CN107015535A - A kind of dual robot collaboration welding and detection means control system - Google Patents
A kind of dual robot collaboration welding and detection means control system Download PDFInfo
- Publication number
- CN107015535A CN107015535A CN201710151267.4A CN201710151267A CN107015535A CN 107015535 A CN107015535 A CN 107015535A CN 201710151267 A CN201710151267 A CN 201710151267A CN 107015535 A CN107015535 A CN 107015535A
- Authority
- CN
- China
- Prior art keywords
- welding
- cylinder
- feed bin
- robot
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 231
- 238000001514 detection method Methods 0.000 title claims abstract description 57
- 230000009977 dual effect Effects 0.000 title claims 8
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 238000007689 inspection Methods 0.000 claims abstract description 28
- 238000000034 method Methods 0.000 claims abstract description 23
- HSFWRNGVRCDJHI-UHFFFAOYSA-N Acetylene Chemical compound C#C HSFWRNGVRCDJHI-UHFFFAOYSA-N 0.000 claims description 38
- 239000000463 material Substances 0.000 claims description 22
- 230000033001 locomotion Effects 0.000 claims description 19
- 230000003993 interaction Effects 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 229910000639 Spring steel Inorganic materials 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 claims 2
- 238000009434 installation Methods 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 18
- 238000011179 visual inspection Methods 0.000 abstract description 17
- 230000032258 transport Effects 0.000 abstract description 15
- 210000000078 claw Anatomy 0.000 description 9
- 230000000007 visual effect Effects 0.000 description 9
- 230000006837 decompression Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000000047 product Substances 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种双机器人协同焊接及检测装置控制系统。包括固定料仓、搬运机器人机构、焊接机器人机构、智能控制系统、视觉检测装置和移动料仓；固定料仓在上料工位，焊接机器人机构在焊接工位，视觉检测装置在检测工位，移动料仓在下料工位，固定料仓用于上料，搬运机器人机构将履带齿轮盘从固定料仓先搬运到焊接机器人机构处进行焊接，再搬到视觉检测装置处焊接质量检测后搬运到移动料仓；智能控制系统包括计算机、PC数字量和模拟量输入输出模块、搬运机器人和焊接机器人控制器。本发明实现了履带齿轮盘的自动上料、双机器人协同焊接、焊接质量在线检测以及成品的分仓码垛等功能，设备自动化程度高，全程不需要人工干预，焊接质量一致性高。The invention discloses a dual-robot collaborative welding and detection device control system. Including fixed silo, handling robot mechanism, welding robot mechanism, intelligent control system, visual inspection device and mobile hopper; the fixed hopper is at the feeding station, the welding robot mechanism is at the welding station, and the visual inspection device is at the inspection station. The mobile silo is at the unloading station, and the fixed silo is used for loading. The moving robot mechanism first transports the crawler gear disc from the fixed silo to the welding robot mechanism for welding, and then moves it to the visual inspection device for welding quality inspection and then transports it to Mobile silo; intelligent control system includes computer, PC digital and analog input and output modules, handling robot and welding robot controller. The invention realizes functions such as automatic feeding of crawler gear discs, collaborative welding of double robots, on-line inspection of welding quality, and bin palletizing of finished products. The equipment has a high degree of automation, does not require manual intervention in the whole process, and has high consistency of welding quality.
Description
技术领域technical field
本发明涉及一种焊接及检测系统，尤其涉及一种双机器人协同焊接及检测装置控制系统，是用于工件自动焊接加工及焊后质量检测的全自动控制系统。The invention relates to a welding and detection system, in particular to a dual-robot cooperative welding and detection device control system, which is a fully automatic control system for automatic welding processing of workpieces and post-welding quality detection.
背景技术Background technique
履带齿轮盘是大型履带式工程车辆的关键零件，一般作为履带式行走系的驱动轮使用。履带齿轮盘的加工质量(加工精度、耐磨损性)直接影响车辆的运动性能。为提高齿轮盘的耐磨性，通常需要在齿形的啮合处堆焊上一层耐磨金属材料。The track gear disc is a key part of large tracked engineering vehicles, and is generally used as the driving wheel of the tracked walking system. The processing quality (machining accuracy, wear resistance) of the track gear directly affects the motion performance of the vehicle. In order to improve the wear resistance of the gear disc, it is usually necessary to surfacing a layer of wear-resistant metal material on the meshing part of the tooth shape.
目前，企业主要采用熔化极气体保护焊工艺对齿轮盘的齿形表面实施堆焊。常用的加工方式有两种，一种是人工手动堆焊，另一种是由焊接机器人和变位机组成的焊接工作站实施自动堆焊。手动堆焊时，工人要将齿轮盘装夹到专用夹具上，手持焊枪对工件实施焊接操作；自动堆焊时，工人要先将工件装夹到变位机上，再操作示教器由机器人和变位机对工件实施协同堆焊作业。堆焊作业结束后，必须等工件冷却下来才能将其从专用夹具或变位机上取下。由于堆焊精度较低，堆焊好的齿轮盘还需由工人对其进行打磨，以确保最终齿形满足图纸要求。At present, the enterprise mainly adopts the gas metal shielded welding process to carry out surfacing welding on the tooth surface of the gear plate. There are two commonly used processing methods, one is manual surfacing welding, and the other is automatic surfacing welding by a welding workstation composed of a welding robot and a positioner. During manual surfacing, workers must clamp the gear plate to a special fixture, and hold a welding torch to perform welding operations on the workpiece; during automatic surfacing, workers must first clamp the workpiece to the positioner, and then operate the teaching pendant by the robot and The positioner performs collaborative surfacing operation on the workpiece. After the surfacing operation, the workpiece must be cooled down before it can be removed from the special fixture or positioner. Due to the low precision of surfacing welding, the surfacing welded gear disc needs to be polished by workers to ensure that the final tooth shape meets the requirements of the drawing.
可见，目前的齿轮盘齿形堆焊方式还存在以下缺陷：1、对于人工手动焊接方式，工件焊接质量不稳定，受人为因素影响大，工人工作环境恶劣，工作强度大；2、对于基于焊接工作站的自动堆焊方式，虽实现了一定程度的自动化，但仍需人工上下料，设备利用率低，产品堆焊质量有一定程度的提高，但仍需打磨；3、最终产品质量依赖人工打磨技巧，受人为因素影响大，而打磨工序工作环境恶劣，招工困难且人力成本高。It can be seen that the current gear plate tooth profile welding method still has the following defects: 1. For the manual welding method, the welding quality of the workpiece is unstable, which is greatly affected by human factors, and the working environment of the workers is harsh and the work intensity is high; 2. For welding based Although the automatic surfacing welding method of the workstation has achieved a certain degree of automation, manual loading and unloading is still required, the utilization rate of equipment is low, and the quality of product surfacing welding has improved to a certain extent, but grinding is still required; 3. The quality of the final product depends on manual grinding Skills are greatly affected by human factors, while the working environment of the grinding process is harsh, recruitment is difficult and labor costs are high.
发明内容Contents of the invention
为了解决背景技术中存在的问题，本发明提供了一种双机器人协同焊接及检测装置控制系统，可以实现履带齿轮盘的自动上料、双机器人协同焊接、焊接质量在线检测以及成品的分仓码垛。In order to solve the problems existing in the background technology, the present invention provides a dual-robot collaborative welding and detection device control system, which can realize automatic feeding of crawler gear discs, dual-robot collaborative welding, online inspection of welding quality and bin code of finished products pile.
本发明采用的技术方案如下：The technical scheme that the present invention adopts is as follows:
本发明包括固定料仓、搬运机器人机构、焊接机器人机构、视觉检测装置和移动料仓；固定料仓、移动料仓、焊接机器人机构和视觉检测装置均放置在搬运机器人机构的周围；固定料仓设置在上料工位，焊接机器人机构放置在焊接工位，视觉检测装置设置在检测工位，移动料仓设置在下料工位。The invention includes a fixed feed bin, a transport robot mechanism, a welding robot mechanism, a visual detection device and a mobile feed bin; the fixed feed bin, the mobile feed bin, the welding robot mechanism and the visual detection device are all placed around the transfer robot mechanism; the fixed feed bin It is set at the loading station, the welding robot mechanism is placed at the welding station, the visual inspection device is set at the detection station, and the moving silo is set at the unloading station.
固定料仓用于上料，搬运机器人机构将履带齿轮盘从固定料仓先搬运到焊接机器人机构处进行焊接，再搬运到视觉检测装置处进行焊接质量的检测，最后搬运到移动料仓。The fixed silo is used for loading materials, and the transport robot mechanism transports the crawler gear disc from the fixed silo to the welding robot mechanism for welding, then to the visual inspection device for welding quality inspection, and finally to the mobile silo.
所述的固定料仓包括气动控制柜、固定料仓架、夹紧气缸、夹紧块、夹紧气缸座、定位气缸、工件检测开关和定位销；固定料仓架上安装有主要由夹紧气缸、夹紧块、夹紧气缸座、定位气缸、工件检测开关和定位销组成的工件定位组件，气动控制柜固定设置在固定料仓架上，气动控制柜通过气路分别连接夹紧气缸和定位气缸；工件检测开关安装在固定料仓架上的侧部，用于检测固定料仓架上履带齿轮盘的有无；夹紧气缸通过夹紧气缸座安装于固定料仓架上的一侧，夹紧气缸的气缸杆端连接夹紧块，夹紧块夹紧至履带齿轮盘的齿面上；定位气缸安装在固定料仓架另一侧，定位气缸的气缸杆端连接用于套装在履带齿轮盘上工艺孔中的定位销，定位销与履带齿轮盘上的工艺孔配合；定位气缸和夹紧气缸均连接到含有定位气缸电磁阀和夹紧气缸电磁阀的控制气路中。定位气缸磁性开关安装在定位气缸上，夹紧气缸磁性开关安装在夹紧气缸上面。The fixed hopper includes a pneumatic control cabinet, a fixed hopper frame, a clamping cylinder, a clamping block, a clamping cylinder seat, a positioning cylinder, a workpiece detection switch and a positioning pin; The workpiece positioning assembly is composed of cylinder, clamping block, clamping cylinder seat, positioning cylinder, workpiece detection switch and positioning pin. The pneumatic control cabinet is fixed on the fixed bin frame. Positioning cylinder; the workpiece detection switch is installed on the side of the fixed silo frame to detect the presence or absence of crawler gear discs on the fixed silo frame; the clamping cylinder is installed on one side of the fixed silo frame through the clamping cylinder seat , the cylinder rod end of the clamping cylinder is connected to the clamping block, and the clamping block is clamped to the tooth surface of the track gear disc; the positioning cylinder is installed on the other side of the fixed silo frame, and the cylinder rod end of the positioning cylinder is connected to be set on the The positioning pin in the process hole on the track gear disc is matched with the process hole on the track gear disc; both the positioning cylinder and the clamping cylinder are connected to the control air circuit containing the positioning cylinder solenoid valve and the clamping cylinder solenoid valve. The magnetic switch of the positioning cylinder is installed on the positioning cylinder, and the magnetic switch of the clamping cylinder is installed on the clamping cylinder.
所述的搬运机器人机构包括搬运机器人、搬运机器人控制柜、安装法兰、手爪气缸和夹爪；搬运机器人末端安装有安装法兰，安装法兰末端安装有手爪气缸，手爪气缸的气缸杆端连接有三个用于履带齿轮盘装夹的夹爪；搬运机器人控制柜放置在搬运机器人侧方，搬运机器人控制柜连接搬运机器人并控制运动；手爪气缸连接到含有手爪气缸电磁阀、手爪气缸压力传感器和焊接气体电气比例阀的控制气路中。手爪气缸磁性开关安装在手爪气缸上面。The handling robot mechanism includes a handling robot, a handling robot control cabinet, a mounting flange, a claw cylinder and a gripper; The rod end is connected with three grippers for the clamping of the crawler gear disc; the handling robot control cabinet is placed on the side of the handling robot, and the handling robot control cabinet is connected to the handling robot and controls the movement; the gripper cylinder is connected to the solenoid valve containing the gripper cylinder, In the control gas path of the claw cylinder pressure sensor and the welding gas electric proportional valve. The magnetic switch of the gripper cylinder is installed on the top of the gripper cylinder.
所述的焊接机器人机构包括清枪器、焊接机器人、焊枪、激光寻位传感器、防碰撞传感器、焊接电源、送丝机和焊接机器人控制柜；焊接机器人末端设置有焊枪、防碰撞传感器和激光寻位传感器，焊接电源、送丝机、清枪器和焊接机器人控制柜均放置在焊接机器人侧方，焊接机器人控制柜连接焊接机器人并控制运动；送丝机通过管道与焊枪连接；焊枪连接的焊接气管上设置有用于检测焊接气体压力的焊接气体压力传感器和用于控制焊接气体压力的焊接气体电气比例阀。The welding robot mechanism includes a gun cleaner, a welding robot, a welding torch, a laser positioning sensor, an anti-collision sensor, a welding power supply, a wire feeder and a welding robot control cabinet; the end of the welding robot is provided with a welding gun, an anti-collision sensor and a laser seeking sensor position sensor, welding power supply, wire feeder, torch cleaner and welding robot control cabinet are all placed on the side of the welding robot, the welding robot control cabinet is connected to the welding robot and controls the movement; the wire feeder is connected to the welding torch through the pipeline; the welding torch connected A welding gas pressure sensor for detecting the welding gas pressure and a welding gas electrical proportional valve for controlling the welding gas pressure are arranged on the gas pipe.
所述的移动料仓包括传感器支架、对射式光电传感器、滑动挡板、料仓底座和垫块；料仓底座顶面沿周向间隔均布有用于衬垫在履带齿轮盘工件底面的垫块，垫块外周围设置有用于限位履带齿轮盘工件下料位置的滑动挡板，两个对射的对射式光电传感器通过传感器支架安装在料仓底座的两侧方。The mobile silo includes a sensor bracket, a facing photoelectric sensor, a sliding baffle, a silo base and a pad; the top surface of the silo base is uniformly distributed along the circumferential direction with pads for lining the bottom surface of the track gear disc workpiece Block, the outer periphery of the block is provided with a sliding baffle for limiting the unloading position of the crawler gear disc workpiece, and two opposite-shooting photoelectric sensors are installed on both sides of the silo base through the sensor bracket.
所述的视觉检测装置包括遮光罩、检测系统支架、滑台座、滚珠丝杠副、滑台、工业相机、镜头、背光源以及图像处理软件；图像处理软件设置于智能控制系统上；滑台座水平固定在检测系统支架，滑台通过滚珠丝杠副安装于滑台座上，使得滑台在滑台座上水平移动；镜头和工业相机均安装在滑台上，镜头和工业相机连接，镜头前方设置有背光源，背光源与检测系统支架固定连接，镜头和背光源之间区域为履带齿轮盘的焊接质量检测区域；遮光罩设置在检测系统支架外周围使得罩内部形成黑箱，并在焊接质量检测区域下方留有工件进入的开口。The visual detection device includes a light shield, a detection system bracket, a slide base, a ball screw pair, a slide table, an industrial camera, a lens, a backlight and image processing software; the image processing software is arranged on an intelligent control system; the slide base is horizontally Fixed on the detection system bracket, the sliding table is installed on the sliding table seat through the ball screw pair, so that the sliding table moves horizontally on the sliding table seat; the lens and the industrial camera are installed on the sliding table, the lens is connected to the industrial camera, and the front of the lens is set. Backlight, the backlight is fixedly connected with the detection system bracket, the area between the lens and the backlight is the welding quality inspection area of the track gear disc; the hood is set around the outside of the detection system bracket to form a black box inside the cover, and in the welding quality inspection area There is an opening for workpiece entry below.
本发明还包括分别与焊接机器人机构、视觉检测装置和搬运机器人机构连接的智能控制系统，智能控制系统包括工业控制计算机、PC数字量输入模块、PC数字量输出模块、PC模拟量输入模块、PC模拟量输出模块、搬运机器人控制器、搬运数字量输入模块、搬运数字量输出模块、焊接机器人控制器、焊接机器人、焊接数字量输入模块、焊接数字量输出模块。The present invention also includes an intelligent control system respectively connected with the welding robot mechanism, the visual detection device and the handling robot mechanism. The intelligent control system includes an industrial control computer, a PC digital quantity input module, a PC digital quantity output module, a PC analog quantity input module, a PC Analog output module, handling robot controller, handling digital input module, handling digital output module, welding robot controller, welding robot, welding digital input module, welding digital output module.
工业控制计算机通过EtherCAT总线分别与PC数字量输入模块、PC数字量输出模块、PC模拟量输入模块和PC模拟量输出模块连接，PC数字量输入模块分别与对射式光电传感器、定位气缸磁性开关、夹紧气缸磁性开关和工件检测开关连接，PC数字量输出模块通过继电器模组分别与夹紧气缸电磁阀和定位气缸电磁阀连接，PC模拟量输入模块通过信号转换模块分别与焊接气体压力传感器、手爪气缸压力传感器连接，PC模拟量输出模块分别与焊接气体电气比例阀、手爪气缸电气比例阀连接。The industrial control computer is connected to the PC digital input module, PC digital output module, PC analog input module and PC analog output module through the EtherCAT bus, and the PC digital input module is respectively connected to the through-beam photoelectric sensor and the positioning cylinder magnetic switch , the magnetic switch of the clamping cylinder is connected with the workpiece detection switch, the PC digital output module is respectively connected with the solenoid valve of the clamping cylinder and the solenoid valve of the positioning cylinder through the relay module, and the PC analog input module is respectively connected with the welding gas pressure sensor through the signal conversion module , Claw cylinder pressure sensor connection, PC analog output module is respectively connected with the welding gas electrical proportional valve, the claw cylinder electrical proportional valve.
工业控制计算机通过Ethernet总线与视觉检测装置的工业相机连接，工业控制计算机与搬运机器人控制器通过EtherCAT总线连接，所述搬运机器人控制器与搬运机器人通过总线连接，搬运机器人控制器通过EtherCAT总线分别与搬运数字量输入模块、搬运数字量输出模块连接，搬运数字量输入模块与手爪气缸磁性开关连接，搬运数字量输出模块通过继电器与手爪气缸电磁阀连接。The industrial control computer is connected with the industrial camera of the visual detection device through the Ethernet bus, the industrial control computer is connected with the transfer robot controller through the EtherCAT bus, the transfer robot controller is connected with the transfer robot through the bus, and the transfer robot controller is connected with the transfer robot controller through the EtherCAT bus respectively. The transport digital input module is connected to the transport digital output module, the transport digital input module is connected to the magnetic switch of the hand cylinder, and the transport digital output module is connected to the hand cylinder solenoid valve through a relay.
所述工业控制计算机与焊接机器人控制器通过EtherCAT总线连接，所述焊接机器人控制器与焊接机器人连接，焊接机器人控制器通过EtherCAT总线分别与焊接数字量输入模块、焊接数字量输出模块连接，焊接数字量输入模块分别与焊接电源、送丝机、防碰撞传感器、激光寻位传感器连接，所述焊接数字量输出模块分别与焊接电源、送丝机连接。The industrial control computer and the welding robot controller are connected through the EtherCAT bus, the welding robot controller is connected with the welding robot, the welding robot controller is respectively connected with the welding digital input module and the welding digital output module through the EtherCAT bus, and the welding digital The quantity input module is respectively connected with the welding power supply, the wire feeder, the anti-collision sensor and the laser positioning sensor, and the welding digital quantity output module is respectively connected with the welding power supply and the wire feeder.
所述工业控制计算机通过PC数字量输入模块读取对射式光电传感器、定位气缸磁性开关、夹紧气缸磁性开关、工件检测开关的信号，分别对应检测当前的合格料仓和不合格料仓是否就位、定位气缸和夹紧气缸的当前状态以及料仓上是否有料。The industrial control computer reads the signals of the through-beam photoelectric sensor, the magnetic switch of the positioning cylinder, the magnetic switch of the clamping cylinder, and the workpiece detection switch through the PC digital input module, and respectively correspondingly detects whether the current qualified silo and the unqualified silo are The current state of seating, positioning and clamping cylinders and whether there is material on the silo.
所述工业控制计算机通过PC数字量输出模块、继电器模组给夹紧气缸电磁阀、定位气缸电磁阀发送信号，所述工业控制计算机分别通过夹紧气缸电磁阀和定位气缸电磁阀控制夹紧气缸和定位气缸对料仓上工件进行定位。所述工业控制计算机通过PC模拟量输入模块经信号转换模块读取焊接气体压力传感器检测的焊接气体压力值和手爪气缸压力传感器检测的手爪气缸压力值，同时，工业控制计算机通过PC模拟量输出模块传递控制信号给焊接气体电气比例阀和手爪气缸电气比例阀分别调节焊接气体压力及手爪气缸压力，使焊接气体压力及手爪气缸压力处于范围内。The industrial control computer sends signals to the clamping cylinder solenoid valve and the positioning cylinder solenoid valve through the PC digital output module and the relay module, and the industrial control computer controls the clamping cylinder through the clamping cylinder solenoid valve and the positioning cylinder solenoid valve respectively. and the positioning cylinder to position the workpiece on the silo. The industrial control computer reads the welding gas pressure value detected by the welding gas pressure sensor and the hand cylinder pressure value detected by the hand cylinder pressure sensor through the PC analog input module through the signal conversion module, and at the same time, the industrial control computer passes the PC analog quantity The output module transmits control signals to the electric proportional valve of the welding gas and the electric proportional valve of the hand cylinder to adjust the pressure of the welding gas and the pressure of the hand cylinder respectively, so that the pressure of the welding gas and the pressure of the hand cylinder are within the range.
所述工业控制计算机与搬运机器人控制器进行数据交换，所述搬运机器人控制器与搬运机器人进行信号交互，所述搬运机器人控制器通过搬运数字量输入模块读取手爪气缸磁性开关信号，获得当前手爪气缸的状态信息；所述搬运机器人控制器通过搬运数字量输出模块经继电器控制手爪气缸电磁阀信号通断，进而控制手爪气缸运行。The industrial control computer exchanges data with the transfer robot controller, and the transfer robot controller performs signal interaction with the transfer robot, and the transfer robot controller reads the magnetic switch signal of the gripper cylinder through the transfer digital input module to obtain the current The state information of the gripper cylinder; the handling robot controller controls the switching of the solenoid valve signal of the gripper cylinder through the handling digital output module through the relay, and then controls the operation of the gripper cylinder.
所述工业控制计算机与焊接机器人控制器进行信号交互，所述焊接机器人控制器与焊接机器人进行信号交互，所述焊接机器人控制器通过焊接数字量输入模块分别读取防碰撞传感器、激光寻位传感器、焊接电源、送丝机的信号。The industrial control computer performs signal interaction with the welding robot controller, the welding robot controller performs signal interaction with the welding robot, and the welding robot controller respectively reads the anti-collision sensor and the laser positioning sensor through the welding digital input module , Welding power supply, wire feeder signal.
所述焊接机器人控制器通过焊接数字量输出模块分别发送信号给焊接电源和送丝机。The welding robot controller sends signals to the welding power supply and the wire feeder respectively through the welding digital output module.
设置有四个所述固定料仓，每个固定料仓具有一个夹紧气缸和一个定位气缸，因此具有四个夹紧气缸和定位气缸，所述的控制气路包括气源模块、与搬运机器人机构中手爪气缸连接的手爪气缸模块以及分别与四个固定料仓中气缸连接的第一料仓模块、第二料仓模块、第三料仓模块和第四料仓模块；There are four fixed silos, and each fixed silo has a clamping cylinder and a positioning cylinder, so there are four clamping cylinders and positioning cylinders. The control air circuit includes an air source module, and a handling robot The gripper cylinder module connected to the gripper cylinder in the mechanism and the first bin module, the second bin module, the third bin module and the fourth bin module respectively connected to the cylinders in the four fixed bins;
所述气源模块包括气源、过滤器、气罐和气动三联件，气源通过气管依次与过滤器、气罐、气动三联件连接，气动三联件经过第一减压阀调压后分别与第一料仓模块、第二料仓模块连接，气动三联件经过第二减压阀调压后分别与第三料仓模块、第四料仓模块连接，气动三联件与手爪气缸模块通过气路连接。The air source module includes an air source, a filter, an air tank, and a pneumatic triple. The air source is connected to the filter, the air tank, and the pneumatic triple through the air pipe in turn. The pneumatic triple is respectively connected to the The first silo module and the second silo module are connected, and the pneumatic triple unit is respectively connected to the third silo module and the fourth silo module after being regulated by the second pressure reducing valve. road connection.
所述手爪气缸模块包括手爪气缸电气比例阀、手爪气缸压力传感器、手爪气缸电磁阀和手爪气缸，气动三联件与手爪气缸电气比例阀通过气路连接，手爪气缸电气比例阀与手爪气缸压力传感器通过气路连接，手爪气缸压力传感器与手爪气缸电磁阀通过气路连接，手爪气缸电磁阀与手爪气缸通过气路连接。The gripper cylinder module includes a gripper cylinder electric proportional valve, a gripper cylinder pressure sensor, a gripper cylinder solenoid valve and a gripper cylinder. The valve is connected with the grip cylinder pressure sensor through an air circuit, the grip cylinder pressure sensor is connected with the grip cylinder solenoid valve through an air path, and the grip cylinder solenoid valve is connected with the grip cylinder through an air path.
所述第一料仓模块包括第一定位气缸电磁阀和第一夹紧气缸电磁阀，第一减压阀分别与第一定位气缸电磁阀、第一夹紧气缸电磁阀通过气路连接，第一定位气缸电磁阀与第一个固定料仓中的第一定位气缸通过气路连接，第一夹紧气缸电磁阀与第一个固定料仓中的第一夹紧气缸通过气路连接。The first silo module includes a first positioning cylinder solenoid valve and a first clamping cylinder solenoid valve, the first pressure reducing valve is respectively connected to the first positioning cylinder solenoid valve and the first clamping cylinder solenoid valve through an air circuit, and the second A positioning cylinder solenoid valve is connected with the first positioning cylinder in the first fixed silo through an air circuit, and the first clamping cylinder solenoid valve is connected with the first clamping cylinder in the first fixed silo through an air circuit.
所述第二料仓模块包括第二定位气缸电磁阀和第二夹紧气缸电磁阀，第一减压阀分别与第二定位气缸电磁阀、第二夹紧气缸电磁阀通过气路连接，第二定位气缸电磁阀与第二个固定料仓中的第二定位气缸通过气路连接，第二夹紧气缸电磁阀与第二个固定料仓中的第二夹紧气缸通过气路连接。The second silo module includes a second positioning cylinder solenoid valve and a second clamping cylinder solenoid valve. The first decompression valve is connected to the second positioning cylinder solenoid valve and the second clamping cylinder solenoid valve through an air circuit. The solenoid valve of the second positioning cylinder is connected with the second positioning cylinder in the second fixed material bin through an air circuit, and the electromagnetic valve of the second clamping cylinder is connected with the second clamping cylinder in the second fixed material bin through an air circuit.
所述第三料仓模块包括第三定位气缸电磁阀和第三夹紧气缸电磁阀，第二减压阀分别与第三定位气缸电磁阀、第三夹紧气缸电磁阀通过气路连接，第三定位气缸电磁阀与第三个固定料仓中的第三定位气缸通过气路连接，第三夹紧气缸电磁阀与第三个固定料仓中的第三夹紧气缸通过气路连接。The third silo module includes a third positioning cylinder solenoid valve and a third clamping cylinder solenoid valve, the second decompression valve is respectively connected to the third positioning cylinder solenoid valve and the third clamping cylinder solenoid valve through an air circuit, and the third The solenoid valve of the three positioning cylinders is connected with the third positioning cylinder in the third fixed material bin through an air circuit, and the electromagnetic valve of the third clamping cylinder is connected with the third clamping cylinder in the third fixed material bin through an air circuit.
所述第四料仓模块包括第四定位气缸电磁阀和第四夹紧气缸电磁阀，第二减压阀分别与第四定位气缸电磁阀、第四夹紧气缸电磁阀通过气路连接，第四定位气缸电磁阀与第四个固定料仓中的第四定位气缸通过气路连接，第四夹紧气缸电磁阀与第四个固定料仓中的第四夹紧气缸通过气路连接。The fourth silo module includes a fourth positioning cylinder solenoid valve and a fourth clamping cylinder solenoid valve, the second decompression valve is respectively connected to the fourth positioning cylinder solenoid valve and the fourth clamping cylinder solenoid valve through an air circuit, and the fourth The electromagnetic valve of the four positioning cylinders is connected with the fourth positioning cylinder in the fourth fixed material bin through an air circuit, and the electromagnetic valve of the fourth clamping cylinder is connected with the fourth clamping cylinder in the fourth fixed material bin through an air circuit.
气动三联件是包括空气过滤器、减压阀和油雾器。Pneumatic triad includes air filter, pressure reducing valve and lubricator.
所述的夹爪末端设置有用于连接履带齿轮盘内孔壁的弹簧钢片。The end of the jaw is provided with a spring steel sheet for connecting the inner hole wall of the track gear disc.
所述的移动料仓至少设置两个，一个移动料仓用于放置检测合格的齿轮盘，另一个移动料仓用于放置检测不合格的齿轮盘。There are at least two mobile bins, one for placing gear discs that pass the inspection, and the other for placing unqualified gear discs.
本发明集成先进焊接工艺、机器人协同焊接技术、智能视觉检测技术、基于PC的软PLC控制技术等新技术，针对齿轮盘的焊接加工以及视觉检测环节，研制高效、高精度、智能化、柔性化的履带齿轮盘机器人自动堆焊及视觉检测装置。本发明能实现齿轮盘的自动上料、双机器人协同焊接、焊接质量检测以及成品的分仓码垛，系统高度集成化、智能化。The invention integrates new technologies such as advanced welding technology, robot cooperative welding technology, intelligent visual detection technology, PC-based soft PLC control technology, etc., and develops high-efficiency, high-precision, intelligent and flexible welding processing and visual detection links for gear plates. The automatic surfacing and visual inspection device of the crawler gear plate robot. The invention can realize the automatic loading of the gear plate, the cooperative welding of the double robots, the welding quality inspection and the palletizing of the finished products, and the system is highly integrated and intelligent.
本发明的有益效果是：The beneficial effects of the present invention are:
1、本发明实现了履带齿轮盘的自动上料、双机器人协同焊接、焊接质量在线检测以及成品的分仓码垛等功能，设备自动化程度高，全程不需要人工干预，焊接质量一致性高。1. The present invention realizes functions such as automatic feeding of crawler gear discs, double-robot cooperative welding, online inspection of welding quality, and bin palletizing of finished products. The equipment has a high degree of automation, no manual intervention is required in the whole process, and the welding quality is consistent.
2、本发明配备激光寻位系统和双机器人协同控制系统，焊接精度高，加工柔性好。焊接过程中先对工件进行激光扫描，根据检测的信息智能修正机器人运动路径，然后焊接机器人和搬运机器人协同动作，完成工件堆焊操作。2. The present invention is equipped with a laser positioning system and a dual-robot cooperative control system, with high welding precision and good processing flexibility. During the welding process, the workpiece is first scanned by laser, and the robot movement path is intelligently corrected according to the detected information, and then the welding robot and the handling robot cooperate to complete the surfacing operation of the workpiece.
3、本发明配备视觉检测系统，对焊后齿形实施质量检测，智能化程度高，能保存历史检测数据，也能根据齿形检测结果对工件进行分仓码垛，若检测结果异常系统立即报警，待人工处理。3. The present invention is equipped with a visual inspection system to perform quality inspection on the tooth shape after welding. It has a high degree of intelligence, can save historical inspection data, and can also palletize workpieces according to the tooth shape inspection results. Call the police and wait for manual processing.
附图说明Description of drawings
图1为本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图2为固定料仓的结构示意图；Fig. 2 is the structural representation of fixed feed bin;
图3为搬运机器人机构的示意图；Fig. 3 is the schematic diagram of handling robot mechanism;
图4为焊接机器人机构的示意图；Fig. 4 is the schematic diagram of welding robot mechanism;
图5为视觉检测装置的示意图；Fig. 5 is the schematic diagram of visual detection device;
图6为移动料仓的结构示意图；Fig. 6 is the structural representation of mobile feed bin;
图7为本发明智能控制系统的电路原理连接框图；Fig. 7 is the circuit principle connection block diagram of intelligent control system of the present invention;
图8为本发明的控制气路原理图；Fig. 8 is a schematic diagram of the control gas circuit of the present invention;
图9为本发明智能控制模块的控制流程图。Fig. 9 is a control flow chart of the intelligent control module of the present invention.
图中：固定料仓100、气动控制柜101、固定料仓架102、夹紧气缸103、夹紧块104、夹紧气缸座105、定位气缸106、工件检测开关107、定位销108；搬运机器人机构200、搬运机器人201、搬运机器人控制柜202、安装法兰203、手爪气缸204、夹爪205、弹簧钢片206；焊接机器人机构300、清枪器301、焊接机器人302、焊枪303、激光寻位传感器304、焊接电源305、送丝机306、焊接机器人控制柜307；智能控制系统400；视觉检测装置500、遮光罩501、检测系统支架502、滑台座503、滚珠丝杠副504、滑台505、工业相机506、镜头507、背光源508；移动料仓600、传感器支架601、对射式光电传感器602、滑动挡板603、料仓底座604、垫块605。In the figure: fixed silo 100, pneumatic control cabinet 101, fixed silo frame 102, clamping cylinder 103, clamping block 104, clamping cylinder seat 105, positioning cylinder 106, workpiece detection switch 107, positioning pin 108; handling robot Mechanism 200, handling robot 201, handling robot control cabinet 202, mounting flange 203, grip cylinder 204, gripper 205, spring steel sheet 206; welding robot mechanism 300, gun cleaner 301, welding robot 302, welding torch 303, laser Position-seeking sensor 304, welding power supply 305, wire feeder 306, welding robot control cabinet 307; intelligent control system 400; Table 505, industrial camera 506, lens 507, backlight 508; mobile bin 600, sensor bracket 601, through-beam photoelectric sensor 602, sliding baffle 603, bin base 604, pad 605.
具体实施方式detailed description
下面结合附图和实施例对本发明作进一步说明。The present invention will be further described below in conjunction with drawings and embodiments.
如附图1所示，本发明具体实施的包括四个固定料仓100、搬运机器人机构200、智能控制系统400、焊接机器人机构300、视觉检测装置500和两个移动料仓600；四个固定料仓100、两个移动料仓600、焊接机器人机构300和视觉检测装置500均放置在搬运机器人机构200的周围。固定料仓100设置在上料工位，每个固定料仓100具有一个夹紧气缸和一个定位气缸，因此具有四个夹紧气缸和定位气缸。焊接机器人机构300放置在焊接工位，视觉检测装置500设置在检测工位，移动料仓600设置在下料工位，智能控制系统400分别与焊接机器人机构300、视觉检测装置500和搬运机器人机构200连接。As shown in accompanying drawing 1, the embodiment of the present invention comprises four fixed feed bins 100, a handling robot mechanism 200, an intelligent control system 400, a welding robot mechanism 300, a visual inspection device 500 and two mobile feed bins 600; The silo 100 , the two moving silos 600 , the welding robot mechanism 300 and the visual inspection device 500 are all placed around the transfer robot mechanism 200 . The fixed bins 100 are arranged at the loading station, and each fixed bin 100 has a clamping cylinder and a positioning cylinder, so there are four clamping cylinders and positioning cylinders. The welding robot mechanism 300 is placed at the welding station, the visual inspection device 500 is arranged at the inspection station, the mobile bin 600 is arranged at the blanking station, and the intelligent control system 400 is respectively connected with the welding robot mechanism 300, the visual inspection device 500 and the handling robot mechanism 200 connect.
如附图2所示，固定料仓100包括气动控制柜101、固定料仓架102、夹紧气缸103、夹紧块104、夹紧气缸座105、定位气缸106、工件检测开关107和定位销108；固定料仓架102上安装有主要由夹紧气缸103、夹紧块104、夹紧气缸座105、定位气缸106、工件检测开关107和定位销108组成的工件定位组件，气动控制柜101固定设置在固定料仓架102上，气动控制柜101分别连接夹紧气缸103和定位气缸106，用于夹紧气缸103和定位气缸106的控制；工件检测开关107安装在固定料仓架102上的侧部，用于检测固定料仓架102上履带齿轮盘的有无；夹紧气缸103通过夹紧气缸座105安装于固定料仓架102上的一侧，夹紧气缸103的气缸杆端连接夹紧块104，夹紧块104装夹到履带齿轮盘的齿面上，用于对履带齿轮盘进行位置调整和定位；定位气缸106安装在固定料仓架102另一侧，定位气缸106的气缸杆端连接用于套装在履带齿轮盘上工艺孔中的定位销108，定位销108与履带齿轮盘上的工艺孔配合；定位气缸106和夹紧气缸103均连接到含有定位气缸电磁阀和夹紧气缸电磁阀的控制气路，由控制气路检测气缸并控制气缸。定位气缸磁性开关安装在定位气缸106上，用于检测定位气缸106运动状态，并通过PC数字量输入模块将定位气缸106运动状态发送给工业控制计算机；夹紧气缸磁性开关安装在夹紧气缸103上面，用于检测夹紧气缸103运动状态，并通过PC数字量输入模块将夹紧气缸103运动状态发送给工业控制计算机；工业控制计算机通过PC数字量输出模块将控制信号发送给继电器模组，分别控制定位气缸电磁阀和夹紧气缸电磁阀开闭，以实现定位气缸106和夹紧气缸103运动。As shown in Figure 2, the fixed bin 100 includes a pneumatic control cabinet 101, a fixed bin frame 102, a clamping cylinder 103, a clamping block 104, a clamping cylinder seat 105, a positioning cylinder 106, a workpiece detection switch 107 and a positioning pin 108; a workpiece positioning assembly mainly composed of a clamping cylinder 103, a clamping block 104, a clamping cylinder seat 105, a positioning cylinder 106, a workpiece detection switch 107 and a positioning pin 108 is installed on the fixed bin frame 102, and the pneumatic control cabinet 101 Fixedly installed on the fixed bin frame 102, the pneumatic control cabinet 101 is respectively connected to the clamping cylinder 103 and the positioning cylinder 106 for the control of the clamping cylinder 103 and the positioning cylinder 106; the workpiece detection switch 107 is installed on the fixed bin frame 102 The side part is used to detect the presence or absence of the crawler gear disc on the fixed silo frame 102; the clamping cylinder 103 is installed on one side of the fixed silo frame 102 through the clamping cylinder seat 105, and the cylinder rod end of the clamping cylinder 103 Connect the clamping block 104, the clamping block 104 is clamped to the tooth surface of the crawler gear disc, and is used for position adjustment and positioning of the crawler gear disc; the positioning cylinder 106 is installed on the other side of the fixed bin frame 102, and the positioning cylinder 106 The rod end of the cylinder is connected to the positioning pin 108 which is set in the process hole on the track gear disc, and the positioning pin 108 is matched with the process hole on the track gear disc; the positioning cylinder 106 and the clamping cylinder 103 are connected to the solenoid valve containing the positioning cylinder And the control air circuit of the solenoid valve of the clamping cylinder, the cylinder is detected and controlled by the control air circuit. The magnetic switch of the positioning cylinder is installed on the positioning cylinder 106 to detect the motion state of the positioning cylinder 106, and send the motion state of the positioning cylinder 106 to the industrial control computer through the PC digital input module; the magnetic switch of the clamping cylinder is installed on the clamping cylinder 103 Above, it is used to detect the motion state of the clamping cylinder 103, and send the motion state of the clamping cylinder 103 to the industrial control computer through the PC digital input module; the industrial control computer sends the control signal to the relay module through the PC digital output module, Control the opening and closing of the electromagnetic valve of the positioning cylinder and the electromagnetic valve of the clamping cylinder respectively, so as to realize the movement of the positioning cylinder 106 and the clamping cylinder 103 .
如附图3所示，搬运机器人机构200包括搬运机器人201、搬运机器人控制柜202、安装法兰203、手爪气缸204和夹爪205；搬运机器人201末端安装有安装法兰203，安装法兰204末端安装有手爪气缸204，手爪气缸204的气缸杆端连接有三个用于履带齿轮盘装夹的夹爪205；搬运机器人控制柜202放置在搬运机器人201侧方，搬运机器人控制柜202连接搬运机器人201并控制运动，夹爪205末端设置有用于连接履带齿轮盘内孔壁的弹簧钢片206。手爪气缸204连接到含有手爪气缸电磁阀、手爪气缸压力传感器和焊接气体电气比例阀的控制气路，由控制气路检测气缸并控制气缸。手爪气缸磁性开关安装在手爪气缸204上面，用于检测手爪气缸204运动状态，并通过搬运数字量输入模块将手爪气缸204运动状态发送给搬运机器人控制器；搬运机器人控制器由搬运数字量输出模块将控制信号通过继电器控制手爪气缸电磁阀开闭，以实现手爪气缸204运动。As shown in accompanying drawing 3, the transport robot mechanism 200 comprises a transport robot 201, a transport robot control cabinet 202, a mounting flange 203, a claw cylinder 204 and a gripper 205; The end of 204 is equipped with a claw cylinder 204, and the cylinder rod end of the claw cylinder 204 is connected with three jaws 205 for clamping the crawler gear disc; the handling robot control cabinet 202 is placed on the side of the handling robot 201, and the handling robot control cabinet 202 Connecting the handling robot 201 and controlling the movement, the end of the jaw 205 is provided with a spring steel sheet 206 for connecting the inner hole wall of the track gear disc. The gripper cylinder 204 is connected to the control air circuit containing the gripper cylinder electromagnetic valve, the gripper cylinder pressure sensor and the welding gas electric proportional valve, and the cylinder is detected and controlled by the control air circuit. The magnetic switch of the gripper cylinder is installed on the gripper cylinder 204 to detect the movement state of the gripper cylinder 204, and send the movement state of the gripper cylinder 204 to the handling robot controller through the handling digital input module; the handling robot controller is controlled by the handling robot The digital quantity output module controls the opening and closing of the electromagnetic valve of the gripper cylinder through the relay to control the control signal, so as to realize the movement of the gripper cylinder 204 .
如附图4所示，焊接机器人机构300包括清枪器301、焊接机器人302、焊枪303、激光寻位传感器304、防碰撞传感器、焊接电源305、送丝机306和焊接机器人控制柜307；焊接机器人302末端设置有焊枪303、防碰撞传感器和激光寻位传感器304，焊接电源305、送丝机306、清枪器301和焊接机器人控制柜307均放置在焊接机器人302侧方，焊接机器人控制柜307连接焊接机器人302并控制运动；送丝机306通过管道与焊枪303连接，用于将焊接丝输送到焊枪303，焊接电源305对送丝机306进行供电。焊枪303连接的焊接气管上设置有用于检测焊接气体压力的焊接气体压力传感器和用于控制焊接气体压力的焊接气体电气比例阀。As shown in accompanying drawing 4, welding robot mechanism 300 comprises gun cleaner 301, welding robot 302, welding torch 303, laser positioning sensor 304, anti-collision sensor, welding power supply 305, wire feeder 306 and welding robot control cabinet 307; The end of the robot 302 is provided with a welding torch 303, an anti-collision sensor and a laser positioning sensor 304, a welding power supply 305, a wire feeder 306, a gun cleaner 301 and a welding robot control cabinet 307 are placed on the side of the welding robot 302, and the welding robot control cabinet 307 is connected to the welding robot 302 and controls the movement; the wire feeder 306 is connected to the welding torch 303 through a pipeline for delivering the welding wire to the welding torch 303 , and the welding power supply 305 supplies power to the wire feeder 306 . The welding gas pipe connected to the welding torch 303 is provided with a welding gas pressure sensor for detecting the welding gas pressure and a welding gas electrical proportional valve for controlling the welding gas pressure.
如附图6所示，两个移动料仓600，一个移动料仓600用于放置检测合格的齿轮盘，另一个移动料仓600用于放置检测不合格的齿轮盘。两个移动料仓600均包括传感器支架601、对射式光电传感器602、滑动挡板603、料仓底座604和垫块605；料仓底座604顶面沿周向间隔均布有用于衬垫在履带齿轮盘工件底面的垫块605，垫块605外周围设置有用于限位履带齿轮盘工件下料位置的滑动挡板603，滑动挡板603在料仓底座604上的位置可以调节；两个对射的对射式光电传感器602通过传感器支架601安装在料仓底座604的两侧方，位于料仓底座604附近，用于检测移动料仓600有无到位。As shown in FIG. 6 , there are two mobile bins 600 , one mobile bin 600 is used to place the gear discs that pass the inspection, and the other mobile bin 600 is used to place the gear discs that fail the inspection. Two mobile feed bins 600 all comprise sensor support 601, through-beam photoelectric sensor 602, sliding baffle plate 603, feed bin base 604 and cushion block 605; The pad 605 on the bottom surface of the crawler gear disc workpiece, the outer periphery of the pad 605 is provided with a sliding baffle 603 for limiting the blanking position of the crawler gear disc workpiece, and the position of the sliding baffle 603 on the feed bin base 604 can be adjusted; two The through-beam photoelectric sensor 602 is installed on both sides of the bin base 604 through the sensor bracket 601, near the bin base 604, and is used to detect whether the mobile bin 600 is in place.
如附图5所示，视觉检测装置500包括遮光罩501、检测系统支架502、滑台座503、滚珠丝杠副504、滑台505、工业相机506、镜头507、背光源508以及图像处理软件；图像处理软件设置于智能控制系统400上；检测系统支架502作为视觉检测装置500的支撑主体，滑台座503水平固定在检测系统支架502，滑台505通过滚珠丝杠副504安装于滑台座503上，使得滑台505在滑台座503上水平移动；镜头507和工业相机506均安装在滑台505上，镜头507和工业相机506连接，镜头507前方设置有背光源508，背光源508与检测系统支架502固定连接，镜头507和背光源508之间区域为履带齿轮盘的焊接质量检测区域；遮光罩501设置在检测系统支架502外周围使得罩内部形成黑箱，并在焊接质量检测区域下方留有工件履带齿轮盘进入的开口。通过搬运机器人将履带齿轮盘工件从开口进入搬运到焊接质量检测区域中，背光源508发光，通过工业相机506采集工件每一齿位的图像，再进一步通过图像处理检测焊接质量。As shown in Figure 5, the visual inspection device 500 includes a shading cover 501, a detection system bracket 502, a slide base 503, a ball screw pair 504, a slide table 505, an industrial camera 506, a lens 507, a backlight 508, and image processing software; The image processing software is set on the intelligent control system 400; the detection system bracket 502 is used as the supporting body of the visual detection device 500, the slide base 503 is horizontally fixed on the detection system bracket 502, and the slide base 505 is installed on the slide base 503 through the ball screw pair 504 , so that the sliding platform 505 moves horizontally on the sliding platform seat 503; the lens 507 and the industrial camera 506 are installed on the sliding platform 505, the lens 507 and the industrial camera 506 are connected, and a backlight 508 is arranged in front of the lens 507, and the backlight 508 is connected to the detection system The bracket 502 is fixedly connected, and the area between the lens 507 and the backlight 508 is the welding quality inspection area of the track gear disc; the light shield 501 is arranged around the outer periphery of the detection system bracket 502 so that a black box is formed inside the cover, and a hole is left below the welding quality inspection area. The opening through which the work track gear plate enters. The crawler gear disc workpiece is transported from the opening to the welding quality inspection area by the handling robot, the backlight 508 emits light, and the image of each tooth position of the workpiece is collected by the industrial camera 506, and the welding quality is further detected through image processing.
如附图8所示，控制气路包括气源模块1、与搬运机器人机构200中气爪连接的手爪气缸模块8以及分别与四个固定料仓100中气缸连接的第一料仓模块3、第二料仓模块4、第三料仓模块6和第四料仓模块7。As shown in Figure 8, the control air circuit includes an air source module 1, a gripper cylinder module 8 connected to the gripper in the handling robot mechanism 200, and a first bin module 3 connected to the cylinders in the four fixed bins 100 respectively , the second silo module 4, the third silo module 6 and the fourth silo module 7.
气源模块1包括气源11、过滤器12、气罐13和气动三联件14，气源11通过气管依次与过滤器12、气罐13、气动三联件14连接，气动三联件14经第一减压阀2后分别与第一料仓模块3、第二料仓模块4连接，气动三联件14经第二减压阀5后分别与第三料仓模块6、第四料仓模块7连接，气动三联件14与手爪气缸模块8通过气路连接。The air source module 1 includes an air source 11, a filter 12, an air tank 13 and a pneumatic triple piece 14. The air source 11 is connected to the filter 12, the air tank 13, and the pneumatic triple piece 14 in turn through the air pipe, and the pneumatic triple piece 14 passes through the first The pressure reducing valve 2 is respectively connected with the first silo module 3 and the second silo module 4, and the pneumatic triple piece 14 is respectively connected with the third silo module 6 and the fourth silo module 7 after passing through the second pressure reducing valve 5 , the pneumatic triple piece 14 is connected with the gripper cylinder module 8 through an air path.
手爪气缸模块8包括手爪气缸电气比例阀81、手爪气缸压力传感器82、手爪气缸电磁阀83和手爪气缸84，气动三联件14与手爪气缸电气比例阀81通过气路连接，手爪气缸电气比例阀81与手爪气缸压力传感器82通过气路连接，手爪气缸压力传感器82与手爪气缸电磁阀83通过气路连接，手爪气缸电磁阀83与手爪气缸84通过气路连接。The gripper cylinder module 8 includes a gripper cylinder electric proportional valve 81, a gripper cylinder pressure sensor 82, a gripper cylinder solenoid valve 83 and a gripper cylinder 84, and the pneumatic triple piece 14 is connected with the gripper cylinder electric proportional valve 81 through an air circuit, The electric proportional valve 81 of the hand cylinder is connected with the pressure sensor 82 of the hand cylinder through an air circuit, the pressure sensor 82 of the hand cylinder is connected with the solenoid valve 83 of the hand cylinder through an air circuit, and the solenoid valve 83 of the hand cylinder is connected with the solenoid valve 84 of the hand cylinder through an air circuit. road connection.
第一料仓模块3包括第一定位气缸电磁阀31和第一夹紧气缸电磁阀33，第一减压阀2分别与第一定位气缸电磁阀31、第一夹紧气缸电磁阀33通过气路连接，第一定位气缸电磁阀31与第一个固定料仓中的第一定位气缸32通过气路连接，第一夹紧气缸电磁阀33与第一个固定料仓中的第一夹紧气缸34通过气路连接。The first silo module 3 includes a first positioning cylinder solenoid valve 31 and a first clamping cylinder solenoid valve 33, and the first decompression valve 2 is respectively connected to the first positioning cylinder solenoid valve 31 and the first clamping cylinder solenoid valve 33 through air. The first positioning cylinder solenoid valve 31 is connected with the first positioning cylinder 32 in the first fixed silo through an air circuit, and the first clamping cylinder solenoid valve 33 is connected with the first clamping cylinder 32 in the first fixed silo. The cylinders 34 are connected through air passages.
第二料仓模块4包括第二定位气缸电磁阀41和第二夹紧气缸电磁阀43，第一减压阀2分别与第二定位气缸电磁阀41、第二夹紧气缸电磁阀43通过气路连接，第二定位气缸电磁阀41与第二个固定料仓中的第二定位气缸42通过气路连接，第二夹紧气缸电磁阀43与第二个固定料仓中的第二夹紧气缸44通过气路连接。The second silo module 4 includes a second positioning cylinder solenoid valve 41 and a second clamping cylinder solenoid valve 43, and the first decompression valve 2 is respectively connected to the second positioning cylinder solenoid valve 41 and the second clamping cylinder solenoid valve 43 through air. The second positioning cylinder solenoid valve 41 is connected with the second positioning cylinder 42 in the second fixed silo through an air circuit, and the second clamping cylinder solenoid valve 43 is connected with the second clamping cylinder 42 in the second fixed silo. The cylinders 44 are connected through air passages.
第三料仓模块6包括第三定位气缸电磁阀61和第三夹紧气缸电磁阀63，第二减压阀5分别与第三定位气缸电磁阀61、第三夹紧气缸电磁阀63通过气路连接，第三定位气缸电磁阀61与第三个固定料仓中的第三定位气缸62通过气路连接，第三夹紧气缸电磁阀63与第三个固定料仓中的第三夹紧气缸64通过气路连接。The third bin module 6 includes the third positioning cylinder solenoid valve 61 and the third clamping cylinder solenoid valve 63, and the second decompression valve 5 is respectively connected with the third positioning cylinder solenoid valve 61 and the third clamping cylinder solenoid valve 63 through air. The third positioning cylinder solenoid valve 61 is connected with the third positioning cylinder 62 in the third fixed silo through an air circuit, and the third clamping cylinder electromagnetic valve 63 is connected with the third clamping cylinder 62 in the third fixed silo. The cylinders 64 are connected through air passages.
第四料仓模块7包括第四定位气缸电磁阀71和第四夹紧气缸电磁阀73，第二减压阀5分别与第四定位气缸电磁阀71、第四夹紧气缸电磁阀73通过气路连接，第四定位气缸电磁阀71与第四个固定料仓中的第四定位气缸72通过气路连接，第四夹紧气缸电磁阀73与第四个固定料仓中的第四夹紧气缸74通过气路连接。The fourth silo module 7 includes a fourth positioning cylinder solenoid valve 71 and a fourth clamping cylinder solenoid valve 73, and the second decompression valve 5 is respectively connected with the fourth positioning cylinder solenoid valve 71 and the fourth clamping cylinder solenoid valve 73 through air. The fourth positioning cylinder solenoid valve 71 is connected with the fourth positioning cylinder 72 in the fourth fixed silo through an air circuit, and the fourth clamping cylinder solenoid valve 73 is clamped with the fourth clamping cylinder in the fourth fixed silo. The cylinders 74 are connected through air passages.
如附图7所示，智能控制系统400包括工业控制计算机、PC数字量输入模块、PC数字量输出模块、PC模拟量输入模块、PC模拟量输出模块、搬运机器人控制器、搬运数字量输入模块、搬运数字量输出模块、焊接机器人控制器、焊接机器人、焊接数字量输入模块、焊接数字量输出模块：As shown in Figure 7, the intelligent control system 400 includes an industrial control computer, a PC digital input module, a PC digital output module, a PC analog input module, a PC analog output module, a handling robot controller, and a handling digital input module. , Handling digital output module, welding robot controller, welding robot, welding digital input module, welding digital output module:
工业控制计算机通过EtherCAT总线分别与PC数字量输入模块、PC数字量输出模块、PC模拟量输入模块和PC模拟量输出模块连接，PC数字量输入模块分别与对射式光电传感器、定位气缸磁性开关、夹紧气缸磁性开关和工件检测开关连接，PC数字量输出模块通过继电器模组分别与夹紧气缸电磁阀和定位气缸电磁阀连接，PC模拟量输入模块通过信号转换模块分别与焊接气体压力传感器、手爪气缸压力传感器连接，PC模拟量输出模块分别与焊接气体电气比例阀、手爪气缸电气比例阀连接。The industrial control computer is connected to the PC digital input module, PC digital output module, PC analog input module and PC analog output module through the EtherCAT bus, and the PC digital input module is respectively connected to the through-beam photoelectric sensor and the positioning cylinder magnetic switch , the magnetic switch of the clamping cylinder is connected with the workpiece detection switch, the PC digital output module is respectively connected with the solenoid valve of the clamping cylinder and the solenoid valve of the positioning cylinder through the relay module, and the PC analog input module is respectively connected with the welding gas pressure sensor through the signal conversion module , Claw cylinder pressure sensor connection, PC analog output module is respectively connected with the welding gas electrical proportional valve, the claw cylinder electrical proportional valve.
工业控制计算机通过PC数字量输入模块读取对射式光电传感器、定位气缸磁性开关、夹紧气缸磁性开关、工件检测开关的信号，分别对应检测当前的合格料仓和不合格料仓是否就位、定位气缸和夹紧气缸的当前状态以及料仓上是否有料。对射式光电传感用于检测合格料仓和不合格料仓是否就位，定位气缸磁性开关、夹紧气缸磁性开关用于检测定位气缸和夹紧气缸的当前状态，工件检测开关的信号用于检测料仓上是否有料。The industrial control computer reads the signals of the through-beam photoelectric sensor, the magnetic switch of the positioning cylinder, the magnetic switch of the clamping cylinder, and the workpiece detection switch through the PC digital input module, and respectively detects whether the current qualified and unqualified material bins are in place , The current state of the positioning cylinder and the clamping cylinder and whether there is material on the silo. The through-beam photoelectric sensor is used to detect whether the qualified material bin and the unqualified material bin are in place, the magnetic switch of the positioning cylinder and the magnetic switch of the clamping cylinder are used to detect the current state of the positioning cylinder and the clamping cylinder, and the signal of the workpiece detection switch is used It is used to detect whether there is material on the silo.
工业控制计算机通过PC数字量输出模块、继电器模组给夹紧气缸电磁阀、定位气缸电磁阀发送信号，工业控制计算机分别通过夹紧气缸电磁阀和定位气缸电磁阀控制夹紧气缸和定位气缸对料仓上工件进行定位。The industrial control computer sends signals to the clamping cylinder solenoid valve and the positioning cylinder solenoid valve through the PC digital output module and the relay module, and the industrial control computer controls the clamping cylinder and positioning cylinder through the clamping cylinder solenoid valve and the positioning cylinder solenoid valve respectively. The workpiece is positioned on the silo.
所述工业控制计算机通过PC模拟量输入模块经信号转换模块读取焊接气体压力传感器检测的焊接气体压力值和手爪气缸压力传感器检测的手爪气缸压力值，同时，工业控制计算机通过PC模拟量输出模块传递控制信号给焊接气体电气比例阀和手爪气缸电气比例阀分别调节焊接气体压力及手爪气缸压力，使焊接气体压力及手爪气缸压力处于范围内。The industrial control computer reads the welding gas pressure value detected by the welding gas pressure sensor and the hand cylinder pressure value detected by the hand cylinder pressure sensor through the PC analog input module through the signal conversion module, and at the same time, the industrial control computer passes the PC analog quantity The output module transmits control signals to the electric proportional valve of the welding gas and the electric proportional valve of the hand cylinder to adjust the pressure of the welding gas and the pressure of the hand cylinder respectively, so that the pressure of the welding gas and the pressure of the hand cylinder are within the range.
工业控制计算机通过Ethernet总线与视觉检测装置的工业相机连接，工业控制计算机与搬运机器人控制器通过EtherCAT总线连接，搬运机器人控制器与搬运机器人通过总线连接，搬运机器人控制器通过EtherCAT总线分别与搬运数字量输入模块、搬运数字量输出模块连接，搬运数字量输入模块与手爪气缸磁性开关连接，搬运数字量输出模块通过继电器与手爪气缸电磁阀连接。The industrial control computer is connected to the industrial camera of the visual inspection device through the Ethernet bus, the industrial control computer and the handling robot controller are connected through the EtherCAT bus, the handling robot controller is connected to the handling robot through the bus, and the handling robot controller is connected to the handling digital The quantity input module and the handling digital output module are connected, the handling digital input module is connected with the magnetic switch of the gripper cylinder, and the handling digital output module is connected with the gripper cylinder solenoid valve through a relay.
工业控制计算机与搬运机器人控制器进行数据交换，搬运机器人控制器与搬运机器人进行信号交互，搬运机器人控制器通过搬运数字量输入模块读取手爪气缸磁性开关信号，获得当前手爪气缸的状态信息；搬运机器人控制器通过搬运数字量输出模块经继电器控制手爪气缸电磁阀信号通断，进而控制手爪气缸运行。The industrial control computer exchanges data with the handling robot controller, the handling robot controller and the handling robot perform signal interaction, and the handling robot controller reads the magnetic switch signal of the gripper cylinder through the handling digital input module to obtain the current status information of the gripper cylinder ; The handling robot controller controls the on-off of the solenoid valve signal of the gripper cylinder through the handling digital output module through the relay, and then controls the operation of the gripper cylinder.
工业控制计算机与焊接机器人控制器通过EtherCAT总线连接，焊接机器人控制器与焊接机器人连接，焊接机器人控制器通过EtherCAT总线分别与焊接数字量输入模块、焊接数字量输出模块连接，焊接数字量输入模块分别与焊接电源、送丝机、防碰撞传感器、激光寻位传感器连接，焊接数字量输出模块分别与焊接电源、送丝机连接。焊接数字量输入模块将控制信号发送到焊接电源和送丝机，焊接电源、送丝机的工序完成信号反馈到焊接数字量输出模块。The industrial control computer is connected to the welding robot controller through the EtherCAT bus, the welding robot controller is connected to the welding robot, and the welding robot controller is connected to the welding digital input module and the welding digital output module respectively through the EtherCAT bus. It is connected with welding power supply, wire feeder, anti-collision sensor and laser positioning sensor, and the welding digital output module is connected with welding power supply and wire feeder respectively. The welding digital input module sends control signals to the welding power supply and the wire feeder, and the process completion signals of the welding power supply and the wire feeder are fed back to the welding digital output module.
工业控制计算机与焊接机器人控制器进行信号交互，焊接机器人控制器与焊接机器人进行信号交互，焊接机器人控制器通过焊接数字量输入模块分别读取防碰撞传感器、激光寻位传感器、焊接电源、送丝机的信号。防碰撞传感器当焊枪发生碰撞时，将信号发送给焊接机器人控制器，焊接机器人控制器控制焊接机器人停止运行；激光寻位传感器安装在焊接机器人末端，焊接前，通过激光寻位传感器对工件进行寻位，纠正焊接机器人焊接位置。The industrial control computer and the welding robot controller perform signal interaction, the welding robot controller and the welding robot perform signal interaction, and the welding robot controller reads the anti-collision sensor, laser positioning sensor, welding power supply, wire feeding machine signal. The anti-collision sensor sends a signal to the welding robot controller when the welding torch collides, and the welding robot controller controls the welding robot to stop running; the laser positioning sensor is installed at the end of the welding robot. Before welding, the laser positioning sensor is used to locate the workpiece. position, correct the welding position of the welding robot.
焊接机器人控制器通过焊接数字量输出模块分别发送信号给焊接电源和送丝机。当焊接机器人移动至焊接位置后，焊接机器人控制器发送信号至焊接电源和送丝机，开始焊接和送丝。焊接完成后，焊接机器人控制器发送信号至焊接电源和送丝机，停止焊接和送丝。The welding robot controller sends signals to the welding power supply and the wire feeder respectively through the welding digital output module. After the welding robot moves to the welding position, the welding robot controller sends a signal to the welding power source and the wire feeder to start welding and wire feeding. After the welding is completed, the welding robot controller sends a signal to the welding power supply and the wire feeder to stop welding and wire feeding.
本发明的协同焊接和检测工作过程包括以下步骤：Coordinated welding of the present invention and detection work process comprise the following steps:
1、将齿轮盘放置在固定料仓100上，操作气动控制柜101上的按钮，控制固定料仓100上的夹紧气缸103和定位气缸106动作，完成齿轮盘定位；1. Place the gear plate on the fixed silo 100, operate the button on the pneumatic control cabinet 101, control the action of the clamping cylinder 103 and the positioning cylinder 106 on the fixed silo 100, and complete the positioning of the gear plate;
2、操作智能控制系统400人机界面上按钮，整套系统进入自动运行阶段；2. Operate the buttons on the 400 man-machine interface of the intelligent control system, and the whole system enters the automatic operation stage;
3、搬运机器人201运行至上料工位，装夹固定料仓100上定位好的齿轮盘，将齿轮盘搬运至焊接工位；3. The transport robot 201 runs to the loading station, clamps and fixes the positioned gear plate on the material bin 100, and transports the gear plate to the welding station;
4、搬运机器人201和焊接机器人302协同完成齿轮盘的堆焊加工；焊接机器人302先用激光寻位传感器304对齿轮盘加工表面进行扫描，焊接机器人302根据激光寻位传感器304的信息修正焊接轨迹，然后再沿修正后的轨迹进行焊接；搬运机器人201在加工过程中负责齿轮盘变位；焊接完成后，焊接机器人302回原位；4. The handling robot 201 and the welding robot 302 cooperate to complete the surfacing process of the gear plate; the welding robot 302 first uses the laser positioning sensor 304 to scan the processing surface of the gear plate, and the welding robot 302 corrects the welding track according to the information of the laser positioning sensor 304 , and then perform welding along the corrected trajectory; the handling robot 201 is responsible for the displacement of the gear plate during the processing; after the welding is completed, the welding robot 302 returns to its original position;
5、搬运机器人201将加工完成的齿轮盘搬运至检测工位，通过视觉检测装置500检测齿轮盘的焊接质量；5. The handling robot 201 transports the processed gear plate to the inspection station, and detects the welding quality of the gear plate through the visual inspection device 500;
具体实施采用计算机智能图像识别的在线检测，通过实物定位检测与数字模型配准方式，采集并处理零件焊接质量信息，能够快速、准确地检测出零件焊接质量缺陷。The specific implementation adopts the online detection of computer intelligent image recognition, and collects and processes the welding quality information of parts through physical positioning detection and digital model registration, so that the welding quality defects of parts can be detected quickly and accurately.
6、搬运机器人201根据视觉检测装置500检测的信息对齿轮盘进行分仓码垛；质量检测合格的齿轮盘码垛在一个移动料仓600里，质量检测不合格的齿轮盘码垛在另一个移动料仓600里；6. The handling robot 201 palletizes the gear discs according to the information detected by the visual inspection device 500; the gear discs that pass the quality inspection are stacked in one mobile bin 600, and the gear discs that fail the quality inspection are stacked in another Move the silo for 600 miles;
7、设备运行过程中，智能控制系统400负责整套设备总控，并显示设备加工状态。7. During the operation of the equipment, the intelligent control system 400 is responsible for the overall control of the entire set of equipment and displays the processing status of the equipment.
智能控制系统400的过程如附图9所示，首先启动开始初始化，然后：The process of the intelligent control system 400 is as shown in accompanying drawing 9, first starts initializing, then:
1)检测焊接气体压力是否正常，不在设置的范围内，调整焊接气体电气比例阀，调节焊接气体压力直到正常；1) Check whether the welding gas pressure is normal, if it is not within the set range, adjust the welding gas electric proportional valve, and adjust the welding gas pressure until it is normal;
2)检测手爪气缸压力是否正常，不在设置的范围内，调整手爪气缸电气比例阀，调节手爪气缸压力直到正常；2) Check whether the pressure of the gripper cylinder is normal, if it is not within the set range, adjust the electric proportional valve of the gripper cylinder, and adjust the pressure of the gripper cylinder until it is normal;
3)检测料仓是否有料，没料的情况下，报警提醒放料，直到检测到有料，报警停止；3) Detect whether there is material in the silo. If there is no material, the alarm will remind the material to be discharged until the material is detected, and the alarm will stop;
4)然后搬运机器人执行上料工序，上料工序完成后，焊接机器人执行焊接工序；4) Then the handling robot performs the loading process, and after the loading process is completed, the welding robot performs the welding process;
5)焊接工序完成后，视觉检测装置检测加工质量是否合格。5) After the welding process is completed, the visual inspection device detects whether the processing quality is qualified.
6)工业相机拍下当前工件的轮廓，将数据传输至视觉检测装置，进行图像数据比对，判断出该工件是否合格；6) The industrial camera captures the outline of the current workpiece, transmits the data to the visual inspection device, compares the image data, and judges whether the workpiece is qualified;
7)若工件合格，搬运机器人将工件放入合格料仓，若工件不合格，搬运机器人将工件放入不合格料仓。7) If the workpiece is qualified, the handling robot puts the workpiece into the qualified bin, and if the workpiece is unqualified, the handling robot puts the workpiece into the unqualified bin.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710151267.4A CN107015535B (en) | 2017-03-14 | 2017-03-14 | A kind of dual robot collaboration welding and detection device control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710151267.4A CN107015535B (en) | 2017-03-14 | 2017-03-14 | A kind of dual robot collaboration welding and detection device control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107015535A true CN107015535A (en) | 2017-08-04 |
| CN107015535B CN107015535B (en) | 2018-06-15 |
Family
ID=59440845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710151267.4A Expired - Fee Related CN107015535B (en) | 2017-03-14 | 2017-03-14 | A kind of dual robot collaboration welding and detection device control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107015535B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107917798A (en) * | 2017-11-08 | 2018-04-17 | 燕山大学 | The test system and test method of pneumatic proportional pressure valve |
| CN109093477A (en) * | 2018-08-03 | 2018-12-28 | 武汉理工大学 | A kind of device and method of multirobot collaboration polishing forge piece overlap |
| CN109297970A (en) * | 2017-11-24 | 2019-02-01 | 苏州娄格自动化科技有限公司 | Solar panels terminal box crator detection components |
| CN109623190A (en) * | 2019-01-04 | 2019-04-16 | 博众精工科技股份有限公司 | A kind of shaver welding control system and method |
| CN110293435A (en) * | 2019-06-27 | 2019-10-01 | 西安精雕软件科技有限公司 | A kind of automatic loading/unloading control system and method based on double Y-axis engraving center |
| CN111019825A (en) * | 2019-12-23 | 2020-04-17 | 深圳赛动生物自动化有限公司 | Stem cell feeding bin control system based on programmable controller and control method thereof |
| CN112085987A (en) * | 2020-08-31 | 2020-12-15 | 上海工程技术大学 | Intelligent manufacturing training system based on industrial robot and control method |
| CN112605493A (en) * | 2020-12-23 | 2021-04-06 | 盐城清新环境技术有限公司 | Turbulator welding robot system |
| CN112620909A (en) * | 2020-12-28 | 2021-04-09 | 武汉智艾德科技有限公司 | Automatic projection welding system and method based on robot |
| CN112935540A (en) * | 2021-02-01 | 2021-06-11 | 中国航空制造技术研究院 | Thin-wall structure laser welding system and method based on multi-robot cooperation |
| CN113547272A (en) * | 2021-08-25 | 2021-10-26 | 天津市康浩鑫隆科技有限公司 | Industrial robot collaborative production assembly line |
| CN113733060A (en) * | 2021-10-12 | 2021-12-03 | 南京科远智慧科技集团股份有限公司 | Clamp for disassembling and assembling container lock by manipulator |
| CN113733057A (en) * | 2021-09-23 | 2021-12-03 | 曹智军 | Method for assembling robot rib plates of U-shaped groove of single-beam crane |
| WO2021258338A1 (en) * | 2020-06-24 | 2021-12-30 | 西门子股份公司 | Method for controlling multiple execution mechanisms, electronic device, and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837103A (en) * | 2012-09-14 | 2012-12-26 | 长沙长泰机器人有限公司 | Automatic assembling and welding system based on three-dimensional laser vision |
| KR20160072635A (en) * | 2014-12-15 | 2016-06-23 | 한국항공우주연구원 | A controller including a input/output module and a main module |
| CN106205266A (en) * | 2016-08-31 | 2016-12-07 | 魏志丽 | A kind of flexible manufacturing system experimental facilities based on industrial robot |
| CN205788817U (en) * | 2016-04-05 | 2016-12-07 | 广州超控自动化设备科技有限公司 | A kind of unmanned workshop robot real training apparatus for production line |
-
2017
- 2017-03-14 CN CN201710151267.4A patent/CN107015535B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837103A (en) * | 2012-09-14 | 2012-12-26 | 长沙长泰机器人有限公司 | Automatic assembling and welding system based on three-dimensional laser vision |
| KR20160072635A (en) * | 2014-12-15 | 2016-06-23 | 한국항공우주연구원 | A controller including a input/output module and a main module |
| CN205788817U (en) * | 2016-04-05 | 2016-12-07 | 广州超控自动化设备科技有限公司 | A kind of unmanned workshop robot real training apparatus for production line |
| CN106205266A (en) * | 2016-08-31 | 2016-12-07 | 魏志丽 | A kind of flexible manufacturing system experimental facilities based on industrial robot |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107917798A (en) * | 2017-11-08 | 2018-04-17 | 燕山大学 | The test system and test method of pneumatic proportional pressure valve |
| CN109297970A (en) * | 2017-11-24 | 2019-02-01 | 苏州娄格自动化科技有限公司 | Solar panels terminal box crator detection components |
| CN109093477A (en) * | 2018-08-03 | 2018-12-28 | 武汉理工大学 | A kind of device and method of multirobot collaboration polishing forge piece overlap |
| CN109623190A (en) * | 2019-01-04 | 2019-04-16 | 博众精工科技股份有限公司 | A kind of shaver welding control system and method |
| CN110293435A (en) * | 2019-06-27 | 2019-10-01 | 西安精雕软件科技有限公司 | A kind of automatic loading/unloading control system and method based on double Y-axis engraving center |
| CN110293435B (en) * | 2019-06-27 | 2020-11-17 | 西安精雕软件科技有限公司 | Automatic feeding and discharging control system and method based on double-Y-axis engraving center |
| CN111019825A (en) * | 2019-12-23 | 2020-04-17 | 深圳赛动生物自动化有限公司 | Stem cell feeding bin control system based on programmable controller and control method thereof |
| WO2021258338A1 (en) * | 2020-06-24 | 2021-12-30 | 西门子股份公司 | Method for controlling multiple execution mechanisms, electronic device, and storage medium |
| CN115697643A (en) * | 2020-06-24 | 2023-02-03 | 西门子股份公司 | Method of controlling a plurality of actuators, electronic device, and storage medium |
| CN112085987A (en) * | 2020-08-31 | 2020-12-15 | 上海工程技术大学 | Intelligent manufacturing training system based on industrial robot and control method |
| CN112605493A (en) * | 2020-12-23 | 2021-04-06 | 盐城清新环境技术有限公司 | Turbulator welding robot system |
| CN112620909A (en) * | 2020-12-28 | 2021-04-09 | 武汉智艾德科技有限公司 | Automatic projection welding system and method based on robot |
| CN112935540A (en) * | 2021-02-01 | 2021-06-11 | 中国航空制造技术研究院 | Thin-wall structure laser welding system and method based on multi-robot cooperation |
| CN113547272A (en) * | 2021-08-25 | 2021-10-26 | 天津市康浩鑫隆科技有限公司 | Industrial robot collaborative production assembly line |
| CN113547272B (en) * | 2021-08-25 | 2023-02-28 | 天津市康浩鑫隆科技有限公司 | Industrial robot collaborative production assembly line |
| CN113733057A (en) * | 2021-09-23 | 2021-12-03 | 曹智军 | Method for assembling robot rib plates of U-shaped groove of single-beam crane |
| CN113733057B (en) * | 2021-09-23 | 2023-11-24 | 曹智军 | Robot rib plate assembling method for U-shaped groove of single-beam crane |
| CN113733060A (en) * | 2021-10-12 | 2021-12-03 | 南京科远智慧科技集团股份有限公司 | Clamp for disassembling and assembling container lock by manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107015535B (en) | 2018-06-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107015535B (en) | A kind of dual robot collaboration welding and detection device control system | |
| CN106862813B (en) | A kind of robot automatic surfacing of caterpillar teeth wheel disc and vision detection system | |
| CN108417137B (en) | Intelligent practical training production line for industrial robot | |
| CN110589401A (en) | Barrel processing detects automatic production system and barrel transfer system for automatic production | |
| CN111590226B (en) | Welding production line of automobile body side wall outer plate assembly | |
| CN110270874A (en) | A kind of truss-like lathe loading and unloading robot system and its control method | |
| CN105563137A (en) | Intelligent manufacturing complete production line for precise parts | |
| CN209681171U (en) | CNC lathe system with automatic loading and unloading and self-inspection of processing size | |
| CN105922082A (en) | Intelligent robot machining line and intelligent robot machining method | |
| CN207748519U (en) | A kind of automatic error feeder | |
| CN210547791U (en) | Automatic assembling and riveting machine for automobile safety belt product frame parts | |
| CN108857421A (en) | A kind of bogie frame component quick assembling work station | |
| CN110153357B (en) | Automatic assembling riveting machine for automobile safety belt product frame parts | |
| CN102500924A (en) | Laser welding device for vehicular head cover | |
| CN110814142A (en) | Thermoforming punching press automation line | |
| CN208005088U (en) | White body robot squab panel gripping apparatus | |
| CN212350020U (en) | Thermoforming punching press automation line | |
| CN217717538U (en) | A device for narrow-mouthed bottle visual detection | |
| CN205363936U (en) | Reinforcing bar and pipe fitting sharing type machinery tongs | |
| CN115740889A (en) | Intelligent welding system of robot | |
| JPH0872764A (en) | Production line controller | |
| CN219956489U (en) | Gauge detecting equipment is put to car brake tube | |
| CN217322342U (en) | Workpiece grabbing device | |
| CN109048065B (en) | Automatic processing system for front and rear axles of automobile | |
| CN211277084U (en) | Closing plate or conical head supply unit of automatic welding production system for net rack connecting rod |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180615 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |