CN106514077A - High-precision robot automatic welding device special for grid plate and working method thereof - Google Patents

High-precision robot automatic welding device special for grid plate and working method thereof Download PDF

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Publication number
CN106514077A
CN106514077A CN201611063045.9A CN201611063045A CN106514077A CN 106514077 A CN106514077 A CN 106514077A CN 201611063045 A CN201611063045 A CN 201611063045A CN 106514077 A CN106514077 A CN 106514077A
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China
Prior art keywords
data
welding
control
turbogrid plates
arm
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Granted
Application number
CN201611063045.9A
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Chinese (zh)
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CN106514077B (en
Inventor
张敏强
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Suzhou Wst Robot Automation Co Ltd
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Suzhou Wst Robot Automation Co Ltd
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0252Steering means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/04Viewing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06Safety devices
    • B25J19/061Safety devices with audible signals
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators

Abstract

The invention discloses a high-precision robot automatic welding device special for a grid plate. The high-precision robot automatic welding device special for the grid plate comprises a fixed base, a rotating shaft, a lower arm, an upper arm, a wrist joint and an electric control box, wherein the rotating shaft is arranged on the fixed base; the lower arm is connected with the rotating shaft through a positioning pin; the upper arm is connected with the lower arm through a positioning pin; the wrist joint is connected with the upper arm through a positioning pin, and a welding gun and a camera device are arranged at one end of the wrist joint; cameras are arranged in the camera device; the rotating shaft, the lower arm, the upper arm, the wrist joint and the camera device are all electrically connected with an electric control box. According to the high-precision robot automatic welding device special for the grid plate, the camera device is arranged in the automatic welding device; the grid plate which is required to be welded is shot through three groups of cameras; the images shot by the cameras are subjected to data processing and analyzing through a control system in a control device; the type of the grid plate which is required to be welded, a position which is required to be welded and the welding quality are known precisely, so that the welding precision of the automatic welding device is greatly improved.

Description

A kind of Turbogrid plates special high-accuracy robot automatic soldering device and its method of work
Technical field
The invention belongs to field is manufactured, more particularly to a kind of Turbogrid plates special high-accuracy robot automatic soldering device And its method of work.
Background technology
Steel grating plate carbon dioxide is mainly used in the edge sealing work of steel grating plate, welds most enterprise all still Welded by the way of human weld, the workload of work is very big, simultaneously as people's great majority during welding All be by naked eyes welded, its welding quality be not sufficiently stable, due to the controllability of people it is poor, thus welding quality very Be hard to keep consistent, due to its pad it is more intensive, welding position and parameter matching higher for the technical requirements of welder It is difficult to keep optimal, the problem of rosin joint, solder skip, and the gas meeting that welding process is produced usually occurs during welding There is certain injury to human body, thus human weld is substituted and will become inevitable.
With the fast development of social economy, either the rhythm of the life or work of people is all constantly accelerating, The production of enterprise is also thus, most enterprise all adopts the automatization of machinery progressively to replace artificial operation.It is many at present Enterprise all can be welded using robot, and which is relatively costly, due to steel grating plate welding operation it is excessively loaded down with trivial details, and, which is simultaneously It is not to strive the product custom-made to welding, some techniques are difficult to complete or cannot realize, the production of existing steel grating plate Occur many metallic dusts in environment, so can propose higher requirement to automatic soldering device, thus existing steel lattice The solder technology of screen needs to improve.
The content of the invention
Goal of the invention:In order to overcome the above not enough, it is an object of the invention to provide a kind of Turbogrid plates special high-accuracy machine People's automatic soldering device, its simple structure are reasonable in design, it is easy to produce, high degree of automation, reduce manual labor amount, improve The accuracy of its welding.
Technical scheme:To achieve these goals, the invention provides a kind of Turbogrid plates special high-accuracy robot is automatic Welder, including:Fixed seat, rotary shaft, underarm, upper arm, carpal joint and electric cabinet, wherein, described rotary shaft is located at solid In reservation, described underarm is connected with rotary shaft by alignment pin, and described upper arm is connected with underarm by alignment pin, described Carpal joint is connected with upper arm by alignment pin, and, described carpal one end is provided with welding gun and camera head, described shooting It is provided with photographic head in device, described rotary shaft, underarm, upper arm, carpal joint and camera head are connected with electric cabinet;
One group of photographic head is provided with described camera head, and described photographic head is by the first shooting confirmed for Turbogrid plates model Head, for weld front position detection second camera and for welding after the 3rd photographic head of quality testing constitute, the shooting The front of head is provided with camera lens, filter and protective cover, described the first photographic head, second camera and the 3rd photographic head with shooting Control module connects;Industrial computer is provided with described electric cabinet, is provided with control device, described control dress in described industrial computer Put including welder, shooting control module, performs device, warning system and control system, wherein, in described control system It is provided with using single-chip computer control system and controller, in described single-chip computer control system, is provided with Turbogrid plates data base, it is described Welding gun is connected with welder, and described camera head is connected with shooting control module, described rotary shaft, underarm, upper arm with And carpal joint is connected with performs device, described welder, shooting control module, performs device and warning system with control Controller connection in system processed.
A kind of heretofore described Turbogrid plates special high-accuracy robot automatic soldering device, which is in automatic soldering device The Turbogrid plates of required welding are shot, then by control device by middle setting camera head by three groups of photographic head Control system carries out data processing and analysis to the image captured by photographic head, the accurate kind for understanding required welding Turbogrid plates The quality of class, the position of required welding and welding, so as to greatly improve the welding precision of the automatic soldering device, Improve the efficiency of its welding;Meanwhile, the setting of photographic head, the whole production process for being capable of Turbogrid plates are recorded, and are realized To the complete documentation in the course of processing of workpiece, by being analyzed to record, constantly the automatic soldering device can be entered Row is constantly improved and evening, allow its it is real realize intelligentized production, and then better met the demand of client.
Be provided with the first axis joint for wrist rotation in heretofore described carpal joint, for the second of wrist swinging Axis joint and the 3rd axis joint for wrist revolution, the two ends of the first described axis joint are closed with upper arm and the second axle respectively Section connection, the two ends of the 3rd described axis joint are connected with the second axis joint and welding gun, and described carpal joint is designed using multiaxis, Allow which flexible rotation can be realized according to the demand of production, greatly improve carpal motility, so as to make which more preferable The demand for meeting production and processing.
Protective cover is additionally provided with heretofore described camera head, and described protective cover is located at the outside of photographic head, and, Described camera head be located at carpal reverse side, the design of the protective cover, and, which is located at carpal reverse side, Neng Gouyou The photographic head that prevents of effect is contaminated in the course of the work, so as to play a very good protection to camera head, can be effective Extend its life-span for using.
Heretofore described welder includes welding tool setup, positioner, manipulator and Welder Part conveyer device, described positioner are connected with welding gun and camera head, described welding tool setup, manipulator It is connected with control system with welding workpiece conveyer device, and they is engaged with welding gun.
Heretofore described performs device is made up of servomotor and pneumatic circuit, and the pneumatic circuit is by source of the gas, control Valve processed and cylinder are constituted, and described servomotor and pneumatic circuit are connected with control system.
Heretofore described underarm, upper arm adopt streamlined arm, and, described upper arm inner hollow diameter is 42~ 50mm, the setting of streamlined arm can effectively reduce the interference region of arm and tool, so as to ensure that the automatic welding is hinged with Put and normally can work, and, the inner hollow diameter of upper arm is increased, can effectively increase the quantity of its built-in cable.
Heretofore described electric cabinet is provided with display and alarm device, is provided with alarm in described alarm device And alarm control unit, described alarm control unit is connected with warning system, the setting of the display, can intuitively The working condition of the welder shows, is easy to staff to believe the investigation of failure and staff to work piece production What is ceased understands and grasp;Meanwhile, once robot arm occurs any problem in the course of the work, warning system will be immediately By speaker and alarm lamp notifying staff, allow them timely to process failure, so as to effective Avoid hindering the generation to solder skip and rosin joint or even heavy losses is caused for some reason, so as to substantially increasing the safety of welding and stablizing Property, further ensure the quality of welding.
Heretofore described control system adopts single-chip computer control system, the control system by central processor CPU, Program memory ROM, data storage RAM, I/O mouth, data converter, data calculator, timer conter, external interrupt and Serial communication is constituted, and wherein, is provided with data analysiss contrast module in described data calculator, described the first photographic head, the Two photographic head and alarm device are connected with the input of data storage RAM, the outfan and number of described data storage RAM Connect according to transducer, described data converter is connected with data calculator, described program memory ROM, data storage RAM, I/O mouth, data converter, data calculator, Turbogrid plates data base, timer conter, external interrupt and serial communication are equal It is connected with central processor CPU.
A kind of method of work of heretofore described Turbogrid plates special high-accuracy robot automatic soldering device, the described weldering The specific works method of connection device is as follows:
(1):Steel plate is suppressed by press welder first, then steel plate is divided according to the size of the needs of welding;
(2):After the completion for the treatment of that steel plate is divided, the species and pattern related data typing control system of the Turbogrid plates that client is needed In Turbogrid plates data base in middle single-chip computer control system;
(3):After pending data typing is good, start to start the automatic soldering device, then the various pieces in whole device are entered Working condition;
(4):Then welding workpiece is sent to welding workpiece conveyer device the station specified;
(5):After workpiece is sent to the station specified, staff needs the Turbogrid plates of processing to be located at carpal joint according to the batch On camera head in the first photographic head will to need welding Turbogrid plates shoot;
(6):After the completion for the treatment of that the first above-mentioned photographic head shoots, it will convey data to the data storage in control system immediately Data are stored by device RAM;
(7):Then digital signal is converted into the analogue signal for storing by data converter, then transfers data to data meter Device is calculated, after the completion of pending data computer is to related data analysiss, the result of analysis central processor CPU will be sent to, so Central processor CPU transfers the welding data of the Turbogrid plates correlation of the species from Turbogrid plates data base afterwards;
(8):Then second camera will be shot to the position of required welding on the Turbogrid plates, then by the data after shooting Send the data storage RAM in control system to, data are stored;
(9):Then digital signal is converted into the analogue signal for storing by data converter, then transfers data to data meter Device is calculated, pending data computer is analyzed to the data for receiving, and draws the particular location for needing pad, then analysis Result be sent to central processor CPU;
(10):Then, after central processor CPU receives data, data are carried out after central processor CPU receives data Analyze and process, the result that analysis draws is converted into into analogue signal through data converter again then;
(11):After pending data is converted, transfer data to controller, then controller will order performs device start work Make, then performs device will be welded to the point for needing welding by welding gun;
(12):Treat in previous step after the completion of welding gun welding, for quality testing after welding the 3rd photographic head will be to welding after Turbogrid plates shot, and send the data shot after number to data storage RAM in control system, data carried out Storage;
(13):Then digital signal is converted into the analogue signal for storing by data converter, then transfers data to data Computer, pending data computer are analyzed to the data for receiving, and the result of analysis is sent to central processing unit then CPU;
(14:After central processor CPU receives data data are analyzed and are processed, the result that then analysis is drawn Analogue signal is converted into through data converter again;
(15):After pending data is converted, controller is transferred data to, if finding there is solder skip or weldering in analytical data Connect inconsistent phenomenon, then controller will carry out warning reminding by alarm device, and related positional information logical display Shown;
(16):In the above-mentioned course of work, if the result that the data analysiss that camera head shoots draw is needed to the automatic welding Make corresponding adjustment in the position of connection device, then controller will according to the result of analysis to rotary shaft, underarm, upper arm and Carpal joint is finely adjusted, and allows which to meet the requirement of welding;
(17):According to above-mentioned method of work until all of pad is all welded after finishing, in whole welding process, once There is any abnormal problem, all buzzing warning will be carried out by alarm device, and while be shown by alarm display lamp Show, until handling failure releasing can;
(18):After the completion of welding, allow control order servomotor to quit work finally by operation keyboard, then allow successively Other equipment shuts down, and closes equipment finally by operation keyboard.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that:
1st, heretofore described a kind of Turbogrid plates special high-accuracy robot automatic soldering device, which is in automatic soldering device Camera head is set, the Turbogrid plates of required welding is shot by two groups of photographic head, then by the control in control device System processed carries out data processing and analysis to the image captured by photographic head, the accurate species for understanding required welding Turbogrid plates, The position of required welding and the quality of welding, so as to greatly improve the welding precision of the automatic soldering device, also carry The high efficiency of its welding.
2nd, in the present invention photographic head setting, the whole production process for being capable of Turbogrid plates recorded, realized to workpiece The course of processing in complete documentation, by record be analyzed, constantly the automatic soldering device can be carried out constantly Improvement and evening, allow its it is real realize intelligentized production, and then better met the demand of client.
3rd, heretofore described underarm, upper arm adopt streamlined arm, and, described upper arm inner hollow diameter is 42~ 50mm, the setting of streamlined arm can effectively reduce the interference region of arm and tool, so as to ensure that the automatic welding is hinged with Put and normally can work, and, the inner hollow diameter of upper arm is increased, can effectively increase the quantity of its built-in cable.
4th, the method for work of heretofore described a kind of Turbogrid plates special high-accuracy robot automatic soldering device, its work Make that method is simple, convenient, by the setting of camera head, allow the welder realize data transfer, automatic welding and from The automated production process that oneself checks, collects its degree of accuracy in the process of test and can reach 0.2mm, greatly improve Its welding accuracy, while robot arm continuously can work, resetting is accurate, the effective guarantor in whole welding process Demonstrate,proved the concordance of welding quality, so as to effectively reduce the error rate of operation, it is ensured that Product jointing it is preparatory, so as to big Improve greatly the yields of product, effectively raise the quality of product, solve well human weld appearance it is many Problem, and then allow which to better meet the demand of grid plate weld.
Description of the drawings
Fig. 1 is the structural representation of the present invention;
Fig. 2 for the present invention in be electrically connected schematic diagram;
In figure:Fixed seat -1, rotary shaft -2, underarm -3, upper arm -4, carpal joint -5, electric cabinet -6, welding gun -7, camera head -8, Industrial computer -9, welder -10, shooting control module -11, performs device -12, warning system -13, control system -14.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment, further elucidate the present invention.
Embodiment
A kind of Turbogrid plates special high-accuracy robot automatic soldering device as depicted in figs. 1 and 2, including:Fixed seat 1, Rotary shaft 2, underarm 3, upper arm 4, carpal joint 5 and electric cabinet 6, are provided with industrial computer 9, described industrial computer 9 in described electric cabinet 6 In be provided with control device, described control device includes welder 10, shooting control module 11, performs device 12, report to the police system System 13 and control system, are provided with using single-chip computer control system and controller in described control system 14;
The relation of above-mentioned each part is as follows:
In fixed seat 1, described underarm 3 is connected with rotary shaft 2 described rotary shaft 2 by alignment pin, described upper arm 4 It is connected with underarm 3 by alignment pin, described carpal joint 5 is connected with upper arm 4 by alignment pin, and, the one of described carpal joint 5 End is provided with welding gun 7 and camera head 8, is provided with photographic head in described camera head 8, described rotary shaft 2, underarm 3, upper arm 4, Carpal joint 5 and camera head 8 are connected with electric cabinet 6;
Wherein, Turbogrid plates data base is provided with described single-chip computer control system, and described welding gun 7 is connected with welder 10, Described camera head 8 is connected with shooting control module 11, described rotary shaft 2, underarm 3, upper arm 4 and carpal joint 5 with Performs device 12 connects, described welder 9, shooting control module 10, performs device 11 and warning system 13 with control Controller connection in system.
Be provided with carpal joint 5 described in the present embodiment for wrist rotation the first axis joint, for wrist swinging Second axis joint and the 3rd axis joint for wrist revolution, the two ends of described the first axis joint respectively with upper arm 4 and the Two axis joints connect, and the two ends of the 3rd described axis joint are connected with the second axis joint and welding gun 7.
Protective cover is additionally provided with camera head 8 described in the present embodiment, and described protective cover is located at the outside of photographic head, And, the reverse side of described camera head 8 located at carpal joint 5 is provided with 2 groups of photographic head in described camera head 8, described 2 groups Photographic head is made up of the first photographic head and second camera, is provided with camera lens and protective cover in front of the photographic head, and described One photographic head and second camera are connected with shooting control module 11.
Welder 10 described in the present embodiment includes welding tool setup, positioner, manipulator and weldering Work transfer device is connect, described positioner is connected with welding gun 7 and camera head 8, described welding tool setup, welding Operation machine and welding workpiece conveyer device are connected with control system 14, and they are engaged with welding gun 7, and described performs dress Put 12 to be made up of servomotor and pneumatic circuit, the pneumatic circuit is made up of source of the gas, control valve and cylinder, described servo electricity Machine and pneumatic circuit are connected with control system 14.
Underarm 3, upper arm 4 described in the present embodiment adopts streamlined arm, and, described 4 inner hollow diameter of upper arm is 42~50mm.
Electric cabinet 6 described in the present embodiment is provided with display and alarm device, is provided with report in described alarm device Alert device and alarm control unit, described alarm control unit are connected with warning system 13.
Control system described in the present embodiment adopts single-chip computer control system, and the control system is by central processing unit CPU, program memory ROM, data storage RAM, I/O mouth, data converter, data calculator, timer conter, outside in Disconnected and serial communication is constituted, and wherein, is provided with data analysiss contrast module, the first described shooting in described data calculator Head, second camera and alarm device are connected with the input of data storage RAM, the output of described data storage RAM End is connected with data converter, and described data converter is connected with data calculator, described program memory ROM, data Memory RAM, I/O mouths, data converter, data calculator, Turbogrid plates data base, timer conter, external interrupt and serial Communication is connected with central processor CPU.
Embodiment 2
A kind of Turbogrid plates special high-accuracy robot automatic soldering device as depicted in figs. 1 and 2, including:Fixed seat 1, rotation Axle 2, underarm 3, upper arm 4, carpal joint 5 and electric cabinet 6, are provided with industrial computer 9, set in described industrial computer 9 in described electric cabinet 6 There is control device, described control device includes welder 10, shooting control module 11, performs device 12, warning system 13 And control system, it is provided with using single-chip computer control system and controller in described control system 14;
The relation of above-mentioned each part is as follows:
In fixed seat 1, described underarm 3 is connected with rotary shaft 2 described rotary shaft 2 by alignment pin, described upper arm 4 It is connected with underarm 3 by alignment pin, described carpal joint 5 is connected with upper arm 4 by alignment pin, and, the one of described carpal joint 5 End is provided with welding gun 7 and camera head 8, is provided with photographic head in described camera head 8, described rotary shaft 2, underarm 3, upper arm 4, Carpal joint 5 and camera head 8 are connected with electric cabinet 6;
Wherein, Turbogrid plates data base is provided with described single-chip computer control system, and described welding gun 7 is connected with welder 10, Described camera head 8 is connected with shooting control module 11, described rotary shaft 2, underarm 3, upper arm 4 and carpal joint 5 with Performs device 12 connects, described welder 9, shooting control module 10, performs device 11 and warning system 13 with control Controller connection in system.
Be provided with carpal joint 5 described in the present embodiment for wrist rotation the first axis joint, for wrist swinging Second axis joint and the 3rd axis joint for wrist revolution, the two ends of described the first axis joint respectively with upper arm 4 and the Two axis joints connect, and the two ends of the 3rd described axis joint are connected with the second axis joint and welding gun 7.
Protective cover is additionally provided with camera head 8 described in the present embodiment, and described protective cover is located at the outside of photographic head, And, the reverse side of described camera head 8 located at carpal joint 5 is provided with 3 groups of photographic head in described camera head 8, described 3 groups Photographic head is by the first photographic head confirmed for Turbogrid plates species, the second camera for welding front position detection and for welding The 3rd photographic head for connecing rear quality testing is constituted, described the first photographic head, second camera and the 3rd photographic head with shooting Control module 11 connects.
Welder 10 described in the present embodiment includes welding tool setup, positioner, manipulator and weldering Work transfer device is connect, described positioner is connected with welding gun 7 and camera head 8, described welding tool setup, welding Operation machine and welding workpiece conveyer device are connected with control system 14, and they are engaged with welding gun 7, and described performs dress Put 12 to be made up of servomotor and pneumatic circuit, the pneumatic circuit is made up of source of the gas, control valve and cylinder, described servo electricity Machine and pneumatic circuit are connected with control system 14.
Underarm 3, upper arm 4 described in the present embodiment adopts streamlined arm, and, described 4 inner hollow diameter of upper arm is 42~50mm.
Electric cabinet 6 described in the present embodiment is provided with display and alarm device, is provided with report in described alarm device Alert device and alarm control unit, described alarm control unit are connected with warning system 13.
Control system described in the present embodiment adopts single-chip computer control system, and the control system is by central processing unit CPU, program memory ROM, data storage RAM, I/O mouth, data converter, data calculator, timer conter, outside in Disconnected and serial communication is constituted, and wherein, is provided with data analysiss contrast module, the first described shooting in described data calculator Head, second camera and alarm device are connected with the input of data storage RAM, the output of described data storage RAM End is connected with data converter, and described data converter is connected with data calculator, described program memory ROM, data Memory RAM, I/O mouths, data converter, data calculator, Turbogrid plates data base, timer conter, external interrupt and serial Communication is connected with central processor CPU.
A kind of method of work of the Turbogrid plates special high-accuracy robot automatic soldering device described in the present embodiment, it is described The welder specific works method it is as follows:
(1):Steel plate is suppressed by press welder first, then steel plate is divided according to the size of the needs of welding;
(2):After the completion for the treatment of that steel plate is divided, the species and pattern related data typing control system of the Turbogrid plates that client is needed In Turbogrid plates data base in 14 in single-chip computer control system;
(3):After pending data typing is good, start to start the automatic soldering device, then the various pieces in whole device are entered Working condition;
(4):Then welding workpiece is sent to welding workpiece conveyer device the station specified;
(5):After workpiece is sent to the station specified, staff needs the Turbogrid plates of processing to be located at carpal joint according to the batch The first photographic head in camera head 8 on 5 will be shot to the Turbogrid plates for needing welding;
(6):After the completion for the treatment of that the first above-mentioned photographic head shoots, it will convey data to the data storage in control system immediately Data are stored by device RAM;
(7):Then digital signal is converted into the analogue signal for storing by data converter, then transfers data to data meter Device is calculated, after the completion of pending data computer is to related data analysiss, the result of analysis central processor CPU will be sent to, so Central processor CPU transfers the welding data of the Turbogrid plates correlation of the species from Turbogrid plates data base afterwards;
(8):Then second camera will be shot to the position of required welding on the Turbogrid plates, then by the data after shooting Send the data storage RAM in control system to, data are stored;
(9):Then digital signal is converted into the analogue signal for storing by data converter, then transfers data to data meter Device is calculated, pending data computer is analyzed to the data for receiving, and draws the particular location for needing pad, then analysis Result be sent to central processor CPU;
(10):Then, after central processor CPU receives data, data are carried out after central processor CPU receives data Analyze and process, the result that analysis draws is converted into into analogue signal through data converter again then;
(11):After pending data is converted, transfer data to controller, then controller will order performs device 12 start Work, then performs device 12 will be welded by 7 pairs of points for needing welding of welding gun;
(12):After the completion for the treatment of that welding gun 7 is welded in previous step, for quality testing after welding the 3rd photographic head will be to welding after Turbogrid plates shot, and send the data shot after number to data storage RAM in control system, data carried out Storage;
(13):Then digital signal is converted into the analogue signal for storing by data converter, then transfers data to data Computer, pending data computer are analyzed to the data for receiving, and the result of analysis is sent to central processing unit then CPU;
(14:After central processor CPU receives data data are analyzed and are processed, the result that then analysis is drawn Analogue signal is converted into through data converter again;
(15):After pending data is converted, controller is transferred data to, if finding there is solder skip or weldering in analytical data Connect inconsistent phenomenon, then controller will carry out warning reminding by alarm device, and related positional information logical display Shown;
(16):In the above-mentioned course of work, if the result that the data analysiss that camera head 8 shoots draw is needed to the automatic welding Make corresponding adjustment in the position of connection device, then controller will be according to the result of analysis to rotary shaft 2, underarm 3, upper arm 4 And carpal joint 5 is finely adjusted, which is allowed to meet the requirement of welding;
(17):According to above-mentioned method of work until all of pad is all welded after finishing, in whole welding process, once There is any abnormal problem, all buzzing warning will be carried out by alarm device, and while be shown by alarm display lamp Show, until handling failure releasing can;
(18):After the completion of welding, allow control order servomotor to quit work finally by operation keyboard, then allow which successively He shuts down at equipment, closes equipment finally by operation keyboard.
The above is only the preferred embodiment of the present invention, it is noted that for those skilled in the art come Say, under the premise without departing from the principles of the invention, some improvement can also be made, these improvement also should be regarded as the protection of the present invention Scope.

Claims (10)

1. a kind of Turbogrid plates special high-accuracy robot automatic soldering device, it is characterised in that:Including:Fixed seat(1), rotary shaft (2), underarm(3), upper arm(4), carpal joint(5)And control device(6), wherein, described rotary shaft(2)Located at fixed seat(1) On, described underarm(3)By alignment pin and rotary shaft(2)Connection, described upper arm(4)By alignment pin and underarm(3)Even Connect, described carpal joint(5)By alignment pin and upper arm(4)Connection, and, described carpal joint(5)One end be provided with welding gun(7) And camera head(8), described camera head(8)In be provided with photographic head, described rotary shaft(2), underarm(3), upper arm(4)、 Carpal joint(5)And camera head(8)And control device(6)Connection;
Described control device(6)Including welder(10), shooting control module(11), performs device(12), warning system (13)And control system, wherein, described control system(14)In be provided with single-chip computer control system and controller, described monolithic Turbogrid plates data base, described welding gun is provided with machine control system(7)With welder(10)Connection, described camera head (8)With shooting control module(11)Connection, described rotary shaft(2), underarm(3), upper arm(4)And carpal joint(5)With hold Luggage is put(12)Connection, described welder(10), shooting control module(11), performs device(12)And warning system(13) It is connected with the controller in control system.
2. a kind of Turbogrid plates special high-accuracy robot automatic soldering device according to claim 1, it is characterised in that:Institute The carpal joint stated(5)In be provided with the first axis joint for wrist rotation, the second axis joint for wrist swinging and be used for 3rd axis joint of wrist revolution, the two ends of described the first axis joint respectively with upper arm(4)Connect with the second axis joint, it is described The 3rd axis joint two ends respectively with the second axis joint and welding gun(7)Connection.
3. a kind of Turbogrid plates special high-accuracy robot automatic soldering device according to claim 1, it is characterised in that:Institute The camera head stated(8)Located at carpal joint(5)Reverse side.
4. a kind of Turbogrid plates special high-accuracy robot automatic soldering device according to claim 1, it is characterised in that:Institute The welder stated(10)It is including welding tool setup, positioner, manipulator and welding workpiece conveyer device, described Positioner and welding gun(7)And camera head(8)Connection, described welding tool setup, manipulator and Welder Part conveyer device is and control system(14)Connection, and they are and welding gun(7)It is engaged.
5. a kind of Turbogrid plates special high-accuracy robot automatic soldering device according to claim 1, it is characterised in that:Institute The performs device stated(12)It is made up of servomotor and pneumatic circuit, the pneumatic circuit is made up of source of the gas, control valve and cylinder, Described servomotor and pneumatic circuit are and control system(14)Connection.
6. a kind of Turbogrid plates special high-accuracy robot automatic soldering device according to claim 1, it is characterised in that:Institute The underarm stated(3), upper arm(4)Streamlined arm is adopted, and, described upper arm(4)Inner hollow diameter is 42~50mm.
7. a kind of Turbogrid plates special high-accuracy robot automatic soldering device according to claim 1, it is characterised in that:Institute The camera head stated(8)In be provided with one group of photographic head, described photographic head by the first photographic head confirmed for Turbogrid plates model, Constitute for welding the second camera of front position detection and being used for the 3rd photographic head of quality testing after welding, the photographic head Front is provided with camera lens, filter and protective cover, described the first photographic head, second camera and the 3rd photographic head with shooting control Module(11)Connection.
8. a kind of Turbogrid plates special high-accuracy robot automatic soldering device according to claim 1, it is characterised in that:Institute The electric cabinet stated(6)Display and alarm device is provided with, alarm and alarm control unit in described alarm device, is provided with, Described alarm control unit and warning system(13)Connection.
9. a kind of Turbogrid plates special high-accuracy robot automatic soldering device according to claim 1, it is characterised in that:Institute The control system stated adopts single-chip computer control system, and the control system is by central processor CPU, program memory ROM, data Memory RAM, I/O mouths, data converter, data calculator, timer conter, external interrupt and serial communication are constituted, wherein, It is provided with data analysiss contrast module in described data calculator, described the first photographic head, second camera and alarm device It is connected with the input of data storage RAM, the outfan of described data storage RAM is connected with data converter, described Data converter be connected with data calculator, described program memory ROM, data storage RAM, I/O mouth, data conversion Device, data calculator, Turbogrid plates data base, timer conter, external interrupt and serial communication are connected with central processor CPU Connect.
10. a kind of method of work of Turbogrid plates special high-accuracy robot automatic soldering device, it is characterised in that:The described weldering The specific works method of connection device is as follows:
Steel plate is suppressed by press welder first, then steel plate is divided according to the size of the needs of welding;
(2):After the completion for the treatment of that steel plate is divided, the species and pattern related data typing control system of the Turbogrid plates that client is needed (14)In Turbogrid plates data base in middle single-chip computer control system;
(3):After pending data typing is good, start to start the automatic soldering device, then the various pieces in whole device are entered Working condition;
(4):Then welding workpiece is sent to welding workpiece conveyer device the station specified;
(5):After workpiece is sent to the station specified, staff needs the Turbogrid plates of processing to be located at carpal joint according to the batch (5)On camera head(8)In the first photographic head will to need welding Turbogrid plates shoot;
(6):After the completion for the treatment of that the first above-mentioned photographic head shoots, it will convey data to the data storage in control system immediately Data are stored by device RAM;
(7):Then digital signal is converted into the analogue signal for storing by data converter, then transfers data to data meter Device is calculated, after the completion of pending data computer is to related data analysiss, the result of analysis central processor CPU will be sent to, so Central processor CPU transfers the welding data of the Turbogrid plates correlation of the species from Turbogrid plates data base afterwards;
(8):Then second camera will be shot to the position of required welding on the Turbogrid plates, then by the data after shooting Send the data storage RAM in control system to, data are stored;
(9):Then digital signal is converted into the analogue signal for storing by data converter, then transfers data to data meter Device is calculated, pending data computer is analyzed to the data for receiving, and draws the particular location for needing pad, then analysis Result be sent to central processor CPU;
(10):Then, after central processor CPU receives data, data are carried out after central processor CPU receives data Analyze and process, the result that analysis draws is converted into into analogue signal through data converter again then;
(11):After pending data is converted, controller is transferred data to, then controller will order performs device(12)Open Beginning work, then performs device 12 points of welding will be needed to weld by welding gun 7 pairs;
(12):Treat welding gun in previous step(7)After the completion of welding, the 3rd photographic head for quality testing after welding will be to welding Turbogrid plates afterwards are shot, and the data shot after number are sent to the data storage RAM in control system, and data are entered Row storage;
(13):Then digital signal is converted into the analogue signal for storing by data converter, then transfers data to data Computer, pending data computer are analyzed to the data for receiving, and the result of analysis is sent to central processing unit then CPU;
(14:After central processor CPU receives data data are analyzed and are processed, the result that then analysis is drawn Analogue signal is converted into through data converter again;
(15):After pending data is converted, controller is transferred data to, if finding there is solder skip or weldering in analytical data Connect inconsistent phenomenon, then controller will carry out warning reminding by alarm device, and related positional information logical display Shown;
(16):In the above-mentioned course of work, if camera head(8)The result that the data analysiss of shooting draw needs automatic to this Make corresponding adjustment in the position of welder, then controller will be according to the result of analysis to rotary shaft(2), underarm(3)、 Upper arm(4)And carpal joint(5)It is finely adjusted, allows which to meet the requirement of welding;
(17):According to above-mentioned method of work until all of pad is all welded after finishing, in whole welding process, once There is any abnormal problem, all buzzing warning will be carried out by alarm device, and while be shown by alarm display lamp Show, until handling failure releasing can;
(18):After the completion of welding, allow control order servomotor to quit work finally by operation keyboard, then allow which successively He shuts down at equipment, closes equipment finally by operation keyboard.
CN201611063045.9A 2016-11-28 2016-11-28 A kind of Turbogrid plates special high-accuracy robot automatic welding device and its working method Active CN106514077B (en)

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