and by the state of above-mentioned neighbours robot 3
Information is sent to above controller 1；
Step S23a, above controller 1 receives above-mentioned status information and judges above-mentioned neighbours' machine according to above-mentioned status information
Whether device people 3 is located in above-mentioned interference area:
If the determination result is YES, then S24a is gone to step；
If judging result be it is no, go to step S25a；
Step S24a, above controller 1 sends the first control instruction, above-mentioned individual robot 2 to above-mentioned individual robot 2
State is remained waiting for after receiving above-mentioned first control instruction and goes to step S21a；
Step S25a, above controller 1 sends the second control instruction, above-mentioned individual robot 2 to above-mentioned individual robot 2
Above-mentioned welding is completed into above-mentioned interference area and operates backed off after random above-mentioned interference area, with backed off after random.
In the present embodiment, the individual robot 2 outside interference region will be located in step S1 to be substituted for outside interference region
Individual robot 2 of the neighbours robot 3 then in step S2 is substituted for neighbours robot 3, and the neighbours robot 3 in step S2 is equal
It is substituted for individual robot 2.In step S24a, individual robot 2 is maintained at outside interference region after receiving the first control instruction
Wait state, at this point, the neighbours robot 3 being located in interference region works on, individual robot 2 continues to send to controller 1
After the neighbours robot 3 being located in interference region completes work and exits interference region, individual robot 2 enters dry for operation request
It relates to area and is subjected to, individual robot 2 completes welding operation backed off after random interference region.
In preferred embodiments of the present invention, as shown in figure 4, in above-mentioned steps S1, if above-mentioned operation request is positioned at above-mentioned
What above-mentioned individual robot 2 and above-mentioned neighbours robot 3 outside interference region were sent to above controller 1, then above-mentioned steps S2 has
Body includes:
Step S21b, above controller 1 receives above-mentioned operation request and to above-mentioned individual robot 2 and above-mentioned neighbours' machine
People 3 sends the second inquiry request respectively；
Step S22b, above-mentioned individual robot 2 and above-mentioned neighbours robot 3 receive above-mentioned second inquiry request and will be above-mentioned
The status information of individual robot 2 and above-mentioned neighbours robot 3 is sent respectively to above controller 1；
Step S23b, above controller 1 receives above-mentioned status information and is handled to obtain third control according to above-mentioned status information
System instruction and the 4th control instruction, above controller 1 send above-mentioned third control instruction and above-mentioned 4th control instruction respectively
To above-mentioned individual robot 2 and above-mentioned neighbours robot 3；
Step S24b, above-mentioned individual robot 2 remains waiting for state, above-mentioned neighbours' machine after receiving above-mentioned third control instruction
Device people 3 enters above-mentioned interference area completion above-mentioned welding operation backed off after random above-mentioned interference area after receiving above-mentioned 4th control instruction；
Step S25b, above-mentioned individual robot 2 enters above-mentioned interference area and completes above-mentioned welding operation backed off after random above-mentioned interference
Area, with backed off after random.
In the present embodiment, if to be respectively positioned on interference region outer and same for the individual robot 2 and neighbours robot 3 of same working group
When to controller 1 send operation request, then controller 1 controls any one entrance in individual robot 2 or neighbours robot 3
Interference region, another remains waiting for state outside interference region, and individual robot 2 and neighbours robot 3 is made to sequentially enter interference region
Middle completion welding operation, to avoid generating collision.
In preferred embodiments of the present invention, as shown in figure 5, in above-mentioned steps S1, if above-mentioned operation request is positioned at above-mentioned
What the above-mentioned individual robot 2 in interference region issued, then above-mentioned steps S2 is specifically included:
Step S21c, above controller 1 receives above-mentioned operation request and sends the 5th control to above-mentioned neighbours robot 3 and refers to
It enables；
Step S22c, above-mentioned neighbours robot 3 enters above-mentioned interference area after receiving above-mentioned 5th control instruction and reaches
Prompting message is sent to above controller 1 behind predetermined position；
Step S23c, above controller 1 receives after above-mentioned prompting message to above-mentioned individual robot 2 and above-mentioned neighbours' machine
People 3 sends the 6th control instruction and the 7th control instruction respectively；
Step S24c, above-mentioned individual robot 2 and above-mentioned neighbours robot 3 receive respectively above-mentioned 6th control instruction and on
The above-mentioned welding operation of progress is synchronized after stating the 7th control instruction, above-mentioned individual robot 2 and above-mentioned neighbours robot 3 are respectively completed
It is released after above-mentioned welding operation.
In the present embodiment, the individual robot 2 in interference region will be located in step S1 to be substituted in interference region
Neighbours robot 3, then the individual robot 2 in step S2 is substituted for neighbours robot 3, and the neighbours robot 3 in step S2 replaces
Change individual robot 2 into.The crossing interlocking structure of individual robot 2 and neighbours robot 3 can guarantee individual robot 2 and neighbour
It occupies after robot 3 reaches synchronous point under the control of controller 1, then moves at the same time, to solve asking for coordinate synchronization control
Topic.
In preferred embodiments of the present invention, as shown in Figure 1, above system includes:
At least one individual robot 2, each above-mentioned individual robot 2 respectively correspond one first operation area；
At least one neighbours robot 3, each above-mentioned neighbours robot 3 respectively correspond one second operation area；
One controller 1, above controller 1 are separately connected above-mentioned individual robot 2 and above-mentioned neighbours robot 3, above-mentioned control
Device 1 processed includes:
Receiving unit 4, above-mentioned receiving unit 4 is used to receive above-mentioned individual robot 2 and above-mentioned neighbours robot 3 sends
Operation request；
Control unit 5, above-mentioned control unit 5 connect above-mentioned receiving unit 4, for above-mentioned according to above-mentioned operation request control
Individual robot 2 and above-mentioned neighbours robot 3 are subjected to workpiece in interference region；
The overlapping region of above-mentioned first operation area and above-mentioned second operation area is above-mentioned interference area；
It is corresponded between above-mentioned individual robot 2 and above-mentioned neighbours robot 3 and constitutes working group of robot.
Embodiment one, as shown in fig. 6,
Above-mentioned receiving unit 4 includes: the first receiving module 7, above-mentioned first receiving module 7 for receive and export positioned at
The above-mentioned operation request that the above-mentioned individual robot 2 outside interference region is sent is stated, and receives and exports above-mentioned neighbours robot 3
Status information；
Above-mentioned control unit 5 includes: first processing module 10, and above-mentioned first processing module 10 connects above-mentioned first and receives mould
Block 7, for receiving above-mentioned operation request and requesting the first inquiry request of output, and the above-mentioned state letter of reception according to above-mentioned operation
It ceases and judges whether above-mentioned neighbours robot 3 is located in above-mentioned interference area according to above-mentioned status information, judging above-mentioned neighbours' machine
Device people 3 exports the first control instruction when being located in above-mentioned interference area, is judging that above-mentioned neighbours robot 3 is located at outside above-mentioned interference area
When export the second control instruction；
Above controller includes: the first sending module 13, and above-mentioned first sending module 13 connects above-mentioned first processing module
10, for receiving above-mentioned first inquiry request and above-mentioned first inquiry request being sent to above-mentioned neighbours robot 3, and reception
Above-mentioned first control instruction is simultaneously sent to above-mentioned individual robot 2 by above-mentioned first control instruction, and receives above-mentioned second control
System instructs and above-mentioned second control instruction is sent to above-mentioned neighbours robot 3；
Above-mentioned first control instruction is to remain waiting for state；
Above-mentioned second control instruction is to complete above-mentioned welding into above-mentioned interference area to operate backed off after random above-mentioned interference area.
In the present embodiment, individual robot 2 receives the wait state being maintained at after the first control instruction outside interference region,
At this point, the neighbours robot 3 being located in interference region works on, individual robot 2 continues to send operation request to controller 1 directly
After completing work to the neighbours robot 3 being located in interference region and exit interference region, individual robot 2 enters interference region and carries out
Welding operation, individual robot 2 complete welding operation backed off after random interference region.
Embodiment two, as shown in fig. 7,
Above-mentioned receiving unit 4 includes: the second receiving module 8, above-mentioned second receiving module 8 for receive and export positioned at
The above-mentioned operation request that above-mentioned individual robot 2 and above-mentioned neighbours robot 3 outside interference region are sent is stated, and receives and exports
The status information of above-mentioned individual robot 2 and above-mentioned neighbours robot 3；
Above-mentioned control unit 5 includes: Second processing module 11, and above-mentioned Second processing module 11 connects above-mentioned second and receives mould
Block 8 is requested and for receiving above-mentioned operation according to above-mentioned operation request output the second inquiry instruction, and reception and above-mentioned state
Information simultaneously exports third control instruction and the 4th control instruction according to above-mentioned status information；
Above controller includes: the second sending module 14, and above-mentioned second sending module 14 connects above-mentioned Second processing module
11, for receive above-mentioned second inquiry instruction and by above-mentioned second inquiry instruction be sent respectively to above-mentioned individual robot 2 and
Above-mentioned neighbours robot 3, and receive above-mentioned third control instruction and above-mentioned third control instruction is sent to above-mentioned individual machine
Device people 2, and receive above-mentioned 4th control instruction and above-mentioned 4th control instruction is sent to above-mentioned neighbours robot 3；
Above-mentioned third control instruction is to remain waiting for state；
Above-mentioned 4th control instruction is to complete above-mentioned welding into above-mentioned interference area to operate backed off after random above-mentioned interference area.
In the present embodiment, if to be respectively positioned on interference region outer and same for the individual robot 2 and neighbours robot 3 of same working group
When to controller 1 send operation request, then controller 1 controls any one entrance in individual robot 2 or neighbours robot 3
Interference region, another remains waiting for state outside interference region, and individual robot 2 and neighbours robot 3 is made to sequentially enter interference region
Middle completion welding operation, to avoid generating collision.
Embodiment three, as shown in figure 8,
Above-mentioned receiving unit 4 includes: third receiving module 9, above-mentioned third receiving module 9 for receive and export positioned at
The above-mentioned operation request that the above-mentioned individual robot 2 in interference region is sent is stated, and receives and exports and reach in above-mentioned interference area
The prompting message that the above-mentioned neighbours robot 3 in predetermined position is sent；
Above-mentioned control unit 5 includes: third processing module 12, and above-mentioned third processing module 12 connects above-mentioned third and receives mould
Block 9, for receiving above-mentioned operation request and requesting the 5th control instruction of output, and the above-mentioned prompting letter of reception according to above-mentioned operation
It ceases and the 6th control instruction and the 7th control instruction is exported according to above-mentioned prompting message；
Above controller includes: third sending module 15, and above-mentioned second sending module 14 connects above-mentioned Second processing module
11, for receiving above-mentioned 5th control instruction and above-mentioned 5th control instruction being sent to above-mentioned neighbours robot 3, and reception
Above-mentioned 6th control instruction is simultaneously sent to above-mentioned individual robot 2 by the 6th control instruction, and is received above-mentioned 7th control and referred to
It enables and above-mentioned 7th control instruction is sent to above-mentioned neighbours robot 3；
Above-mentioned 5th control instruction is into above-mentioned interference area and to reach above-mentioned predetermined position；
Above-mentioned 6th control instruction is to synchronously complete above-mentioned welding with above-mentioned neighbours robot 3 to operate backed off after random above-mentioned interference
Area；
Above-mentioned 7th control instruction is to synchronously complete above-mentioned welding with above-mentioned individual robot 2 to operate backed off after random above-mentioned interference
Area.
In the present embodiment, the crossing interlocking structure of individual robot 2 and neighbours robot 3 can guarantee individual robot
2 and after neighbours robot 3 reaches synchronous point under the control of controller 1, then move at the same time, to solve coordinate synchronization control
The problem of.
In above three embodiments, there is and constitute working group of robot in pairs in individual robot 2 and neighbours robot 3,
Above-mentioned individual robot 2 is substituted for above-mentioned neighbours robot 3, while above-mentioned neighbours robot 3 is substituted for above-mentioned individual machine
2 above scheme technical solution of device people is equally set up.First sending module 13, the second sending module 14 and third sending module 15
Belong to the transmission unit 6 of controller 1.
For a person skilled in the art, after reading above description, various changes and modifications undoubtedly be will be evident.
Therefore, appended claims should regard the whole variations and modifications for covering true intention and range of the invention as.It is weighing
The range and content of any and all equivalences, are all considered as still belonging to the intent and scope of the invention within the scope of sharp claim.
Claims (11)
1. a kind of multirobot welding control method is suitable for controlling a plurality of robots；It is characterized in that, a plurality of machines
Device people includes working group of multiple groups robot, include in robot described in every group an individual robot and with the individual robot
Corresponding neighbours robot, the first operation area of each individual machine man-hour respectively with corresponding neighbours' machine
There is the interference region to overlap between second operation area of device man-hour, which comprises
Step S1, the described individual robot and/or the neighbours robot, which send operation to a controller, to be requested；
Step S2, the described controller receives the operation request and according to the operation request control individual robot and institute
It states neighbours robot to be subjected to workpiece in the interference region, to avoid the individual robot and neighbours' machine
Device people generates collision during carrying out welding operation；
In the step S1, if what the operation request issued for the individual robot outside the interference region, institute
Step S2 is stated to specifically include:
Step S21a, the described controller receives the operation request and sends the first inquiry request to the neighbours robot；
Step S22a, the described neighbours robot receives first inquiry request and sends out the status information of the neighbours robot
Give the controller；
Step S23a, the described controller receives the status information and judges that the neighbours robot is according to the state information
It is no to be located in the interference region:
If the determination result is YES, then S24a is gone to step；
If judging result be it is no, go to step S25a；
Step S24a, the described controller sends the first control instruction to the individual robot, and the individual robot receives institute
State is remained waiting for after stating the first control instruction and goes to step S21a；
Step S25a, the described controller sends the second control instruction to the individual robot, and the individual robot enters institute
It states interference region and completes interference region described in the welding operation backed off after random, with backed off after random.
2. welding control method according to claim 1, which is characterized in that in the step S1, if the operation is requested
For outside the interference region the individual robot and the neighbours robot sent to the controller, then the step
Rapid S2 is specifically included:
Step S21b, the described controller receives the operation request and distinguishes to the individual robot and the neighbours robot
Send the second inquiry request；
Step S22b, the described individual robot and the neighbours robot receive second inquiry request and by the individual machines
The status information of device people and the neighbours robot is sent respectively to the controller；
Step S23b, the described controller, which receives the status information and handles according to the state information, obtains third control instruction
With the 4th control instruction, the third control instruction and the 4th control instruction are sent respectively to described by the controller
Body robot and the neighbours robot；
Step S24b, the described individual robot remains waiting for state, the neighbours robot after receiving the third control instruction
It receives the 4th control instruction and enters the interference region, the neighbours robot completes welding operation backed off after random institute
State interference region；
Step S25b, the described individual robot enters the interference region and completes interference region described in the welding operation backed off after random, with
Backed off after random.
3. welding method according to claim 1, which is characterized in that in the step S1, if operation request is position
It is issued in the individual robot in the interference region, then the step S2 is specifically included:
Step S21c, the described controller receives the operation request and sends the 5th control instruction to the neighbours robot；
Step S22c, the described neighbours robot enters the interference region after receiving the 5th control instruction and is pre-positioned reaching
It postpones to the controller and sends prompting message；
Step S23c, the described controller is distinguished after receiving the prompting message to the individual robot and the neighbours robot
Send the 6th control instruction and the 7th control instruction；
Step S24c, the described individual robot and the neighbours robot receive the 6th control instruction and the described 7th respectively
Synchronous after control instruction to carry out the welding operation, the individual robot and the neighbours robot are respectively completed the welding
Operate backed off after random.
4. a kind of multirobot welding system, which is characterized in that the system comprises:
At least one individual robot, each individual robot respectively correspond one first operation area；
At least one neighbours robot, each neighbours robot respectively correspond one second operation area；
One controller, the controller is separately connected the individual robot and the neighbours robot, the controller include:
Receiving unit, the receiving unit are used to receive the operation that the individual robot and the neighbours robot are sent and ask
It asks；
Control unit, described control unit connect the receiving unit, for according to the operation request control individual machine
Device people and the neighbours robot are subjected to workpiece in interference region；
The overlapping region of first operation area and second operation area is the interference region；
It is corresponded between the individual robot and the neighbours robot and constitutes working group of robot；
The receiving unit includes:
First receiving module, first receiving module are used to receive and export the individual machine outside the interference region
The operation request that human hair is sent, and receive and export the status information of the neighbours robot；
Described control unit includes:
First processing module, the first processing module connect first receiving module, for receiving the operation request simultaneously
The first inquiry request of output is requested according to the operation, and receives the status information and judges institute according to the state information
It states whether neighbours robot is located in the interference region, is exported when judging that the neighbours robot is located in the interference region
One control instruction exports the second control instruction when judging that the neighbours robot is located at outside the interference region；
First control instruction is to remain waiting for state；
Second control instruction is to enter the interference region to complete interference region described in the welding operation backed off after random.
5. welding system as claimed in claim 4, which is characterized in that the controller includes:
First sending module, first sending module connect the first processing module, ask for receiving first inquiry
It asks and first inquiry request is sent to the neighbours robot, and receive first control instruction and by described the
One control instruction is sent to the individual robot, and receives second control instruction and send out second control instruction
Give the neighbours robot.
6. welding system as claimed in claim 4, which is characterized in that the receiving unit includes:
Second receiving module, second receiving module are used to receive and export the individual machine outside the interference region
The operation request that people and the neighbours robot are sent, and receive and export the individual robot and neighbours' machine
The status information of device people.
7. welding system as claimed in claim 6, which is characterized in that described control unit includes:
Second processing module, the Second processing module connect second receiving module, for receiving the operation request simultaneously
According to operation request output the second inquiry instruction, and receives and the status information and export according to the state information
Third control instruction and the 4th control instruction；
The third control instruction is to remain waiting for state；
4th control instruction is to enter the interference region to complete interference region described in the welding operation backed off after random.
8. welding system as claimed in claim 7, which is characterized in that the controller includes:
Second sending module, second sending module connect the Second processing module, refer to for receiving second inquiry
It enables and the second inquiry instruction is sent respectively to the individual robot and the neighbours robot, and described in reception
The third control instruction is simultaneously sent to the individual robot by third control instruction, and receives the 4th control instruction
And the 4th control instruction is sent to the neighbours robot.
9. welding system as claimed in claim 4, which is characterized in that the receiving unit includes:
Third receiving module, the third receiving module are used to receive and export the individual machine in the interference region
The operation request that human hair is sent, and receive and export the neighbours' machine human hair for reaching predetermined position in the interference region
The prompting message sent.
10. welding system as claimed in claim 9, which is characterized in that described control unit includes:
Third processing module, the third processing module connect the third receiving module, for receiving the operation request simultaneously
The 5th control instruction of output is requested according to the operation, and receives the prompting message and according to prompting message output the
Six control instructions and the 7th control instruction；
5th control instruction is to enter the interference region and reach the predetermined position；
6th control instruction is to synchronously complete the welding with the neighbours robot to operate interference region described in backed off after random；
7th control instruction is to synchronously complete the welding with the individual robot to operate interference region described in backed off after random.
11. welding system as claimed in claim 10, which is characterized in that the controller includes:
Third sending module, second sending module connect the Second processing module, refer to for receiving the 5th control
It enables and the 5th control instruction is sent to the neighbours robot, and receive the 6th control instruction and controlled the described 6th
System instruction is sent to the individual robot, and receives the 7th control instruction and be sent to the 7th control instruction
The neighbours robot.
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| CN201611004749.9A CN106393112B (en) | 2016-11-15 | 2016-11-15 | A kind of multirobot welding method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108544495B (en) * | 2018-06-19 | 2021-05-11 | 广东工业大学 | Welding path planning method, system and equipment for multiple welding robots |
| CN110788458A (en) * | 2018-08-01 | 2020-02-14 | 上海赛科利汽车模具技术应用有限公司 | Control method and system of stud welding equipment, storage medium and electronic equipment |
| CN109343498A (en) * | 2018-11-26 | 2019-02-15 | 清华大学 | The majority control safe avoidance system of operation unit |
| CN109746602A (en) * | 2019-03-28 | 2019-05-14 | 北部湾大学 | A kind of welding robot of ship group Vertical board support structure |
| CN110769041B (en) * | 2019-10-11 | 2022-05-24 | 中交一航局安装工程有限公司 | Wireless interlocking construction system for engineering ships and application method thereof |
| CN111488270B (en) * | 2020-03-06 | 2024-03-22 | 广州明珞汽车装备有限公司 | Interference area instruction detection method, system and storage medium for robot offline program |
| CN113751339B (en) * | 2021-09-23 | 2023-05-23 | 浙江工业大学 | Multi-robot task allocation method based on intelligent sorting assembly line |
| CN114535753A (en) * | 2022-02-18 | 2022-05-27 | 厦门航天思尔特机器人系统股份公司 | Preheating and welding integrated automatic system and method |
| CN115008093B (en) * | 2022-06-14 | 2023-03-14 | 广东天太机器人有限公司 | Multi-welding-point welding robot control system and method based on template identification |
| CN115847394B (en) * | 2022-10-21 | 2023-10-10 | 圣名科技(广州)有限责任公司 | Method and device for controlling mechanical arm to grasp object, electronic equipment and storage medium |
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