CN106583969B - Welding robot is with seeking a device and its welding robot work system - Google Patents
Welding robot is with seeking a device and its welding robot work system Download PDFInfo
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- CN106583969B CN106583969B CN201611045483.2A CN201611045483A CN106583969B CN 106583969 B CN106583969 B CN 106583969B CN 201611045483 A CN201611045483 A CN 201611045483A CN 106583969 B CN106583969 B CN 106583969B
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- circuit
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- welding robot
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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
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- Resistance Welding (AREA)
Abstract
The invention discloses welding robots with seeking a device, including switching circuit, rectification circuit, filter circuit, current-limiting circuit and detection circuit.The input terminal of switching circuit is for connecting AC power source, the input terminal connection of output end and rectification circuit.The output end of rectification circuit and the input terminal of filter circuit connect, for the alternating current of input to be converted to the direct current that voltage is 300V or more.The output end of filter circuit and the input terminal of current-limiting circuit connect, and the output end of current-limiting circuit and the input terminal of detection circuit connect.Detection circuit includes that the trigger element being located in primary side and the element that is triggered on secondary side, one end of trigger element are connected with the output end of current-limiting circuit；The element that is triggered is triggered when trigger element has electric current to flow through, and exports and seek position completion signal.The invention also discloses welding robot work systems.The present invention can have the workpiece of insulating layer to carry out to surface, and safety, accurately contact seeks position.
Description
Technical field
The present invention relates to welding robots with seeking a device and its welding robot work system.
Background technique
In the welding robot course of work, it is often necessary to seek a mode using contact to determine the position of weld seam.Weldering
Welding robot carries out contact to workpiece using matched welding machine electric power when seeking, and the voltage of seeking used is generally 50V or so,
The workpiece that surface there are the insulating layers such as paint, iron rust, greasy dirt cannot effectively be punctured, to cannot effectively carry out to workpiece
Contact seeks position.Even when seek without the workpiece of similar insulating layer to surface, due to seeking inside the source of welding current
The reaction speed of detection circuit and the delay with robot communication bus are completed in position, obtain seeking position in robot and complete letter
Number when, also there has been biggish offset in the position of robot, to be difficult to meet the requirement of High Precision Plate welding.
Summary of the invention
It, can be to surface technical problem to be solved by the present invention lies in a kind of welding robot is provided with a device is sought
There is the workpiece of insulating layer to carry out safely and effectively contact and seek position, and position can be sought to external feedback in time and complete signal.
The technical issues of present invention will be solved further is that providing a kind of includes that above-mentioned welding robot is filled with position is sought
The welding robot work system set.
In order to solve the above technical problems, the technical solution used in the present invention is:
The present invention provides a kind of welding robots with seeking a device, including switching circuit, rectification circuit, filter circuit,
Current-limiting circuit and detection circuit；The input terminal of switching circuit is for connecting AC power source, the output end and rectified current of switching circuit
The input terminal on road connects；Switching circuit is for controlling the AC power source that is turned on or off；The output end and filter circuit of rectification circuit
Input terminal connection, rectification circuit be used for by the alternating current of input be converted to voltage be 300V or more direct current；Filter circuit
Output end and the input terminal of current-limiting circuit connect, filter circuit is for being filtered place to the direct current that rectification circuit exports
Reason；The output end of current-limiting circuit and the input terminal of detection circuit connect, for limiting the output size of current of filter circuit；Detection
Circuit includes trigger element and the element that is triggered on secondary side, one end of trigger element and current-limiting circuit in primary side
Output end be connected；The element that is triggered is triggered when trigger element has electric current to flow through, and exports and seek position completion signal.
The present invention also provides a kind of welding robot work system, welding robot includes robot controller, multiple
Servo-system and multiple encoders；Each servo-system includes a servo motor and a servo-driver；Multiple encoders
It is corresponded respectively with more servo motors；Multiple servo-systems are respectively used to the multiple of driving welding robot correspondingly
Joint, each encoder are used to detect the rotation position of corresponding servo motor output shaft；Wherein, welding robot work system
Including above-mentioned welding robot with seeking a device；Input terminal and the welding robot inspection for seeking a device of robot controller
Slowdown monitoring circuit be triggered element connection, to receive be triggered element output seek position complete signal, robot controller according to
Seek position complete the signal time of reception, seek position complete the signal time of reception where that bus communication period initial time and
The encoder values of end time and each servo motor in the end time are solved calculating and are obtained to seek position complete by counter
At the encoder record value of each servo motor of the signal time of reception.
After adopting the above technical scheme, the present invention has at least the following advantages:
1, the present invention uses rectification circuit to convert alternating current to voltage as the high-voltage direct-current of 300V or more electricity, Neng Gouyou
There is the workpiece of insulating layer on effect breakdown surface, and by the metering function of current-limiting circuit, has reached the mesh that low current contact seeks position
, not only guarantee puncture workpiece, but also can be safer work；
2, the present invention is serially connected in the electric loop for seeking a device using detection circuit, is improved and is sought position completion signal output
Capability of fast response, when welding gun or welding wire contact workpiece, circuit conducting, detection circuit can be fed back more in time seeks position
Signal is completed, to be conducive to accurately complete to seek bit function；
3, robot controller of the invention can get the volume in each servo motor for seeking the position completion signal time of reception
Code device record value is completed to influence brought by signal output and the delay sought between a state completion to reduce and seek position, real
Show and has more accurately sought position.
Detailed description of the invention
Fig. 1 shows the welding robot according to an embodiment of the invention functional block diagram for seeking a device.
Fig. 2 shows the circuit topology figures of one embodiment of rectification circuit of the invention.
Fig. 3 shows the circuit topology figure of another embodiment of rectification circuit of the invention.
Fig. 4 shows the functional block diagram of welding robot work system according to an embodiment of the invention.
Fig. 5 shows the bus communication period according to an embodiment of the invention sought position and complete signal and robot controller
Relation schematic diagram.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Fig. 1 shows the welding robot according to an embodiment of the invention functional block diagram for seeking a device.Please refer to figure
1, welding robot according to an embodiment of the invention with seeking a device, including switching circuit 1, rectification circuit 2, filter circuit 3,
Current-limiting circuit 4 and detection circuit 5.
The input terminal of switching circuit 1 is for connecting AC power source 6, the input of the output end and rectification circuit 2 of switching circuit 1
End connection；Switching circuit 1 is for controlling the AC power source 6 that is turned on or off.In the present embodiment, switching circuit is relay, can be by
The externally input voltage enable signal DI that seeks is controlled.It realizes and leads when relay, which receives, seeks a voltage enable signal DI
It is logical, so that the alternating current for exporting AC power source 6 is transferred to rectification circuit 2.AC power source 6 provides 220V alternating current.
The output end of rectification circuit 2 is connect with the input terminal of filter circuit 3, and the alternating current that rectification circuit is used to input turns
It is changed to the direct current that voltage is 300V or more.In one embodiment, rectification circuit 2 is Transformer Rectifier electricity as shown in Figure 2
Road, wherein the output end of transformer T1 is connected with the input terminal of rectifier bridge D1, output end and the filter circuit 3 of rectifier bridge D1
Input terminal is connected.In the embodiment, transformer is 1:1, the isolation of 220V AC power supplies is realized, by rectifier bridge D1 by alternating current
Source is made into full positive half-wave power supply, after filter capacitor C1, generates the DC power supply of the smaller ripple of band.Rectifier bridge D1 model
GBU1008.In another embodiment, rectification circuit 2 is made of flyback converter as shown in Figure 3.In MOSFET pipe Q1
Drain electrode and when source conduction, flyback converter stores the energy in the magnetic core of transformer T2, and works as the leakage of MOSFET pipe Q1
When pole and source electrode disconnect, then transfer energy to the secondary end of transformer T2.In other embodiments, rectification circuit 2
Other isolation type switching power supply topological realizations, such as positive activation type, the topologys such as push-pull type can be used.
The output end of filter circuit 3 is connect with the input terminal of current-limiting circuit 4, and filter circuit 3 is used to export rectification circuit 2
Direct current be filtered.In the present embodiment, filter circuit 3 is made of filter capacitor.
The output end of current-limiting circuit 4 is connect with the input terminal of detection circuit 5, for limiting the output electric current of filter circuit 3
Size, to achieve the purpose that low current contact seeks position, it is ensured that using safe.In the present embodiment, current-limiting circuit 4 is by current limliting
Resistance composition.
Detection circuit 5 includes the trigger element in the primary side and the element that is triggered on secondary side, trigger element
One end is connected with the output end of current-limiting circuit 4, and the other end of trigger element can be connected with the welding wire 7 of welding gun.At switching circuit 1
When closure conducting, welding wire 7 contacts with workpiece 8 and to be connected, which forms electricity with welding wire 7, workpiece 8 with seeking a device
Air circuit, trigger element have electric current to flow through, and the element that is triggered is triggered when trigger element has electric current to flow through, and export and seek position
Complete signal.Seeking position terminates, and welding robot returns to starting and seeks a position.Next step welding robot can carry out Welder
Make, the voltage at welding gun end is switched into the source of welding current 10 by seeking position/source of welding current control switching circuit 9, this seeks position/welding electricity
Source control switching circuit 9, which can make to weld and seek a power supply, to be independent of each other.
In the present embodiment, detection circuit 5 is made of optocoupler, and above-mentioned trigger element is the light emitting diode of optocoupler, quilt
Trigger element is phototriode.The anode of light emitting diode is connected with the output end of current-limiting circuit 4, the cathode of light emitting diode
It can be connected with the welding wire 7 of welding gun.
Fig. 4 shows the functional block diagram of welding robot work system according to an embodiment of the invention.Referring to FIG. 4,
Welding robot includes that robot controller 101, more servo motors 103 and more servo motors 103 are more one-to-one
Servo-driver 105 and multiple encoders 107, each servo motor 103 are common with a corresponding servo-driver 105
Form a servo-system.Multiple servo-systems are respectively used to multiple joints of driving welding robot correspondingly, each to compile
Code device 107 is used to detect the rotation position of corresponding servo motor output shaft.
The member that is triggered of input terminal and the welding robot detection circuit for seeking a device 200 of robot controller 101
Signal is completed in part connection, the position of seeking to receive the element output that is triggered, which connects according to position completion signal is sought
Time receiving carve, seek position complete the signal time of reception where that bus communication period initial time and end time and
In the encoder values of each servo motor 103 of end time, by it is counter solve calculating and obtain complete the signal time of reception seeking position
Each servo motor encoder record value, control welding robot accordingly back to seeking a position, seek position due to reducing
It completes to influence brought by signal output and the delay sought between a state completion, more accurately seeks position to can realize.
Fig. 5 shows the bus communication period according to an embodiment of the invention sought position and complete signal and robot controller
Relation schematic diagram.The course of work of robot controller 101 is illustrated below in conjunction with Fig. 5.In Fig. 5, each bus
The initial time of communication cycle is respectively t0, t1, t2, t3 ..., and the time difference between each adjacent moment is exactly bus communication week
Phase T.Robot controller receives for ts at the time of seeking position completion signal, this signal is realized with interrupt mode, can make machine
Device people controller obtains the signal moment in time.At the t2 moment, robot controller reads the value of motor encoder, recorder
People current location, according to seek position complete signal time of reception ts, ts moment where that bus communication period starting when
T1 and end time t2 is carved, robot controller can find out the motor encoder value at ts moment using the anti-method solved, as
The position that robot when the moment is completed in position is sought, seeks position so as to be accurately performed very much welding robot.
Generally, welding robot motion control arithmetic is more complicated, even if being handled using the stronger x86 of processing capacity
Device, the algorithm for having handled Comlex-locus are also required to 1ms or so, consider further that the delay jitter of operating system, bus communication week
Phase will at least be set as 2ms, and different moments position arrival of the signal within the bus communication period is completed in the position of seeking of welding robot
When, can also have an impact to the precision for seeking position.What the welding machine that actual test uses carried seeks bit function, and delay time is about several millis
Second, and the present invention can control this delay time in several microseconds.
Claims (7)
1. welding robot is with seeking a device, which is characterized in that including switching circuit, rectification circuit, filter circuit, current-limiting circuit
And detection circuit；
The input terminal of the switching circuit is for connecting AC power source, the output end of the switching circuit and the rectification circuit
Input terminal connection；Switching circuit is for controlling the AC power source that is turned on or off；
The output end of the rectification circuit is connect with the input terminal of the filter circuit, and rectification circuit is used for the alternating current that will be inputted
Be converted to the direct current that voltage is 300V or more；
The output end of the filter circuit is connect with the input terminal of the current-limiting circuit, and filter circuit is used to export rectification circuit
Direct current be filtered；
The output end of the current-limiting circuit is connect with the input terminal of the detection circuit, for limiting the output of the filter circuit
Size of current；
The detection circuit includes the trigger element in primary side and the element that is triggered on secondary side, the trigger element
One end be connected with the output end of the current-limiting circuit；The element that is triggered is touched when the trigger element has electric current to flow through
Hair, and export and seek position completion signal.
2. welding robot according to claim 1 is with seeking a device, which is characterized in that the detection circuit is optocoupler,
The trigger element is light emitting diode, and the element that is triggered is phototriode.
3. welding robot according to claim 1 is with seeking a device, which is characterized in that the rectification circuit is by transformation
Rectification circuit or flyback converter are constituted.
4. welding robot according to claim 1 is with seeking a device, which is characterized in that the switching circuit is relay
Device.
5. welding robot according to claim 1 is with seeking a device, which is characterized in that the filter circuit is by filtered electrical
Hold composition.
6. welding robot according to claim 1 is with seeking a device, which is characterized in that the current-limiting circuit is by current limliting electricity
Resistance is constituted.
7. a kind of welding robot work system, the welding robot includes robot controller, multiple servo-systems and more
A encoder；Each servo-system includes a servo motor and a servo-driver；The multiple encoder respectively with it is more
Platform servo motor corresponds；The multiple servo-system is respectively used to multiple passes of driving welding robot correspondingly
Section, each encoder are used to detect the rotation position of corresponding servo motor output shaft；It is characterized in that, the welding robot
Work system includes welding robot according to any one of claims 1 to 6 with seeking a device；
The element that is triggered of the input terminal of the robot controller and the welding robot detection circuit for seeking a device
Signal is completed in connection, the position of seeking to receive the element output that is triggered, which completes signal reception according to position is sought
Moment, the initial time and end time, Yi Ji for seeking that bus communication period that position was completed where the signal time of reception
The encoder values of each servo motor of the end time, by it is counter solve to calculate to obtain complete the signal time of reception seeking position
The encoder record value of each servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611045483.2A CN106583969B (en) | 2016-11-24 | 2016-11-24 | Welding robot is with seeking a device and its welding robot work system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611045483.2A CN106583969B (en) | 2016-11-24 | 2016-11-24 | Welding robot is with seeking a device and its welding robot work system |
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| CN106583969A CN106583969A (en) | 2017-04-26 |
| CN106583969B true CN106583969B (en) | 2019-03-29 |
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| CN201611045483.2A Active CN106583969B (en) | 2016-11-24 | 2016-11-24 | Welding robot is with seeking a device and its welding robot work system |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112453646B (en) * | 2020-12-07 | 2023-03-21 | 上海沪工焊接集团股份有限公司 | Position finding detection method and device, storage medium and electronic equipment |
| CN112692409A (en) * | 2020-12-19 | 2021-04-23 | 江苏汇能激光智能科技有限公司 | Tube plate welding system based on touch position finding calibration and welding method thereof |
| CN112916995A (en) * | 2021-03-29 | 2021-06-08 | 成都卡诺普自动化控制技术有限公司 | High-voltage position searching plate and high-voltage position searching device |
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| CN103659063A (en) * | 2012-09-04 | 2014-03-26 | 厦门思尔特机器人系统有限公司 | Voltage switching device for welding and locating |
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| JPS5533849A (en) * | 1978-08-31 | 1980-03-10 | Toshiba Corp | Judging method of welding strength |
| JPH07284936A (en) * | 1994-04-19 | 1995-10-31 | Shinkurushima Dock:Kk | Plural member binding device and automatic welding system for the device |
| CN201711641U (en) * | 2010-02-05 | 2011-01-19 | 宁波凯泰机械有限公司 | Welding robot workstation system for injection machine frame |
| CN104708236B (en) * | 2013-12-12 | 2016-05-18 | 中联重科股份有限公司 | Robot welding workstation |
| CN205650975U (en) * | 2016-02-23 | 2016-10-19 | 南京中建化工设备制造有限公司 | Non-standard part automatic welding processing system based on structured light vision |
| CN205702788U (en) * | 2016-03-30 | 2016-11-23 | 山东诺博泰智能科技有限公司 | A kind of robotic contact's sensor-type automatic localization groove cutting system |
| CN205924908U (en) * | 2016-08-17 | 2017-02-08 | 廖家乐 | Seek basketball training machine of position pass |
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| CN103659063A (en) * | 2012-09-04 | 2014-03-26 | 厦门思尔特机器人系统有限公司 | Voltage switching device for welding and locating |
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