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
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- 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
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- 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], 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], computer integrated manufacturing [CIM] characterised by quality surveillance of production
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- 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], 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], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
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- 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]
Abstract
The invention discloses a kind of dual robot collaboration welding and detection means control system.Including fixed feed bin, carrying robot mechanism, welding robot robot mechanism, intelligence control system, vision inspection apparatus and mobile feed bin；Fixed feed bin is in feeding station, welding robot robot mechanism is in welding post, vision inspection apparatus is in detection station, mobile feed bin is in discharge station, fixed feed bin is used for feeding, crawler belt toothed disc is first transported at welding robot robot mechanism and welded by carrying robot mechanism from fixed feed bin, then moves to and be transported to mobile feed bin at vision inspection apparatus after Welding quality test；Intelligence control system includes computer, PC digital quantities and analog input and output module, transfer robot and welding robot controller.The present invention realizes the functions such as point warehouse codes pile of the automatic charging of crawler belt toothed disc, dual robot collaboration welding, welding quality on-line checking and finished product, and automation degree of equipment is high, and whole process does not need manual intervention, and welding quality uniformity is high.
Description
Technical field
The present invention relates to one kind welding and detecting system, more particularly to a kind of dual robot collaboration welding and detection means control
System processed, is the full-automatic control system for the processing of workpiece automatic welding and postwelding quality testing.
Background technology
Crawler belt toothed disc is the vital part of giant caterpillar formula engineering truck, generally as the driving wheel of crawler-type traveling system
Use.The crudy (machining accuracy, wear resistance) of crawler belt toothed disc directly affects the exercise performance of vehicle.To improve gear
The wearability of disk, it usually needs in the engagement place built-up welding last layer wear-resistant metal material of tooth form.
At present, corporate boss will implement built-up welding using the toothed surfaces of gas metal-arc welding Technology on Gear disk.It is conventional
Processing mode have two kinds, one kind is manually built-up welding, another Welder being made up of welding robot and positioner
Make station and implement automatic surfacing.During manual built-up welding, workman is by toothed disc clamping to special fixture, and hand torch is implemented to workpiece
Welding operation；During automatic surfacing, workman will be first by clamping workpiece to positioner, then operates teaching machine by robot and positioner
Implement collaboration built-up welding operation to workpiece.After the built-up welding end of job, it is necessary to wait workpiece cool down could by it from special fixture or
Removed on positioner.Because built-up welding precision is relatively low, the toothed disc that heap is welded need to also be polished it by workman, final to ensure
Tooth form meets drawing requirement.
It can be seen that, also there is following defect in current toothed disc tooth form built-up welding mode：1st, for manually welding manner, work
Part welding quality unstable, is affected by human factors greatly, the working environment of workers is severe, and working strength is big；2nd, for based on welding
The automatic surfacing mode of work station, though realizing a certain degree of automation, still needs to artificial loading and unloading, utilization rate of equipment and installations is low,
Product surfacing quality is improved to some extent, but still needs to polishing；3rd, end product quality relies on manual polishing skill, by artificial
Factor influence is big, and polishing operation working environment is severe, and recruitment is difficult and human cost is high.
The content of the invention
In order to solve problem present in background technology, the invention provides a kind of dual robot collaboration welding and detection dress
Put control system, it is possible to achieve the automatic charging of crawler belt toothed disc, dual robot collaboration welding, welding quality on-line checking and
Point warehouse codes pile of finished product.
The technical solution adopted by the present invention is as follows：
The present invention includes fixed feed bin, carrying robot mechanism, welding robot robot mechanism, vision inspection apparatus and mobile material
Storehouse；Fixed feed bin, mobile feed bin, welding robot robot mechanism and vision inspection apparatus are both placed in the week of carrying robot mechanism
Enclose；Fixed feed bin is arranged on feeding station, and welding robot robot mechanism is placed on welding post, and vision inspection apparatus is arranged on detection
Station, mobile feed bin is arranged on discharge station.
Fixed feed bin is used for feeding, and crawler belt toothed disc is first transported to welding robot by carrying robot mechanism from fixed feed bin
Welded at robot mechanism, then be transported to the detection that welding quality is carried out at vision inspection apparatus, be finally transported to mobile feed bin.
Described fixation feed bin includes Pneumatic control cabinet, fixed feed bin frame, clamping cylinder, gripping block, clamping cylinder seat, fixed
Position cylinder, workpiece sensing switch and alignment pin；It is provided with fixed feed bin frame main by clamping cylinder, gripping block, clamping cylinder
The workpiece positioning component that seat, positioning cylinder, workpiece sensing switch and alignment pin are constituted, Pneumatic control cabinet is fixedly installed on fixed material
On the frame of storehouse, Pneumatic control cabinet connects clamping cylinder and positioning cylinder respectively by gas circuit；Workpiece sensing switch is arranged on fixed material
Sidepiece on the frame of storehouse, for detecting the presence or absence of crawler belt toothed disc on fixed feed bin frame；Clamping cylinder is installed by clamping cylinder seat
Side on fixed feed bin frame, the tight block of cylinder rod end connection clip of clamping cylinder, gripping block is clamped to the tooth of crawler belt toothed disc
On face；Positioning cylinder is arranged on fixed feed bin frame opposite side, and the cylinder rod end of positioning cylinder is connected to be sleeved on crawler belt gear
Alignment pin on disk in fabrication hole, alignment pin coordinates with the fabrication hole on crawler belt toothed disc；Positioning cylinder and clamping cylinder connect
It is connected in the control gas circuit containing positioning cylinder magnetic valve and clamping cylinder magnetic valve.Positioning cylinder magnetic switch is arranged on positioning
On cylinder, clamping cylinder magnetic switch is arranged on above clamping cylinder.
Described carrying robot mechanism includes transfer robot, transfer robot switch board, mounting flange, paw cylinder
And clamping jaw；Transfer robot end is provided with mounting flange, and mounting flange end is provided with paw cylinder, the cylinder of paw cylinder
Rod end, which is connected with three, is used for the clamping jaw of crawler belt toothed disc clamping；Transfer robot switch board is placed on transfer robot side,
Transfer robot switch board connects transfer robot and controls motion；Paw cylinder is connected to containing paw cylinder magnetic valve, hand
In the control gas circuit of pawl cylinder pressure sensors and welding gas electric Proportion valve.Paw cylinder magnetic switch is arranged on paw gas
Above cylinder.
Described welding robot robot mechanism includes clear rifle device, welding robot, welding gun, laser and seeks level sensor, anticollision
Sensor, the source of welding current, wire-feed motor and welding robot switch board；Welding robot end is provided with welding gun, anticollision sensing
Device and laser seek level sensor, and the source of welding current, wire-feed motor, clear rifle device and welding robot switch board are both placed in welding robot
Side, welding robot switch board connecting welding robot simultaneously controls motion；Wire-feed motor is connected by pipeline with welding gun；Welding gun connects
The welding gas pressure sensor for detecting welding gas pressure is provided with the welding tracheae connect and for controlling welding gas
The welding gas electric Proportion valve of body pressure.
Described mobile feed bin includes sensor stand, correlation photoelectric sensor, slide damper, feed bin base and pad
Block；The circumferentially spaced cushion block being evenly equipped with for padding in crawler belt toothed disc workpiece bottom of feed bin base top surface, cushion block outside
The slide damper for discharge position under spacing crawler belt toothed disc workpiece is provided with, two pass through to the correlation photoelectric sensor penetrated
Sensor stand is arranged on two sides of feed bin base.
Described vision inspection apparatus includes light shield, detecting system support, carriage saddle, ball screw assembly, slide unit, industry
Camera, camera lens, backlight and image processing software；Image processing software is arranged in intelligence control system；Carriage saddle level
Detecting system support is fixed on, slide unit is installed on carriage saddle by ball screw assembly, so that slide unit level on carriage saddle is moved
It is dynamic；Camera lens and industrial camera are installed on slide unit, camera lens and industrial camera connection, and backlight, backlight are provided with front of camera lens
Source is fixedly connected with detecting system support, and region is the Welding quality test region of crawler belt toothed disc between camera lens and backlight；
Light shield is arranged on detecting system support outside so that cover is internally formed black box, and is left below Welding quality test region
The opening that workpiece enters.
Present invention additionally comprises the intelligence being connected respectively with welding robot robot mechanism, vision inspection apparatus and carrying robot mechanism
Can control system, intelligence control system include industrial control computer, PC digital quantity input modules, PC digital outputs module,
PC Analog input mModules, PC analog output modules, transfer robot controller, carrying digital quantity input module, carrying number
Word amount output module, welding robot controller, welding robot, welding digital quantity input module, welding digital output mould
Block.
Industrial control computer by EtherCAT buses respectively with PC digital quantity input modules, PC digital output moulds
Block, PC Analog input mModules and PC analog output modules connection, PC digital quantity input modules respectively with correlation photoelectric transfer
Sensor, positioning cylinder magnetic switch, clamping cylinder magnetic switch and workpiece sensing switch connection, PC digital output modules pass through
Relay module is connected with clamping cylinder magnetic valve and positioning cylinder magnetic valve respectively, and PC Analog input mModules are turned by signal
Mold changing block be connected respectively with welding gas pressure sensor, paw cylinder pressure sensor, PC analog output modules respectively with
Welding gas electric Proportion valve, the connection of paw cylinder electric Proportion valve.
Industrial control computer is connected by the industrial camera of Ethernet buses and vision inspection apparatus, Industry Control meter
Calculation machine is connected with transfer robot controller by EtherCAT buses, and the transfer robot controller leads to transfer robot
Bus connection is crossed, transfer robot controller is by EtherCAT buses respectively with carrying digital quantity input module, carrying numeral
Output module connection is measured, digital quantity input module is carried and is connected with paw cylinder magnetic switch, digital output module is carried and leads to
Relay is crossed to be connected with paw cylinder magnetic valve.
The industrial control computer is connected with welding robot controller by EtherCAT buses, the welding robot
People's controller is connected with welding robot, and welding robot controller is inputted with welding digital quantity respectively by EtherCAT buses
Module, the module connection of welding digital output, welding digital quantity input module are passed with the source of welding current, wire-feed motor, anticollision respectively
Sensor, laser seek level sensor connection, and the welding digital output module is connected with the source of welding current, wire-feed motor respectively.
The industrial control computer reads correlation photoelectric sensor, positioning cylinder magnetic by PC digital quantity input modules
Property switch, the signal of clamping cylinder magnetic switch, workpiece sensing switch, the current qualified feed bin of detection is corresponded to respectively and unqualified
Whether feed bin is in place, whether have material in the current state and feed bin of positioning cylinder and clamping cylinder.
The industrial control computer is by PC digital outputs module, relay module to clamping cylinder magnetic valve, fixed
Position cylinder solenoid valve sends signal, and the industrial control computer passes through clamping cylinder magnetic valve and positioning cylinder magnetic valve respectively
Control clamping cylinder and positioning cylinder are positioned to workpiece on feed bin.The industrial control computer passes through PC analog inputs
The welding gas pressure value and paw cylinder pressure that module reads the detection of welding gas pressure sensor through signal conversion module are passed
The paw cylinder pressure value of sensor detection, meanwhile, industrial control computer transmits control signal by PC analog output modules
Welding gas pressure and paw cylinder pressure are adjusted respectively to welding gas electric Proportion valve and paw cylinder electric Proportion valve, are made
In the range of welding gas pressure and paw cylinder pressure are in.
The industrial control computer carries out data exchange, the transfer robot controller with transfer robot controller
Signal interaction is carried out with transfer robot, the transfer robot controller reads paw gas by carrying digital quantity input module
Cylinder magnetic switch signal, obtains the status information of current paw cylinder；The transfer robot controller is by carrying digital quantity
Output module controls paw cylinder operation through Control paw cylinder solenoid signal break-make.
The industrial control computer carries out signal interaction, the welding robot controller with welding robot controller
With welding robot carry out signal interaction, the welding robot controller by weld digital quantity input module read respectively it is anti-
Crash sensor, laser seek level sensor, the source of welding current, the signal of wire-feed motor.
The welding robot controller sends a signal to the source of welding current and sent respectively by welding digital output module
Silk machine.
Four fixed feed bins are provided with, each fixed feed bin has a clamping cylinder and a positioning cylinder, because
This has four clamping cylinders and positioning cylinder, and described control gas circuit includes hand in gas source module and carrying robot mechanism
The paw cylinder module of pawl cylinder connection and respectively with cylinder is connected in four fixed feed bins the first feed bin module, the second material
Storehouse module, the 3rd feed bin module and the 4th feed bin module；
The gas source module include source of the gas, filter, gas tank and pneumatic triple piece, source of the gas by tracheae successively with filtering
Device, gas tank, pneumatic triple piece connection, pneumatic triple piece after the first pressure-reducing valve pressure regulation respectively with the first feed bin module, second
Feed bin module is connected, and pneumatic triple piece connects with the 3rd feed bin module, the 4th feed bin module respectively after the second pressure-reducing valve pressure regulation
Connect, pneumatic triple piece is connected with paw cylinder module by gas circuit.
The paw cylinder module includes paw cylinder electric Proportion valve, paw cylinder pressure sensor, paw cylinder electricity
Magnet valve and paw cylinder, pneumatic triple piece are connected with paw cylinder electric Proportion valve by gas circuit, paw cylinder electric Proportion valve
It is connected with paw cylinder pressure sensor by gas circuit, paw cylinder pressure sensor is connected with paw cylinder magnetic valve by gas circuit
Connect, paw cylinder magnetic valve is connected with paw cylinder by gas circuit.
The first feed bin module includes the first positioning cylinder magnetic valve and the first clamping cylinder magnetic valve, the first pressure-reducing valve
Be connected respectively with the first positioning cylinder magnetic valve, the first clamping cylinder magnetic valve by gas circuit, the first positioning cylinder magnetic valve with
The first positioning cylinder in first fixed feed bin is connected by gas circuit, the first clamping cylinder magnetic valve and first fixed feed bin
In the first clamping cylinder connected by gas circuit.
The second feed bin module includes the second positioning cylinder magnetic valve and the second clamping cylinder magnetic valve, the first pressure-reducing valve
Be connected respectively with the second positioning cylinder magnetic valve, the second clamping cylinder magnetic valve by gas circuit, the second positioning cylinder magnetic valve with
The second positioning cylinder in second fixed feed bin is connected by gas circuit, the second clamping cylinder magnetic valve and second fixed feed bin
In the second clamping cylinder connected by gas circuit.
The 3rd feed bin module includes the 3rd positioning cylinder magnetic valve and the 3rd clamping cylinder magnetic valve, the second pressure-reducing valve
Be connected respectively with the 3rd positioning cylinder magnetic valve, the 3rd clamping cylinder magnetic valve by gas circuit, the 3rd positioning cylinder magnetic valve with
The 3rd positioning cylinder in 3rd fixed feed bin is connected by gas circuit, the 3rd clamping cylinder magnetic valve and the 3rd fixed feed bin
In the 3rd clamping cylinder connected by gas circuit.
The 4th feed bin module includes the 4th positioning cylinder magnetic valve and the 4th clamping cylinder magnetic valve, the second pressure-reducing valve
Be connected respectively with the 4th positioning cylinder magnetic valve, the 4th clamping cylinder magnetic valve by gas circuit, the 4th positioning cylinder magnetic valve with
The 4th positioning cylinder in 4th fixed feed bin is connected by gas circuit, the 4th clamping cylinder magnetic valve and the 4th fixed feed bin
In the 4th clamping cylinder connected by gas circuit.
Pneumatic triple piece is to include air cleaner, pressure-reducing valve and oil sprayer.
Described clamping jaw end is provided with the spring steel plate for connecting band track toothed disc inner hole wall.
Described mobile feed bin is at least provided with two, and a mobile feed bin is used to place the qualified toothed disc of detection, another
Individual mobile feed bin is used to place the underproof toothed disc of detection.
The integrated advanced welding procedure of the present invention, robot cooperate with welding technique, intelligent visual detection technology, based on the soft of PC
The new technologies such as PLC control technology, welding processing and vision-based detection link for toothed disc develop efficient, high accuracy, intelligence
Change, the caterpillar teeth wheel disc robot automatic surfacing of flexibility and vision inspection apparatus.The present invention can realize toothed disc it is automatic on
Material, dual robot cooperate with point warehouse codes pile of welding, Welding quality test and finished product, and system altitude is integrated, intellectuality.
The beneficial effects of the invention are as follows：
1st, the present invention realizes the automatic charging of crawler belt toothed disc, dual robot collaboration welding, welding quality on-line checking
And the function such as point warehouse codes pile of finished product, automation degree of equipment is high, and whole process does not need manual intervention, welding quality uniformity
It is high.
2nd, the present invention is equipped with laser position-finding system and dual robot cooperative control system, and welding precision is high, and processing flexibility is good.
Laser scanning first is carried out to workpiece in welding process, according to the information intelligent amendment robot motion path of detection, then welded
Robot and transfer robot co-operating, complete workpiece overlay-operation.
3rd, the present invention is equipped with vision detection system, and postwelding tooth form implementation quality is detected, intelligence degree is high, can preserve and go through
History detects data, also can carry out a point warehouse codes pile to workpiece according to tooth form testing result, if testing result pathological system is alarmed immediately,
Treat artificial treatment.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of fixed feed bin；
Fig. 3 is the schematic diagram of carrying robot mechanism；
Fig. 4 is the schematic diagram of welding robot robot mechanism；
Fig. 5 is the schematic diagram of vision inspection apparatus；
Fig. 6 is the structural representation of mobile feed bin；
Fig. 7 connects block diagram for the circuit theory of intelligence control system of the present invention；
Fig. 8 is control schematic diagram of gas circuit of the invention；
Fig. 9 is the control flow chart of intelligent control module of the present invention.
In figure：Fixed feed bin 100, Pneumatic control cabinet 101, fixed feed bin frame 102, clamping cylinder 103, gripping block 104, folder
Tight cylinder block 105, positioning cylinder 106, workpiece sensing switch 107, alignment pin 108；Carrying robot mechanism 200, conveying robot
People 201, transfer robot switch board 202, mounting flange 203, paw cylinder 204, clamping jaw 205, spring steel plate 206；Bonding machine
Device robot mechanism 300, clear rifle device 301, welding robot 302, welding gun 303, laser are sought level sensor 304, the source of welding current 305, sent
Silk machine 306, welding robot switch board 307；Intelligence control system 400；Vision inspection apparatus 500, light shield 501, detection system
System support 502, carriage saddle 503, ball screw assembly, 504, slide unit 505, industrial camera 506, camera lens 507, backlight 508；It is mobile
Feed bin 600, sensor stand 601, correlation photoelectric sensor 602, slide damper 603, feed bin base 604, cushion block 605.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, what the present invention was embodied includes four fixed feed bins 100, carrying robot mechanism 200, intelligence
Can control system 400, welding robot robot mechanism 300, vision inspection apparatus 500 and two mobile feed bins 600；Four fixed feed bins
100th, two mobile feed bins 600, welding robot robot mechanism 300 and vision inspection apparatus 500 are both placed in carrying robot mechanism
Around 200.Fixed feed bin 100 is arranged on feeding station, and each fixed feed bin 100 has a clamping cylinder and a positioning
Cylinder, therefore with four clamping cylinders and positioning cylinder.Welding robot robot mechanism 300 is placed on welding post, vision-based detection
Device 500 is arranged on detection station, and mobile feed bin 600 is arranged on discharge station, intelligence control system 400 respectively with welding robot
Robot mechanism 300, vision inspection apparatus 500 and carrying robot mechanism 200 are connected.
As shown in Figure 2, fixed feed bin 100 includes Pneumatic control cabinet 101, fixed feed bin frame 102, clamping cylinder 103, folder
Tight block 104, clamping cylinder seat 105, positioning cylinder 106, workpiece sensing switch 107 and alignment pin 108；On fixed feed bin frame 102
It is provided with main by clamping cylinder 103, gripping block 104, clamping cylinder seat 105, positioning cylinder 106,107 and of workpiece sensing switch
The workpiece positioning component that alignment pin 108 is constituted, Pneumatic control cabinet 101 is fixedly installed on fixed feed bin frame 102, Pneumatic control cabinet
101 connect clamping cylinder 103 and positioning cylinder 106, the control for clamping cylinder 103 and positioning cylinder 106 respectively；Workpiece is examined
Slowdown monitoring switch 107 is arranged on the sidepiece on fixed feed bin frame 102, for detecting the presence or absence of crawler belt toothed disc on fixed feed bin frame 102；
Clamping cylinder 103 is installed on the side on fixed feed bin frame 102, the cylinder rod end of clamping cylinder 103 by clamping cylinder seat 105
Connect on gripping block 104, the flank of tooth of the clamping of gripping block 104 to crawler belt toothed disc, for carrying out position adjustment to crawler belt toothed disc
And positioning；Positioning cylinder 106 is arranged on the fixed opposite side of feed bin frame 102, and the cylinder rod end of positioning cylinder 106 is connected to suit
Alignment pin 108 on crawler belt toothed disc in fabrication hole, alignment pin 108 coordinates with the fabrication hole on crawler belt toothed disc；Position gas
Cylinder 106 and clamping cylinder 103 are all connected to the control gas circuit containing positioning cylinder magnetic valve and clamping cylinder magnetic valve, by controlling
Gas circuit detects cylinder and controls cylinder.Positioning cylinder magnetic switch is arranged on positioning cylinder 106, for detecting positioning cylinder
106 motion states, and the motion state of positioning cylinder 106 is sent to by industrial control computer by PC digital quantity input modules；
Clamping cylinder magnetic switch is arranged on above clamping cylinder 103, for detecting the motion state of clamping cylinder 103, and passes through PC numbers
The motion state of clamping cylinder 103 is sent to industrial control computer by word amount input module；Industrial control computer passes through PC numbers
Word amount output module sends control signals to relay module, and positioning cylinder magnetic valve and clamping cylinder magnetic valve are controlled respectively
Opening and closing, to realize that positioning cylinder 106 and clamping cylinder 103 are moved.
As shown in Figure 3, carrying robot mechanism 200 includes transfer robot 201, transfer robot switch board 202, peace
Fill flange 203, paw cylinder 204 and clamping jaw 205；The end of transfer robot 201 is provided with mounting flange 203, mounting flange 204
End is provided with paw cylinder 204, and the cylinder rod end of paw cylinder 204, which is connected with three, is used for the clamping jaw of crawler belt toothed disc clamping
205；Transfer robot switch board 202 is placed on the side of transfer robot 201, the connection carrying implement of transfer robot switch board 202
Device people 201 simultaneously controls motion, and the end of clamping jaw 205 is provided with the spring steel plate 206 for connecting band track toothed disc inner hole wall.Paw
Cylinder 204 is connected to the control containing paw cylinder magnetic valve, paw cylinder pressure sensor and welding gas electric Proportion valve
Gas circuit, detects cylinder by control gas circuit and controls cylinder.Paw cylinder magnetic switch is arranged on above paw cylinder 204, is used for
The motion state of paw cylinder 204 is detected, and the motion state of paw cylinder 204 is sent to by carrying digital quantity input module and removed
Transport robot controller；Control signal is passed through Control hand by transfer robot controller by carrying digital output module
Pawl cylinder solenoid valve is opened and closed, to realize that paw cylinder 204 is moved.
As shown in Figure 4, welding robot robot mechanism 300 includes clear rifle device 301, welding robot 302, welding gun 303, laser
Seek level sensor 304, anticollision sensor, the source of welding current 305, wire-feed motor 306 and welding robot switch board 307；Bonding machine
The end of device people 302 is provided with welding gun 303, anticollision sensor and laser and seeks level sensor 304, the source of welding current 305, wire-feed motor
306th, clear rifle device 301 and welding robot switch board 307 are both placed in the side of welding robot 302, welding robot switch board
307 connecting welding robots 302 simultaneously control motion；Wire-feed motor 306 is connected by pipeline with welding gun 303, for welding wire is defeated
Welding gun 303 is sent to, the source of welding current 305 is powered to wire-feed motor 306.Being provided with the welding tracheae that welding gun 303 is connected is used for
Detect the welding gas pressure sensor of welding gas pressure and the electric ratio of welding gas for controlling welding gas pressure
Valve.
As shown in Figure 6, two mobile feed bins 600, a mobile feed bin 600 is used to place the qualified toothed disc of detection,
Another movement feed bin 600 is used to place the underproof toothed disc of detection.Two mobile feed bins 600 include sensor stand
601st, correlation photoelectric sensor 602, slide damper 603, feed bin base 604 and cushion block 605；The top surface of feed bin base 604 edge week
To having uniformly at intervals for padding the cushion block 605 in crawler belt toothed disc workpiece bottom, the outside of cushion block 605 is provided with for spacing
The slide damper 603 of discharge position under crawler belt toothed disc workpiece, position of the slide damper 603 on feed bin base 604 can be adjusted；
Two feed bin base 604 is arranged on by sensor stand 601 to the correlation photoelectric sensor 602 penetrated two sides, be located at
Near feed bin base 604, for detecting mobile feed bin 600 whether there is in place.
As shown in Figure 5, vision inspection apparatus 500 includes light shield 501, detecting system support 502, carriage saddle 503, rolling
Ballscrew pair 504, slide unit 505, industrial camera 506, camera lens 507, backlight 508 and image processing software；Image procossing is soft
Part is arranged in intelligence control system 400；Detecting system support 502 is used as the supportive body of vision inspection apparatus 500, carriage saddle
503 are horizontally fixed on detecting system support 502, and slide unit 505 is installed on carriage saddle 503 by ball screw assembly, 504 so that sliding
Platform 505 is moved horizontally on carriage saddle 503；Camera lens 507 and industrial camera 506 are installed on slide unit 505, camera lens 507 and work
Industry camera 506 is connected, and the front of camera lens 507 is provided with backlight 508, and backlight 508 is fixedly connected with detecting system support 502,
Region is the Welding quality test region of crawler belt toothed disc between camera lens 507 and backlight 508；Light shield 501 is arranged on detection
The outside of system frame 502 causes cover to be internally formed black box, and leaves below Welding quality test region workpiece crawler belt gear
The opening that disk enters.Crawler belt toothed disc workpiece is entered from opening by transfer robot and is transported to Welding quality test region
In, backlight 508 is lighted, and the image of each tooth position of workpiece is gathered by industrial camera 506, is further examined by image procossing
Survey welding quality.
As shown in Figure 8, control gas circuit include gas source module 1, with jaw is connected in carrying robot mechanism 200 paw
Cylinder modules 8 and respectively with the first feed bin module 3 that cylinder is connected in four fixed feed bins 100, the second feed bin module 4,
Three feed bin modules 6 and the 4th feed bin module 7.
Gas source module 1 include source of the gas 11, filter 12, gas tank 13 and pneumatic triple piece 14, source of the gas 11 by tracheae successively
Be connected with filter 12, gas tank 13, pneumatic triple piece 14, pneumatic triple piece 14 after the first pressure-reducing valve 2 respectively with the first feed bin
Module 3, the second feed bin module 4 are connected, pneumatic triple piece 14 after the second pressure-reducing valve 5 respectively with the 3rd feed bin module 6, the 4th material
Storehouse module 7 is connected, and pneumatic triple piece 14 is connected with paw cylinder module 8 by gas circuit.
Paw cylinder module 8 includes paw cylinder electric Proportion valve 81, paw cylinder pressure sensor 82, paw cylinder electricity
Magnet valve 83 and paw cylinder 84, pneumatic triple piece 14 are connected with paw cylinder electric Proportion valve 81 by gas circuit, paw cylinder electricity
Gas proportioning valve 81 is connected with paw cylinder pressure sensor 82 by gas circuit, paw cylinder pressure sensor 82 and paw cylinder electricity
Magnet valve 83 is connected by gas circuit, and paw cylinder magnetic valve 83 is connected with paw cylinder 84 by gas circuit.
First feed bin module 3 includes the first positioning cylinder magnetic valve 31 and the first clamping cylinder magnetic valve 33, the first decompression
Valve 2 is connected with the first positioning cylinder magnetic valve 31, the first clamping cylinder magnetic valve 33 by gas circuit respectively, the first positioning cylinder electricity
Magnet valve 31 is connected with the first positioning cylinder 32 in first fixed feed bin by gas circuit, the first clamping cylinder magnetic valve 33 and
The first clamping cylinder 34 in one fixed feed bin is connected by gas circuit.
Second feed bin module 4 includes the second positioning cylinder magnetic valve 41 and the second clamping cylinder magnetic valve 43, the first decompression
Valve 2 is connected with the second positioning cylinder magnetic valve 41, the second clamping cylinder magnetic valve 43 by gas circuit respectively, the second positioning cylinder electricity
Magnet valve 41 is connected with the second positioning cylinder 42 in second fixed feed bin by gas circuit, the second clamping cylinder magnetic valve 43 and
The second clamping cylinder 44 in two fixed feed bins is connected by gas circuit.
3rd feed bin module 6 includes the 3rd positioning cylinder magnetic valve 61 and the 3rd clamping cylinder magnetic valve 63, the second decompression
Valve 5 is connected with the 3rd positioning cylinder magnetic valve 61, the 3rd clamping cylinder magnetic valve 63 by gas circuit respectively, the 3rd positioning cylinder electricity
Magnet valve 61 is connected with the 3rd positioning cylinder 62 in the 3rd fixed feed bin by gas circuit, the 3rd clamping cylinder magnetic valve 63 and
The 3rd clamping cylinder 64 in three fixed feed bins is connected by gas circuit.
4th feed bin module 7 includes the 4th positioning cylinder magnetic valve 71 and the 4th clamping cylinder magnetic valve 73, the second decompression
Valve 5 is connected with the 4th positioning cylinder magnetic valve 71, the 4th clamping cylinder magnetic valve 73 by gas circuit respectively, the 4th positioning cylinder electricity
Magnet valve 71 is connected with the 4th positioning cylinder 72 in the 4th fixed feed bin by gas circuit, the 4th clamping cylinder magnetic valve 73 and
The 4th clamping cylinder 74 in four fixed feed bins is connected by gas circuit.
As shown in Figure 7, intelligence control system 400 includes industrial control computer, PC digital quantity input modules, PC numerals
Measure output module, PC Analog input mModules, PC analog output modules, transfer robot controller, carrying digital quantity input
Module, carrying digital output module, welding robot controller, welding robot, welding digital quantity input module, welding number
Word amount output module：
Industrial control computer by EtherCAT buses respectively with PC digital quantity input modules, PC digital output moulds
Block, PC Analog input mModules and PC analog output modules connection, PC digital quantity input modules respectively with correlation photoelectric transfer
Sensor, positioning cylinder magnetic switch, clamping cylinder magnetic switch and workpiece sensing switch connection, PC digital output modules pass through
Relay module is connected with clamping cylinder magnetic valve and positioning cylinder magnetic valve respectively, and PC Analog input mModules are turned by signal
Mold changing block be connected respectively with welding gas pressure sensor, paw cylinder pressure sensor, PC analog output modules respectively with
Welding gas electric Proportion valve, the connection of paw cylinder electric Proportion valve.
Industrial control computer reads correlation photoelectric sensor, positioning cylinder magnetic by PC digital quantity input modules and opened
Pass, the signal of clamping cylinder magnetic switch, workpiece sensing switch, correspond to detection current qualified feed bin and unqualified feed bin respectively
Whether in place, whether there is material in the current state and feed bin of positioning cylinder and clamping cylinder.Correlation photoelectric sensing is used to examine
Survey qualified feed bin and whether unqualified feed bin is in place, positioning cylinder magnetic switch, clamping cylinder magnetic switch, which are used to detect, to be positioned
The current state of cylinder and clamping cylinder, the signal of workpiece sensing switch is used to detect on feed bin whether there is material.
Industrial control computer is by PC digital outputs module, relay module to clamping cylinder magnetic valve, positioning gas
Cylinder magnetic valve sends signal, and industrial control computer is clamped by clamping cylinder magnetic valve and positioning cylinder solenoid valve control respectively
Cylinder and positioning cylinder are positioned to workpiece on feed bin.
The industrial control computer reads welding gas pressure by PC Analog input mModules through signal conversion module
The welding gas pressure value of sensor detection and the paw cylinder pressure value of paw cylinder pressure sensor detection, meanwhile, industry
It is electric to welding gas electric Proportion valve and paw cylinder that control computer transmits control signal by PC analog output modules
Proportioning valve adjusts welding gas pressure and paw cylinder pressure respectively, welding gas pressure and paw cylinder pressure is in scope
It is interior.
Industrial control computer is connected by the industrial camera of Ethernet buses and vision inspection apparatus, Industry Control meter
Calculation machine is connected with transfer robot controller by EtherCAT buses, and transfer robot controller passes through total with transfer robot
Line is connected, and transfer robot controller is defeated with carrying digital quantity input module, carrying digital quantity respectively by EtherCAT buses
Go out module connection, carry digital quantity input module be connected with paw cylinder magnetic switch, carrying digital output module by after
Electrical equipment is connected with paw cylinder magnetic valve.
Industrial control computer carries out data exchange, transfer robot controller and carrying implement with transfer robot controller
Device people carries out signal interaction, and transfer robot controller reads paw cylinder magnetic switch letter by carrying digital quantity input module
Number, obtain the status information of current paw cylinder；Transfer robot controller is by carrying digital output module through relay
Paw cylinder solenoid signal break-make is controlled, and then controls paw cylinder operation.
Industrial control computer is connected with welding robot controller by EtherCAT buses, welding robot controller
It is connected with welding robot, welding robot controller is by EtherCAT buses respectively with welding digital quantity input module, weldering
Connect digital output module connection, welding digital quantity input module respectively with the source of welding current, wire-feed motor, anticollision sensor, swash
Light seeks level sensor connection, and welding digital output module is connected with the source of welding current, wire-feed motor respectively.Weld digital quantity input mould
Block sends control signals to the source of welding current and wire-feed motor, and the source of welding current, the process of wire-feed motor complete signal and feed back to welding number
Word amount output module.
Industrial control computer carries out signal interaction, welding robot controller and bonding machine with welding robot controller
Device people carry out signal interaction, welding robot controller by weld digital quantity input module read respectively anticollision sensor,
Laser seeks level sensor, the source of welding current, the signal of wire-feed motor.Anticollision sensor sends signal when welding gun collides
Welding robot controller is given, welding robot controller control welding robot is out of service；Laser seeks level sensor installation
In welding robot end, before welding, level sensor is sought by laser workpiece is carried out to seek position, correct welding robot welding position
Put.
Welding robot controller sends a signal to the source of welding current and wire-feed motor respectively by welding digital output module.
After welding robot is moved to welding position, welding robot controller sends a signal to the source of welding current and wire-feed motor, starts
Welding and wire feed.After the completion of welding, welding robot controller sends a signal to the source of welding current and wire-feed motor, stops welding and send
Silk.
The collaboration welding of the present invention and the detection course of work comprise the following steps：
1st, toothed disc is placed on fixed feed bin 100, the button on operation Pneumatic control cabinet 101, the fixed feed bin of control
Clamping cylinder 103 and positioning cylinder 106 on 100 are acted, and complete toothed disc positioning；
2nd, button in the operation man-machine interface of intelligence control system 400, whole system enters the automatic running stage；
3rd, transfer robot 201 is run to feeding station, and clamping fixes the toothed disc being had good positioning on feed bin 100, by gear
Disk is carried to welding post；
4th, transfer robot 201 and the collaboration of welding robot 302 complete the built-up welding processing of toothed disc；Welding robot 302
First seek level sensor 304 with laser to be scanned toothed disc finished surface, welding robot 302 seeks level sensor according to laser
304 Information revision welding track, is then welded along revised track again；Transfer robot 201 is in process
It is responsible for toothed disc displacement；After the completion of welding, 302 times original positions of welding robot；
5th, the toothed disc machined is carried to detection station by transfer robot 201, is examined by vision inspection apparatus 500
Survey the welding quality of toothed disc；
Specific implementation is matched somebody with somebody using the on-line checking of computer intelligence image recognition by detection and localization in kind and mathematical model
Quasi- mode, gathers and parts processed welding quality information, can quickly and accurately detect part welding quality defects.
6th, the information that transfer robot 201 is detected according to vision inspection apparatus 500 carries out a point warehouse codes pile to toothed disc；Quality
The qualified toothed disc stacking of detection is in a mobile feed bin 600, and the underproof toothed disc stacking of quality testing is moved at another
In dynamic feed bin 600；
7th, in equipment running process, intelligence control system 400 is responsible for complete equipment master control, and display device machining state.
The process of intelligence control system 400 starts start initialization as shown in Figure 9, first, then：
1) whether detection welding gas pressure is normal, not in the range of setting, adjusts welding gas electric Proportion valve, adjusts
Welding gas pressure is saved until normal；
2) whether detection paw cylinder pressure is normal, not in the range of setting, adjusts paw cylinder electric Proportion valve, adjusts
Paw cylinder pressure is saved until normal；
3) whether detection feed bin has material, in the case of not expecting, warning reminding blowing, and until having detected material, alarm stops；
4) and then after the completion of transfer robot performs upper material process, upper material process, welding robot performs welding sequence；
5) after the completion of welding sequence, whether vision inspection apparatus detection crudy is qualified.
6) industrial camera takes the profile of current workpiece, sends data to vision inspection apparatus, carries out view data ratio
It is right, judge whether the workpiece is qualified；
If 7) workpiece is qualified, transfer robot puts the workpiece in qualified feed bin, if workpiece is unqualified, and transfer robot is by work
Part is put into unqualified feed bin.
Claims (7)
1. a kind of dual robot collaboration welding and detection means control system, it is characterised in that：Including fixed feed bin (100), remove
Transport robot mechanism (200), welding robot robot mechanism (300), vision inspection apparatus (500) and mobile feed bin (600)；Fixed material
Storehouse (100), mobile feed bin (600), welding robot robot mechanism (300) and vision inspection apparatus (500) are both placed in conveying robot
Around robot mechanism (200)；Fixed feed bin (100) is arranged on feeding station, and welding robot robot mechanism (300) is placed on Welder
Position, vision inspection apparatus (500) is arranged on detection station, and mobile feed bin (600) is arranged on discharge station.
2. a kind of dual robot collaboration welding according to claim 1 and detection means control system, it is characterised in that：Institute
The fixation feed bin (100) stated includes Pneumatic control cabinet (101), fixed feed bin frame (102), clamping cylinder (103), gripping block
(104), clamping cylinder seat (105), positioning cylinder (106), workpiece sensing switch (107) and alignment pin (108)；Fixed feed bin frame
(102) it is provided with main by clamping cylinder (103), gripping block (104), clamping cylinder seat (105), positioning cylinder (106), work
The workpiece positioning component of part detection switch (107) and alignment pin (108) composition, Pneumatic control cabinet (101) is fixedly installed on fixation
On feed bin frame (102), Pneumatic control cabinet (101) connects clamping cylinder (103) and positioning cylinder (106) by gas circuit respectively；Work
Part detection switch (107) is arranged on the sidepiece on fixed feed bin frame (102), for detecting caterpillar teeth on fixed feed bin frame (102)
The presence or absence of wheel disc；Clamping cylinder (103) is installed on the side on fixed feed bin frame (102) by clamping cylinder seat (105), clamps
The tight block of cylinder rod end connection clip (104) of cylinder (103), gripping block (104) is clamped on the flank of tooth of crawler belt toothed disc；Position gas
Cylinder (106) is arranged on fixed feed bin frame (102) opposite side, and the cylinder rod end of positioning cylinder (106) is connected to be sleeved on crawler belt
Alignment pin (108) on toothed disc in fabrication hole, alignment pin (108) coordinates with the fabrication hole on crawler belt toothed disc；Positioning cylinder
(106) it is all connected to clamping cylinder (103) in the control gas circuit containing positioning cylinder magnetic valve and clamping cylinder magnetic valve；It is fixed
Position cylinder magnetic switch is arranged on positioning cylinder (106), for detecting positioning cylinder (106) motion state, clamping cylinder magnetic
Property switch be arranged on clamping cylinder (103) above, for detecting clamping cylinder (103) motion state；
Described carrying robot mechanism (200) includes transfer robot (201), transfer robot switch board (202), Method for Installation
Blue (203), paw cylinder (204) and clamping jaw (205)；Transfer robot (201) end is provided with mounting flange (203), installs
Flange (204) end is provided with paw cylinder (204), and the cylinder rod end of paw cylinder (204), which is connected with three, is used for caterpillar teeth
The clamping jaw (205) of wheel disc clamping；Transfer robot switch board (202) is placed on transfer robot (201) side, transfer robot
Switch board (202) connection transfer robot (201) simultaneously controls motion；Paw cylinder (204) is connected to containing paw cylinder electromagnetism
In the control gas circuit of valve, paw cylinder pressure sensor and welding gas electric Proportion valve；Paw cylinder magnetic switch is arranged on
Paw cylinder (204) above, for detecting paw cylinder (204) motion state；
Described welding robot robot mechanism (300) is sought including clear rifle device (301), welding robot (302), welding gun (303), laser
Level sensor (304), anticollision sensor, the source of welding current (305), wire-feed motor (306) and welding robot switch board (307)；
Welding robot (302) end is provided with welding gun (303), anticollision sensor and laser and seeks level sensor (304), the source of welding current
(305), wire-feed motor (306), clear rifle device (301) and welding robot switch board (307) are both placed in welding robot (302) side
Side, welding robot switch board (307) connecting welding robot (302) simultaneously controls motion；Wire-feed motor (306) passes through pipeline and weldering
Rifle (303) is connected；The welding gas pressure for detecting welding gas pressure is provided with the welding tracheae of welding gun (303) connection
Sensor and the welding gas electric Proportion valve for controlling welding gas pressure；
Described mobile feed bin (600) includes sensor stand (601), correlation photoelectric sensor (602), slide damper
(603), feed bin base (604) and cushion block (605)；Circumferentially spaced be evenly equipped with of feed bin base (604) top surface is being carried out for padding
Cushion block (605) with toothed disc workpiece bottom, cushion block (605) outside is provided with for material position under spacing crawler belt toothed disc workpiece
The slide damper (603) put, two are arranged on material to the correlation photoelectric sensor (602) penetrated by sensor stand (601)
Two sides of orlop seat (604)；
Described vision inspection apparatus (500) includes light shield (501), detecting system support (502), carriage saddle (503), ball
Lead screw pair (504), slide unit (505), industrial camera (506), camera lens (507) and backlight (508)；Carriage saddle (503) level is solid
Detecting system support (502) is scheduled on, slide unit (505) is installed on carriage saddle (503) by ball screw assembly, (504) so that sliding
Platform (505) is moved horizontally on carriage saddle (503)；Camera lens (507) and industrial camera (506) are installed on slide unit (505), mirror
Backlight (508) is provided with front of head (507) and industrial camera (506) connection, camera lens (507), backlight (508) is with detection
System support (502) is fixedly connected, and region is the Welding quality test of crawler belt toothed disc between camera lens (507) and backlight (508)
Region；Light shield (501) is arranged on detecting system support (502) outside so that cover is internally formed black box, and in welding quality
The opening of workpiece entrance is left below detection zone.
3. a kind of dual robot collaboration welding according to claim 1 and detection means control system, it is characterised in that：Also
Including the intelligence being connected respectively with welding robot robot mechanism (300), vision inspection apparatus (500) and carrying robot mechanism (200)
Energy control system (400), intelligence control system (400) includes industrial control computer, PC digital quantity input modules, PC digital quantities
Output module, PC Analog input mModules, PC analog output modules, transfer robot controller, carrying digital quantity input mould
Block, carrying digital output module, welding robot controller, welding digital quantity input module, welding digital output module；
Industrial control computer by EtherCAT buses respectively with PC digital quantity input modules, PC digital outputs module, PC
Analog input mModule and the connection of PC analog output modules；PC digital quantity input modules respectively with correlation photoelectric sensor,
Positioning cylinder magnetic switch, clamping cylinder magnetic switch and workpiece sensing switch connection, PC digital output modules pass through relay
Device module is connected with clamping cylinder magnetic valve and positioning cylinder magnetic valve respectively, and PC Analog input mModules pass through signal modulus of conversion
Block is connected with welding gas pressure sensor, paw cylinder pressure sensor respectively, PC analog output modules respectively with welding
Outlet openings proportioning valve, the connection of paw cylinder electric Proportion valve；
Industrial control computer is connected by the industrial camera of Ethernet buses and vision inspection apparatus, industrial control computer
It is connected with transfer robot controller by EtherCAT buses, the transfer robot controller passes through total with transfer robot
Line is connected, and transfer robot controller is defeated with carrying digital quantity input module, carrying digital quantity respectively by EtherCAT buses
Go out module connection, carry digital quantity input module be connected with paw cylinder magnetic switch, carrying digital output module by after
Electrical equipment is connected with paw cylinder magnetic valve；
The industrial control computer is connected with welding robot controller by EtherCAT buses, the welding robot control
Device processed is connected with welding robot, and welding robot controller inputs mould with welding digital quantity respectively by EtherCAT buses
Block, the module connection of welding digital output, welding digital quantity input module are sensed with the source of welding current, wire-feed motor, anticollision respectively
Device, laser seek level sensor connection, and the welding digital output module is connected with the source of welding current, wire-feed motor respectively.
4. a kind of dual robot collaboration welding according to claim 3 and detection means control system, it is characterised in that：Institute
State industrial control computer and correlation photoelectric sensor, positioning cylinder magnetic switch, folder are read by PC digital quantity input modules
Tight cylinder magnetic switch, the signal of workpiece sensing switch, whether corresponding the current qualified feed bin of detection and unqualified feed bin respectively
In place, whether there is material in the current state and feed bin of positioning cylinder and clamping cylinder；
The industrial control computer is by PC digital outputs module, relay module to clamping cylinder magnetic valve, positioning gas
Cylinder magnetic valve sends signal, and the industrial control computer passes through clamping cylinder magnetic valve and positioning cylinder solenoid valve control respectively
Clamping cylinder and positioning cylinder are positioned to workpiece on feed bin, and the industrial control computer passes through PC Analog input mModules
Read the welding gas pressure value of welding gas pressure sensor detection and the paw cylinder of paw cylinder pressure sensor detection
Pressure value, meanwhile, industrial control computer transmits control signal by PC analog output modules and gives welding gas electric ratio
Valve and paw cylinder electric Proportion valve adjust welding gas pressure and paw cylinder pressure respectively；
The industrial control computer carries out data exchange with transfer robot controller, and the transfer robot controller is with removing
Transport robot and carry out signal interaction, the transfer robot controller reads paw cylinder magnetic by carrying digital quantity input module
Property switching signal, obtain the status information of current paw cylinder；The transfer robot controller is by carrying digital output
Module controls paw cylinder operation through Control paw cylinder solenoid signal break-make；
The industrial control computer carries out data exchange, the welding robot controller and weldering with welding robot controller
Welding robot carries out signal interaction, and the welding robot controller reads anticollision respectively by welding digital quantity input module
Sensor, laser seek level sensor, the source of welding current, the signal of wire-feed motor；
The welding robot controller sends a signal to the source of welding current and wire-feed motor respectively by welding digital output module.
5. a kind of dual robot collaboration welding according to claim 1 and detection means control system, it is characterised in that：If
Four fixed feed bins are equipped with, with four clamping cylinders and four positioning cylinders, described control gas circuit includes source of the gas mould
Block, the paw cylinder module being connected with paw cylinder in carrying robot mechanism and connect respectively with cylinder in four fixed feed bins
The first feed bin module, the second feed bin module, the 3rd feed bin module and the 4th feed bin module connect；
The gas source module include source of the gas, filter, gas tank and pneumatic triple piece, source of the gas by tracheae successively with filter, gas
Tank, pneumatic triple piece connection, pneumatic triple piece after the first pressure-reducing valve pressure regulation respectively with the first feed bin module, the second feed bin mould
Block is connected, and pneumatic triple piece is connected with the 3rd feed bin module, the 4th feed bin module respectively after the second pressure-reducing valve pressure regulation, pneumatic
Three linked piece is connected with paw cylinder module by gas circuit；
The paw cylinder module includes paw cylinder electric Proportion valve, paw cylinder pressure sensor, paw cylinder magnetic valve
And paw cylinder, pneumatic triple piece is connected with paw cylinder electric Proportion valve by gas circuit, paw cylinder electric Proportion valve and hand
Pawl cylinder pressure sensors are connected by gas circuit, and paw cylinder pressure sensor is connected with paw cylinder magnetic valve by gas circuit,
Paw cylinder magnetic valve is connected with paw cylinder by gas circuit；
The first feed bin module includes the first positioning cylinder magnetic valve and the first clamping cylinder magnetic valve, the first pressure-reducing valve difference
It is connected with the first positioning cylinder magnetic valve, the first clamping cylinder magnetic valve by gas circuit, the first positioning cylinder magnetic valve and first
The first positioning cylinder in individual fixed feed bin is connected by gas circuit, in the first clamping cylinder magnetic valve and first fixed feed bin
First clamping cylinder is connected by gas circuit；
The second feed bin module includes the second positioning cylinder magnetic valve and the second clamping cylinder magnetic valve, the first pressure-reducing valve difference
It is connected with the second positioning cylinder magnetic valve, the second clamping cylinder magnetic valve by gas circuit, the second positioning cylinder magnetic valve and second
The second positioning cylinder in individual fixed feed bin is connected by gas circuit, in the second clamping cylinder magnetic valve and second fixed feed bin
Second clamping cylinder is connected by gas circuit；
The 3rd feed bin module includes the 3rd positioning cylinder magnetic valve and the 3rd clamping cylinder magnetic valve, the second pressure-reducing valve difference
It is connected with the 3rd positioning cylinder magnetic valve, the 3rd clamping cylinder magnetic valve by gas circuit, the 3rd positioning cylinder magnetic valve and the 3rd
The 3rd positioning cylinder in individual fixed feed bin is connected by gas circuit, in the 3rd clamping cylinder magnetic valve and the 3rd fixed feed bin
3rd clamping cylinder is connected by gas circuit；
The 4th feed bin module includes the 4th positioning cylinder magnetic valve and the 4th clamping cylinder magnetic valve, the second pressure-reducing valve difference
It is connected with the 4th positioning cylinder magnetic valve, the 4th clamping cylinder magnetic valve by gas circuit, the 4th positioning cylinder magnetic valve and the 4th
The 4th positioning cylinder in individual fixed feed bin is connected by gas circuit, in the 4th clamping cylinder magnetic valve and the 4th fixed feed bin
4th clamping cylinder is connected by gas circuit.
6. a kind of dual robot collaboration welding according to claim 2 and detection means control system, it is characterised in that：Institute
Clamping jaw (205) end stated is provided with the spring steel plate (206) for connecting band track toothed disc inner hole wall.
7. a kind of dual robot collaboration welding according to claim 2 and detection means control system, it is characterised in that：Institute
The mobile feed bin (600) stated sets two, and a mobile feed bin (600) is used to place the qualified toothed disc of detection, another shifting
Dynamic feed bin (600) is used to place the underproof toothed disc of detection.
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| 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 |
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| 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 |
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