CN106514077B - A kind of Turbogrid plates special high-accuracy robot automatic welding device and its working method - Google Patents
A kind of Turbogrid plates special high-accuracy robot automatic welding device and its working method Download PDFInfo
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- CN106514077B CN106514077B CN201611063045.9A CN201611063045A CN106514077B CN 106514077 B CN106514077 B CN 106514077B CN 201611063045 A CN201611063045 A CN 201611063045A CN 106514077 B CN106514077 B CN 106514077B
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
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Abstract
The invention discloses a kind of Turbogrid plates special high-accuracy robot automatic welding devices, it include: fixing seat, rotary shaft, lower arm, upper arm, wrist joint and electric cabinet, wherein, rotary shaft is set in fixing seat, lower arm passes through positioning pin and rotation axis connection, upper arm is connect by positioning pin with lower arm, wrist joint is connect by positioning pin with upper arm, and, carpal one end is equipped with welding gun and photographic device, camera is equipped in photographic device, rotary shaft, lower arm, upper arm, wrist joint and photographic device are connect with electric cabinet.Photographic device is arranged in the present invention in automatic soldering device, the Turbogrid plates of required welding are shot by three groups of cameras, then data processing and analysis are carried out to image captured by camera by the control system in control device, the accurate type for understanding required welding Turbogrid plates, the position of required welding and the quality of welding, to greatly improve the welding accuracy of the automatic soldering device.
Description
Technical field
The invention belongs to the field of manufacturing, in particular to a kind of Turbogrid plates special high-accuracy robot automatic welding device
And its working method.
Background technique
Steel grating plate carbon dioxide gas is mainly used for the edge sealing work of steel grating plate, welds most of enterprise all still
It is welded by the way of human weld, the workload of work is very big, simultaneously as people is most of during the welding process
It is all to be welded by naked eyes, the quality of welding is not sufficiently stable, and since the controllability of people is poor, thus the quality welded is very
It is hard to keep consistent, higher for the technical requirements of welder since its pad is more intensive, welding position and parameter matching
It is not easy the problem of keeping best, usually will appear rosin joint, solder skip during the welding process, and the gas meeting that welding process generates
There is certain injury to human body, thus human weld will become inevitable by substitution.
With the rapid development of social economy, the rhythm that either people's lives still work all constantly is being accelerated,
The production of enterprise is also in this way, most of enterprise all gradually replaces manual operation using mechanical automation.It is many at present
Enterprise can all be welded using robot, higher cost, since the operation of steel grating plate welding is excessively cumbersome, and, simultaneously
It is not the product custom-made striven to welding, some techniques are difficult to complete or cannot achieve, the production of existing steel grating plate
It will appear many metallic dusts in environment, automatic soldering device can be put forward higher requirements in this way, thus existing steel lattice
The welding technique of screen needs to improve.
Summary of the invention
Goal of the invention: in order to overcome the above deficiency, the object of the present invention is to provide a kind of Turbogrid plates special high-accuracy machines
People's automatic soldering device, structure is simple, and design rationally, is readily produced, high degree of automation, reduces manual labor amount, improves
The accuracy of its welding.
Technical solution: to achieve the goals above, the present invention provides a kind of Turbogrid plates special high-accuracy robot is automatic
Welder, comprising: fixing seat, rotary shaft, lower arm, upper arm, wrist joint and electric cabinet, wherein the rotary shaft is set to solid
In reservation, by positioning pin and rotation axis connection, the upper arm is connect by positioning pin with lower arm the lower arm, described
Wrist joint is connect by positioning pin with upper arm, and, described carpal one end is equipped with welding gun and photographic device, the camera shooting
Camera is equipped in device, the rotary shaft, lower arm, upper arm, wrist joint and photographic device are connect with electric cabinet；
In the photographic device be equipped with one group of camera, the camera by confirm for Turbogrid plates model first
Camera, for weld front position detection second camera and for weld after quality testing third camera constitute, it is described
The front of camera be equipped with camera lens, filter and protective cover, first camera, second camera and third camera with
Camera control module connection；It is equipped with industrial personal computer in the electric cabinet, is equipped with control device, the control in the industrial personal computer
Device processed includes welder, camera control module, executive device, alarm system and control system, wherein the control system
It is equipped in system and uses single-chip computer control system and controller, be equipped with Turbogrid plates database, institute in the single-chip computer control system
The welding gun stated is connect with welder, and the photographic device is connect with camera control module, the rotary shaft, lower arm, on
Arm and wrist joint are connect with executive device, and the welder, camera control module, executive device and alarm system are equal
It is connect with the controller in control system.
Heretofore described a kind of Turbogrid plates special high-accuracy robot automatic welding device, in automatic soldering device
Middle setting photographic device shoots the Turbogrid plates of required welding by three groups of cameras, then by control device
Control system carries out data processing and analysis, the accurate kind for understanding required welding Turbogrid plates to image captured by camera
Class, the position of required welding and the quality of welding, so that the welding accuracy of the automatic soldering device is greatly improved,
Improve the efficiency of its welding；Meanwhile the setting of camera, the entire production process for capableing of Turbogrid plates are recorded, are realized
To the complete documentation in the process of workpiece, by analyzing record, can constantly to the automatic soldering device into
Row is continuous to be improved and at night, allows it really to realize intelligentized production, and then better met the demand of client.
The first axis joint for wrist rotation is equipped in heretofore described wrist joint, for the second of wrist swinging
Axis joint and the third axis joint turned round for wrist, the both ends of first axis joint are closed with upper arm and the second axis respectively
Section connection, the both ends of the third axis joint are connect with the second axis joint and welding gun, and the wrist joint is designed using multiaxis,
It allows it that can realize flexible rotation according to the demand of production, greatly improves carpal flexibility, to make it more preferable
Meet production and processing the needs of.
Protective cover is additionally provided in heretofore described photographic device, the protective cover is set to the outside of camera, and,
The photographic device be set to carpal reverse side, the design of the protective cover, and, be set to carpal reverse side, Neng Gouyou
Effect prevents camera to be contaminated during the work time, thus play a very good protection to photographic device, it can be effective
Extend its service life for using.
Heretofore described welder includes welding tool setup, positioner, manipulator and Welder
Part conveying device, the positioner are connect with welding gun and photographic device, the welding tool setup, manipulator
It is connect with control system with welding workpiece conveying device, and they are matched with welding gun.
Heretofore described executive device is made of servo motor and pneumatic circuit, and the pneumatic circuit is by gas source, control
Valve and cylinder processed are constituted, and the servo motor and pneumatic circuit are connect with control system.
Heretofore described lower arm, upper arm are all made of streamlined arm, and, the upper arm inner hollow diameter is 42~
50mm, the setting of streamlined arm can effectively reduce the interference region of arm and jig, to guarantee that the automatic welding is hinged with
Setting normally to work, and, the inner hollow diameter of upper arm is increased, the quantity of its built-in cable can be effectively increased.
Heretofore described electric cabinet is equipped with display and warning device, is equipped with alarm in the warning device
And alarm control unit, the alarm control unit are connect with alarm system, the setting of the display, it being capable of intuitive handle
The working condition of the welder is shown, is believed work piece production convenient for staff the investigation of failure and staff
Breath is understood and grasped；Meanwhile once any problem occurs during the work time in robot arm, alarm system will be immediately
Staff is notified by loudspeaker and alarm lamp, allow them timely to handle failure, thus effectively
The generation because of failure solder skip and rosin joint or even heavy losses to caused by is avoided, to substantially increase the safety and stabilization of welding
Property, further ensure the quality of welding.
Heretofore described control system use single-chip computer control system, the control system by central processor CPU,
Program memory ROM, RAM, I/O mouthfuls of data storage, data converter, data calculator, timer conter, external interrupt and
Serial communication is constituted, wherein is equipped with data in the data calculator and is analyzed contrast module, first camera, the
Two cameras and warning device are connect with the input terminal of data storage RAM, the output end and number of the data storage RAM
It is connected according to converter, the data converter is connect with data calculator, the program memory ROM, data storage
RAM, I/O mouthfuls, data converter, data calculator, Turbogrid plates database, timer conter, external interrupt and serial communication are equal
It is connect with central processor CPU.
A kind of working method of heretofore described Turbogrid plates special high-accuracy robot automatic welding device, it is described
The specific works method of the welder is as follows:
(1): steel plate being suppressed by press welder first, then steel plate is drawn according to the size of the needs of welding
Point；
(2): after the completion of steel plate division, the type for the Turbogrid plates that client is needed and pattern related data typing are controlled
In Turbogrid plates database in system in single-chip computer control system；
(3): after pending data typing is good, starting to start the automatic soldering device, then the various pieces in whole device are equal
Into working condition；
(4): and then welding workpiece is sent to specified station by welding workpiece conveying device；
(5): after being sent to specified station after workpiece, staff is set to wrist according to the Turbogrid plates that the batch needs to process
The Turbogrid plates that the first camera in photographic device on joint will weld needs are shot；
(6): after the completion of above-mentioned the first camera shooting, it will convey data to the data in control system immediately
Memory RAM stores data；
(7): and then digital signal is converted by analog signal of the data converter to storage, then transfer data to number
According to calculator, after the completion of pending data calculator analyzes relevant data, the result of analysis will be sent to central processing unit
CPU, then central processor CPU transfers the relevant welding data of Turbogrid plates of the type from Turbogrid plates database；
(8): and then second camera will shoot the position of required welding on the Turbogrid plates, it then will be after shooting
Data transmission stores data to the data storage RAM in control system；
(9): and then digital signal is converted by analog signal of the data converter to storage, then transfer data to number
According to calculator, pending data calculator analyzes the data received, and obtains the specific location for needing pad, then
The result of analysis is sent to central processor CPU；
(10): and then after central processor CPU receives data, to data after central processor CPU receives data
It is analyzed and is handled, the result that analysis obtains then is converted into analog signal using data converter；
(11): after pending data converts, transfer data to controller, then controller will order executive device open
Beginning work, then executive device welds the point welded by welding gun to needs；
(12): after the completion of welding gun welding in previous step, the third camera for quality testing after welding is by butt welding
Turbogrid plates after connecing are shot, and by the data transmission after shooting number to the data storage RAM in control system, to data
It is stored；
(13): and then digital signal is converted by analog signal of the data converter to storage, then transfer data to
Data calculator, pending data calculator analyze the data received, and the result of analysis is then sent to central processing
Device CPU；
(14: data being analyzed and handled after central processor CPU receives data, then obtain analysis
As a result analog signal is converted into using data converter；
(15): after pending data converts, transfer data to controller, if analysis data in discovery have solder skip or
It is welding inconsistent phenomenon, then controller will carry out warning reminding by warning device, and relevant location information is held high office
Show that device is shown；
(16): in the above-mentioned course of work, if the result that the data analysis of photographic device shooting obtains is needed to this certainly
Corresponding adjustment is made in the position of dynamic welder, then controller will be according to the result of analysis to rotary shaft, lower arm, upper arm
And wrist joint is finely adjusted, it is allowed to meet the requirement of welding；
(17): according to above-mentioned working method until after all pads all weld, in entire welding process
In, once there is any abnormal problem, all buzzing alarm will be carried out by warning device, and pass through alarm display lamp simultaneously
It is shown, until handling failure releasing can；
(18): after the completion of welding, stopping working finally by operation keyboard by control order servo motor, then successively
It allows other equipment to shut down, closes equipment finally by operation keyboard.
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects:
1, heretofore described a kind of Turbogrid plates special high-accuracy robot automatic welding device is hinged in automatic welding
Photographic device is centered, the Turbogrid plates of required welding are shot by two groups of cameras, then by control device
Control system data processing and analysis carried out to image captured by camera, it is accurate understand needed for welding Turbogrid plates kind
Class, the position of required welding and the quality of welding, so that the welding accuracy of the automatic soldering device is greatly improved,
Improve the efficiency of its welding.
2, in the present invention camera setting, the entire production process for capableing of Turbogrid plates recorded, realized to workpiece
Process in complete documentation constantly the automatic soldering device can be carried out continuous by analyzing record
Improvement and evening, allow it really to realize intelligentized production, and then better met the demand of client.
3, heretofore described lower arm, upper arm are all made of streamlined arm, and, the upper arm inner hollow diameter be 42~
50mm, the setting of streamlined arm can effectively reduce the interference region of arm and jig, to guarantee that the automatic welding is hinged with
Setting normally to work, and, the inner hollow diameter of upper arm is increased, the quantity of its built-in cable can be effectively increased.
4, the working method of heretofore described a kind of Turbogrid plates special high-accuracy robot automatic welding device, work
Make that method is simple, convenient, by the setting of photographic device, allow the welder realize data transfer, automatic welding and from
The automated production process that oneself checks, 0.2mm can be reached by summarizing its accuracy in the process of test, be greatly improved
Its weld accuracy, while robot arm can continuous work, resetting is accurate, the effective guarantor in entire welding process
The consistency of welding quality has been demonstrate,proved, to effectively reduce the error rate of operation, has guaranteed the preparatory of Product jointing, thus greatly
Improve the yields of product greatly, effectively raise the quality of product, the very good solution appearance of human weld it is many
Problem, and then it is allowed to better meet the demand of Turbogrid plates welding.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is to be electrically connected schematic diagram in the present invention；
In figure: fixing seat -1, rotary shaft -2, lower arm -3, upper arm -4, wrist joint -5, electric cabinet -6, welding gun -7, camera shooting dress
Set -8, industrial personal computer -9, welder -10, camera control module -11, executive device -12, alarm system -13, control system -
14。
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated.
Embodiment
A kind of Turbogrid plates special high-accuracy robot automatic welding device as depicted in figs. 1 and 2, comprising: fixing seat 1,
Rotary shaft 2, lower arm 3, upper arm 4, wrist joint 5 and electric cabinet 6 are equipped with industrial personal computer 9, the industrial personal computer 9 in the electric cabinet 6
In be equipped with control device, the control device include welder 10, camera control module 11, executive device 12, alarm system
System 13 and control system is equipped in the control system 14 and uses single-chip computer control system and controller；
The relationship of above-mentioned each component is as follows:
The rotary shaft 2 is set in fixing seat 1, and the lower arm 3 is connect by positioning pin with rotary shaft 2, described
Upper arm 4 is connect by positioning pin with lower arm 3, and the wrist joint 5 is connect by positioning pin with upper arm 4, and, the wrist joint
5 one end is equipped with welding gun 7 and photographic device 8, is equipped with camera in the photographic device 8, the rotary shaft 2, lower arm 3,
Upper arm 4, wrist joint 5 and photographic device 8 are connect with electric cabinet 6；
Wherein, Turbogrid plates database, the welding gun 7 and welder 10 are equipped in the single-chip computer control system
Connection, the photographic device 8 are connect with camera control module 11, the rotary shaft 2, lower arm 3, upper arm 4 and wrist joint 5
Connect with executive device 12, the welder 9, camera control module 10, executive device 11 and alarm system 13 with
Controller connection in control system.
The first axis joint for wrist rotation is equipped in wrist joint 5 described in the present embodiment, for wrist swinging
Second axis joint and third axis joint for wrist revolution, the both ends of first axis joint respectively with upper arm 4 and the
The connection of two axis joints, the both ends of the third axis joint are connect with the second axis joint and welding gun 7.
Protective cover is additionally provided in photographic device 8 described in the present embodiment, the protective cover is set to the outside of camera,
And the photographic device 8 is set to the reverse side of wrist joint 5, is equipped with 2 groups of cameras in the photographic device 8, described 2 groups
Camera is made of the first camera and second camera, and the front of the camera is equipped with camera lens and protective cover, and described the
One camera and second camera are connect with camera control module 11.
Welder 10 described in the present embodiment includes welding tool setup, positioner, manipulator and weldering
Work transfer device is connect, the positioner is connect with welding gun 7 and photographic device 8, the welding tool setup, welding
Operation machine and welding workpiece conveying device are connect with control system 14, and they are matched with welding gun 7, and described executes dress
It sets 12 to be made of servo motor and pneumatic circuit, the pneumatic circuit is made of gas source, control valve and cylinder, the servo electricity
Machine and pneumatic circuit are connect with control system 14.
Lower arm 3 described in the present embodiment, upper arm 4 are all made of streamlined arm, and, 4 inner hollow diameter of upper arm is
42~50mm.
Electric cabinet 6 described in the present embodiment is equipped with display and warning device, is equipped with report in the warning device
Alert device and alarm control unit, the alarm control unit are connect with alarm system 13.
Control system described in the present embodiment uses single-chip computer control system, and the control system is by central processing unit
CPU, program memory ROM, RAM, I/O mouthfuls of data storage, data converter, data calculator, timer conter, outside in
Disconnected and serial communication is constituted, wherein is equipped with data in the data calculator and is analyzed contrast module, first camera shooting
Head, second camera and warning device are connect with the input terminal of data storage RAM, the output of the data storage RAM
End is connect with data converter, and the data converter is connect with data calculator, the program memory ROM, data
Memory RAM, I/O mouthfuls, data converter, data calculator, Turbogrid plates database, timer conter, external interrupt and serial
Communication is connect with central processor CPU.
Embodiment 2
A kind of Turbogrid plates special high-accuracy robot automatic welding device as depicted in figs. 1 and 2, comprising: fixing seat 1,
Rotary shaft 2, lower arm 3, upper arm 4, wrist joint 5 and electric cabinet 6 are equipped with industrial personal computer 9, the industrial personal computer 9 in the electric cabinet 6
In be equipped with control device, the control device include welder 10, camera control module 11, executive device 12, alarm system
System 13 and control system is equipped in the control system 14 and uses single-chip computer control system and controller；
The relationship of above-mentioned each component is as follows:
The rotary shaft 2 is set in fixing seat 1, and the lower arm 3 is connect by positioning pin with rotary shaft 2, described
Upper arm 4 is connect by positioning pin with lower arm 3, and the wrist joint 5 is connect by positioning pin with upper arm 4, and, the wrist joint
5 one end is equipped with welding gun 7 and photographic device 8, is equipped with camera in the photographic device 8, the rotary shaft 2, lower arm 3,
Upper arm 4, wrist joint 5 and photographic device 8 are connect with electric cabinet 6；
Wherein, Turbogrid plates database, the welding gun 7 and welder 10 are equipped in the single-chip computer control system
Connection, the photographic device 8 are connect with camera control module 11, the rotary shaft 2, lower arm 3, upper arm 4 and wrist joint 5
Connect with executive device 12, the welder 9, camera control module 10, executive device 11 and alarm system 13 with
Controller connection in control system.
The first axis joint for wrist rotation is equipped in wrist joint 5 described in the present embodiment, for wrist swinging
Second axis joint and third axis joint for wrist revolution, the both ends of first axis joint respectively with upper arm 4 and the
The connection of two axis joints, the both ends of the third axis joint are connect with the second axis joint and welding gun 7.
Protective cover is additionally provided in photographic device 8 described in the present embodiment, the protective cover is set to the outside of camera,
And the photographic device 8 is set to the reverse side of wrist joint 5, is equipped with 3 groups of cameras in the photographic device 8, described 3 groups
Camera by confirm for Turbogrid plates type the first camera, for weld front position detection second camera and for welding
Connect rear quality testing third camera constitute, first camera, second camera and third camera with camera 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, the positioner is connect with welding gun 7 and photographic device 8, the welding tool setup, welding
Operation machine and welding workpiece conveying device are connect with control system 14, and they are matched with welding gun 7, and described executes dress
It sets 12 to be made of servo motor and pneumatic circuit, the pneumatic circuit is made of gas source, control valve and cylinder, the servo electricity
Machine and pneumatic circuit are connect with control system 14.
Lower arm 3 described in the present embodiment, upper arm 4 are all made of streamlined arm, and, 4 inner hollow diameter of upper arm is
42~50mm.
Electric cabinet 6 described in the present embodiment is equipped with display and warning device, is equipped with report in the warning device
Alert device and alarm control unit, the alarm control unit are connect with alarm system 13.
Control system described in the present embodiment uses single-chip computer control system, and the control system is by central processing unit
CPU, program memory ROM, RAM, I/O mouthfuls of data storage, data converter, data calculator, timer conter, outside in
Disconnected and serial communication is constituted, wherein is equipped with data in the data calculator and is analyzed contrast module, first camera shooting
Head, second camera and warning device are connect with the input terminal of data storage RAM, the output of the data storage RAM
End is connect with data converter, and the data converter is connect with data calculator, the program memory ROM, data
Memory RAM, I/O mouthfuls, data converter, data calculator, Turbogrid plates database, timer conter, external interrupt and serial
Communication is connect with central processor CPU.
A kind of working method of Turbogrid plates special high-accuracy robot automatic welding device, described described in the present embodiment
The welder specific works method it is as follows:
(1): steel plate being suppressed by press welder first, then steel plate is drawn according to the size of the needs of welding
Point；
(2): after the completion of steel plate division, the type for the Turbogrid plates that client is needed and pattern related data typing are controlled
In Turbogrid plates database in system 14 in single-chip computer control system；
(3): after pending data typing is good, starting to start the automatic soldering device, then the various pieces in whole device are equal
Into working condition；
(4): and then welding workpiece is sent to specified station by welding workpiece conveying device；
(5): after being sent to specified station after workpiece, staff is set to wrist according to the Turbogrid plates that the batch needs to process
The Turbogrid plates that the first camera in photographic device 8 on joint 5 will weld needs are shot；
(6): after the completion of above-mentioned the first camera shooting, it will convey data to the data in control system immediately
Memory RAM stores data；
(7): and then digital signal is converted by analog signal of the data converter to storage, then transfer data to number
According to calculator, after the completion of pending data calculator analyzes relevant data, the result of analysis will be sent to central processing unit
CPU, then central processor CPU transfers the relevant welding data of Turbogrid plates of the type from Turbogrid plates database；
(8): and then second camera will shoot the position of required welding on the Turbogrid plates, it then will be after shooting
Data transmission stores data to the data storage RAM in control system；
(9): and then digital signal is converted by analog signal of the data converter to storage, then transfer data to number
According to calculator, pending data calculator analyzes the data received, and obtains the specific location for needing pad, then
The result of analysis is sent to central processor CPU；
(10): and then after central processor CPU receives data, to data after central processor CPU receives data
It is analyzed and is handled, the result that analysis obtains then is converted into analog signal using data converter；
(11): after pending data converts, transferring data to controller, then controller will order executive device 12
It starts to work, then executive device 12 will need the point welded to weld by 7 pairs of welding gun；
(12): after the completion of welding gun 7 in previous step welds, the third camera for quality testing after welding is by butt welding
Turbogrid plates after connecing are shot, and by the data transmission after shooting number to the data storage RAM in control system, to data
It is stored；
(13): and then digital signal is converted by analog signal of the data converter to storage, then transfer data to
Data calculator, pending data calculator analyze the data received, and the result of analysis is then sent to central processing
Device CPU；
(14: data being analyzed and handled after central processor CPU receives data, then obtain analysis
As a result analog signal is converted into using data converter；
(15): after pending data converts, transfer data to controller, if analysis data in discovery have solder skip or
It is welding inconsistent phenomenon, then controller will carry out warning reminding by warning device, and relevant location information is held high office
Show that device is shown；
(16): in the above-mentioned course of work, if the result that the data analysis that photographic device 8 is shot obtains is needed to this certainly
Corresponding adjustment is made in the position of dynamic welder, then controller will according to the result of analysis to rotary shaft 2, lower arm 3, on
Arm 4 and wrist joint 5 are finely adjusted, it is allowed to meet the requirement of welding；
(17): according to above-mentioned working method until after all pads all weld, in the whole welding process,
Once there is any abnormal problem, all will carry out buzzing alarm by warning device, and simultaneously by alarm display lamp into
Row display, until handling failure releasing can；
(18): after the completion of welding, stopping working finally by operation keyboard by control order servo motor, then successively
It allows other equipment to shut down, closes equipment finally by operation keyboard.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as of the invention
Protection scope.
Claims (2)
1. a kind of working method of Turbogrid plates special high-accuracy robot automatic welding device, it is characterised in that: the wherein grid
Plate special high-accuracy robot automatic welding device includes: fixing seat (1), rotary shaft (2), lower arm (3), upper arm (4), wrist joint
(5) and control device (6), wherein the rotary shaft (2) is set on fixing seat (1), and the lower arm (3) passes through positioning pin
It is connect with rotary shaft (2), the upper arm (4) is connect by positioning pin with lower arm (3), and the wrist joint (5) passes through positioning
Pin is connect with upper arm (4), and, one end of the wrist joint (5) is equipped with welding gun (7) and photographic device (8), the camera shooting dress
It sets and is equipped with camera in (8), the rotary shaft (2), lower arm (3), upper arm (4), wrist joint (5) and photographic device (8) are equal
It is connect with control device (6)；
The control device (6) includes welder (10), camera control module (11), executive device (12), alarm system
(13) and control system, wherein single-chip computer control system, the single-chip computer control system are equipped in the control system (14)
In be equipped with controller, Turbogrid plates database, the welding gun (7) and welder are equipped in the single-chip computer control system
(10) it connects, the photographic device (8) is connect with camera control module (11), the rotary shaft (2), lower arm (3), upper arm
(4) and wrist joint (5) is connect with executive device (12), and the welder (10), executes camera control module (11)
Device (12) and alarm system (13) are connect with the controller in control system；
The photographic device (8) is set to the reverse side of wrist joint (5), and the lower arm (3), upper arm (4) are all made of streamlined hand
Arm, and, the upper arm (4) inner hollow diameter is 42~50mm；One group of camera is equipped in the photographic device (8), it is described
Camera by confirm for Turbogrid plates model the first camera, for weld front position detection second camera and be used for
Quality testing third camera is constituted after welding, and the front of the camera is equipped with camera lens, filter and protective cover, and described first
Camera, second camera and third camera are connect with camera control module (11)；It is equipped with and uses in the wrist joint (5)
The first axis joint in wrist rotation, the second axis joint for wrist swinging and the third axis joint for wrist revolution,
The both ends of first axis joint are connect with upper arm (4) and the second axis joint respectively, the both ends point of the third axis joint
It is not connect with the second axis joint and welding gun (7)；The welder (10) includes welding tool setup, positioner, weldering
Operation machine and welding workpiece conveying device are connect, the positioner is connect with welding gun (7) and photographic device (8), described
Welding tool setup, manipulator and welding workpiece conveying device are connect with control system (14), and they are and welding gun
(7) it matches；The executive device (12) is made of servo motor and pneumatic circuit, and the pneumatic circuit is by gas source, control
Valve and cylinder are constituted, and the servo motor and pneumatic circuit are connect with control system (14)；On the control device (6)
Equipped with display and warning device, alarm and alarm control unit, the controlling alarm are equipped in the warning device
Device is connect with alarm system (13)；
The specific works method of the welder is as follows:
(1): steel plate being suppressed by press welder first, then steel plate is divided according to the size of the needs of welding；
(2): after the completion of steel plate division, the type and pattern related data typing control system (14) of the Turbogrid plates that client is needed
In Turbogrid plates database in middle single-chip computer control system；
(3): after pending data typing is good, starting to start the automatic soldering device, then the various pieces in whole device enter
Working condition；
(4): and then welding workpiece is sent to specified station by welding workpiece conveying device；
(5): after being sent to specified station after workpiece, the first camera being set in the photographic device (8) on wrist joint (5) will
The Turbogrid plates that can be welded to needs are shot；
(6): after the completion of above-mentioned the first camera shooting, it will convey data to the data storage in control system immediately
Device RAM, stores data；
(7): and then digital signal is converted by analog signal of the data converter to storage, then transfer data to data meter
Central processor CPU will be sent to the result of analysis, so after the completion of pending data calculator analyzes relevant data by calculating device
Central processor CPU transfers the relevant welding data of Turbogrid plates of the type from Turbogrid plates database afterwards；
(8): and then second camera will shoot the position of required welding on the Turbogrid plates, then by the data after shooting
It sends the data storage RAM in control system to, data is stored；
(9): and then digital signal is converted by analog signal of the data converter to storage, then transfer data to data meter
Device is calculated, pending data calculator analyzes the data received, and obtains the specific location for needing pad, then analysis
Result be sent to central processor CPU；
(10): and then after central processor CPU receives data, data are carried out after central processor CPU receives data
It analyzes and handles, the result that analysis obtains then is converted into analog signal using data converter；
(11): after pending data converts, transfer data to controller, then controller will order executive device (12) open
Beginning work, then executive device (12) welds the point welded by welding gun (7) to needs；
(12): after the completion of welding gun in previous step (7) welding, the third camera for quality testing after welding will be to welding
Turbogrid plates afterwards are shot, and will shoot the data transmission after number to the data storage RAM in control system, to data into
Row storage；
(13): and then digital signal is converted by analog signal of the data converter to storage, then transfer data to data
Calculator, pending data calculator analyze the data received, and the result of analysis is then sent to central processing unit
CPU；
(14): data are analyzed and handled after central processor CPU receives data, the result for then obtaining analysis
Analog signal is converted into using data converter；
(15): after pending data converts, controller is transferred data to, if discovery has solder skip either to weld in analysis data
Inconsistent phenomenon is connect, then controller will carry out warning reminding by warning device, and relevant location information is passed through display
Device is shown；
(16): in the above-mentioned course of work, if the result needs that the data analysis of photographic device (8) shooting obtains are automatic to this
Corresponding adjustment is made in the position of welder, then controller will according to the result of analysis to rotary shaft (2), lower arm (3),
Upper arm (4) and wrist joint (5) are finely adjusted, it is allowed to meet the requirement of welding；
(17): all pads are welded according to above-mentioned working method, in above-mentioned entire welding process, once go out
What incumbent abnormal problem all will carry out buzzing alarm by warning device, and be shown simultaneously by alarm display lamp,
Until handling failure releasing can；
(18): after the completion of welding, being stopped working by operation keyboard by control order servo motor, then successively other is allowed to set
It is standby to shut down, equipment is closed finally by operation keyboard.
2. a kind of working method of Turbogrid plates special high-accuracy robot automatic welding device according to claim 1,
Be characterized in that: the control system uses single-chip computer control system, and the control system is deposited by central processor CPU, program
Reservoir ROM, RAM, I/O mouthfuls of data storage, data converter, data calculator, timer conter, external interrupt and serial logical
Letter is constituted, wherein is equipped with data in the data calculator and is analyzed contrast module, first camera, the second camera shooting
Head and warning device are connect with the input terminal of data storage RAM, the output end and data conversion of the data storage RAM
Device connection, the data converter are connect with data calculator, the program memory ROM, data storage RAM, I/O
Mouth, data converter, data calculator, Turbogrid plates database, timer conter, external interrupt and serial communication are and centre
Manage device CPU connection.
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| CN113601493B (en) * | 2021-08-19 | 2023-11-10 | 安徽长青建筑制品有限公司 | High-precision single-arm robot welding system |
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