CN107335955A - A kind of welding robot - Google Patents
A kind of welding robot Download PDFInfo
- Publication number
- CN107335955A CN107335955A CN201710765923.XA CN201710765923A CN107335955A CN 107335955 A CN107335955 A CN 107335955A CN 201710765923 A CN201710765923 A CN 201710765923A CN 107335955 A CN107335955 A CN 107335955A
- Authority
- CN
- China
- Prior art keywords
- welding
- welding gun
- energy
- detection part
- mechanical arm
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
A kind of welding robot, including error correcting system, welding gun is realized under the control of mechanical arm, the welding of two parallel sheet materials is carried out along predefined paths, and position and the posture of welding gun are detected and adjusted in real time, welding gun is always positioned at the surface of seam, ensure that welding quality and welding efficiency, there is the advantages of simple in construction, cost is low, control mode is simple, reliability is high.
Description
Technical field
A kind of welding robot, the especially welding robot system with error control system.
Background technology
Welding robot is that the plant equipment operated, welding robot are welded in a kind of completion under the control of automatic controller
Reliable welding quality, precision is high, good environmental adaptability, therefore the application of robot welding is all the more extensively and universal.
In order to allow the robot to complete welding job along predetermined path of welding, predetermined program must be set in advance
It is fixed, however, due to the various errors such as control error, machine error be present so that the actual welding path of robot and predetermined weldering
Connect between path and certain welding error be present；In precision welding occasion, by various sensors or control algolithm with will weldering
Connect error and be reduced to minimum as far as possible.Based on this, for the existing cost height for reducing the apparatus and method for welding error, control
Complexity, the present invention be used to providing it is a kind of it is simple in construction, cost is low, the reliable system of control mode, with reduce as far as possible due to
Welding gun tilt caused by weld strength lack of homogeneity, the problems such as weldquality is unqualified.
The content of the invention
The present invention provides a kind of system simple in construction, cost is low, control mode is simple, reliability is high, for solving to weld
The problem of connecing lack of homogeneity, weldquality difference.
A kind of welding robot, including mechanical arm, it is fixed on the retainer of mechanical arm tail end, on mechanical arm tail end
Welding gun and the error correcting system on retainer, it is characterised in that
According to the instruction of control system, the mechanical arm driving welding gun is located above seam and moved along predefined paths to complete two
The welding of sheet material；
The error correcting system includes first, second detection part and wave filter；
The detection part includes the energy emitter and energy detector positioned at welding gun side and opposite side respectively；Also, the
The energy detector of the energy emitter of one detection part and the second detection part is located at the same side of welding gun；
First, second detection part is set with different transmittings and receives frequency to avoid the two from interfering；
Two energy detectors detect letter that each self-corresponding energy emitter is launched, after sheet material reflection respectively
Number；
Two energy detectors connect first, second wave filter respectively, and first, second wave filter will detect respectively
The control system is sent to after signal transacting；The control system is according to the signal letter after the filters filter processing received
Breath control machinery arm carries out pose adjustment so that welding gun to be moved to the surface of seam；
In order to prevent welding arc from influenceing the work of energy emitter and energy receiver, suitable wave filter connection energy measuring is set
Device, it ensure that the accuracy of signal acquisition while do not influence welding operation.
Different transmittings and receives frequency can prevent two groups of interference between energy emitter and energy detector；It can lead to
The pulse frequency for crossing the driver of adjustment energy emitter connection is realized, it is achieved thereby that different energy emitter has not
Same frequency.More information can be provided to improve point that welding gun controls using more energy emitters and energy detector
Resolution, such as using three groups, four groups, five groups or more of detection part.
The present invention operation principle be：If welding gun is located at the surface of seam, and not with seam and or sheet material be in one
Determine angle, then the energy that two energy emitters are each transmitted and sheet material reflect after, detected by corresponding energy detector
Energy should be identical, or roughly the same.If welding gun with seam at an angle, launch by two energy detectors and energy
Device equally will be with seam at an angle, then the energy that two energy emitters are each transmitted and sheet material reflect after, it is corresponding
The energy that detects of energy detector it is then different.If the energy that two energy detectors detect is different and the two difference surpasses
Cross threshold values set in advance, then control system will take measures to adjust mechanical arm, namely have adjusted installed in mechanical arm
On welding gun posture, until above-mentioned difference is less than threshold values set in advance.If welding gun is located above seam but deviation distance
Bigger, then one group of detection part is able to detect that signal, and another group of detection part detects very faint or obvious low signal,
Now, control system will adjust the position of mechanical arm, so that welding gun is located at the surface of seam.Skilled person will appreciate that
It is, because mechanical arm under control of the control system can be real along predefined paths within a certain error range based on prior art
Now weld, therefore, welding gun will not be excessively away from seam, for example be only positioned at the surface of one block of sheet material.So as to provided by the invention
Detection part can further improve the relative position relation between welding gun and seam, the especially angle between welding gun and seam
Degree, ensure welding gun perpendicular to seam, perpendicular to two sheet materials 3,4 place planes, avoid welding gun from tilting and cause weldquality uniform
Property it is poor, welding out-of-flatness, it is off quality the problems such as.
By above-mentioned error correcting system, welding gun is realized under the control of mechanical arm, and two plates are carried out along predefined paths
The welding of material, and in real time detect and adjust welding gun position and posture, make welding gun be always positioned at seam surface and perpendicular to
Plane where two sheet materials, ensure that welding quality and welding efficiency, meanwhile, the present invention enters using energy emitter and energy acceptance
Device is launched with detection signal energy, by sending a signal to control system after filters filter, and components in its entirety is few, cost
Low, Software for Design is simple, does not increase excessive signal transacting burden to control system, has that simple in construction, cost is low, controlling party
The advantages of formula is simple, reliability is high.
Brief description of the drawings
Accompanying drawing 1 shows overall structure figure.
Embodiment
The present invention provides a kind of welding robot system simple in construction, cost is low, control mode is simple, reliability is high：
A kind of welding robot, including mechanical arm, it is fixed on the retainer of mechanical arm tail end 1, on mechanical arm tail end 1
Welding gun 2 and the error correcting system on retainer, according to the instruction of control system, the mechanical arm drives welding gun 2
Moved above seam and along predefined paths to complete the welding of two sheet materials 3/4；
The error correcting system includes first, second detection part 5/6 and wave filter；
The detection part 5/6 include respectively positioned at the side of welding gun 2 and opposite side energy emitter 5A 6A and energy detector
5B\6B；Also, the energy emitter 5A of the first detection part and the energy detector 6B of the second detection part are located at welding gun 2
The same side；
First, second detection part is set with different transmittings and receives frequency to avoid the two from interfering；
The energy detector 5B 6B detect respectively the energy emitter 5A 6A transmittings, signal after flat reflective；
The two energy detector 5B 6B connect first, second wave filter respectively, first, second wave filter respectively will inspection
The control system is sent to after the signal transacting measured；The control system is carried out according to the information control machinery arm received
Pose is adjusted so that welding gun 2 to be moved to the surface of seam；
In order to prevent welding arc from influenceing the work of energy emitter and energy receiver, suitable wave filter connection energy measuring is set
Device, it ensure that the accuracy of signal acquisition while do not influence welding operation.
The energy emitter 5A 6A and energy receiver 5B 6B axis direction and the axis direction of welding gun 2 between folder
Angle is acute angle；
Different transmittings and receives frequency can prevent two groups of interference between energy emitter and energy detector；Tune can be passed through
The pulse frequency of the driver of whole energy emitter connection realizes, it is achieved thereby that different energy emitters have it is different
Frequency.In a particular application, more information can be provided to improve weldering using more energy emitters and energy detector
The resolution ratio that rifle 2 controls, such as using three groups, four groups, five groups or more of detection part.
Detection part selects the existing sensor in market, such as has photoelectric sensor, the infrared emission of transmitter/detector
Device/detector etc. can realize the intensity of signal or the sensor of distance after detection reflection.
In order to make it easy to understand, the width expansionization of seam in accompanying drawing 1 is shown.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should the protection model with claim
Enclose and be defined.
Claims (2)
1. a kind of welding robot, including mechanical arm, it is fixed on the retainer of mechanical arm tail end, on mechanical arm tail end
Welding gun and the error correcting system on retainer, it is characterised in that
According to the instruction of control system, the mechanical arm driving welding gun is located above seam and moved along predefined paths to complete two
The welding of sheet material；
The error correcting system includes first, second detection part；
The detection part includes the energy emitter and energy detector positioned at welding gun side and opposite side respectively；Also, the
The energy detector of the energy emitter of one detection part and the second detection part is located at the same side of welding gun；
Two energy detectors detect letter that each self-corresponding energy emitter is launched, after sheet material reflection respectively
Number；
Two energy detectors connect first, second wave filter respectively, and first, second wave filter will detect respectively
The control system is sent to after signal transacting；The control system is carried out according to the signal controlling machine tool arm after filter process
Pose is adjusted so that welding gun to be moved to the surface of seam and makes welding gun perpendicular to plane where the sheet material.
A kind of 2. welding robot system as claimed in claim 1, it is characterised in that the first, second detection part quilt
It is set as that there is different transmittings and receives frequency to avoid the two from interfering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710765923.XA CN107335955B (en) | 2017-08-30 | 2017-08-30 | A kind of welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710765923.XA CN107335955B (en) | 2017-08-30 | 2017-08-30 | A kind of welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107335955A true CN107335955A (en) | 2017-11-10 |
| CN107335955B CN107335955B (en) | 2019-05-21 |
Family
ID=60214618
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710765923.XA Active CN107335955B (en) | 2017-08-30 | 2017-08-30 | A kind of welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107335955B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3743776A (en) * | 1970-05-05 | 1973-07-03 | J Angely | Device for tracing seams for welding by electron bombardment |
| CN86106386A (en) * | 1986-09-23 | 1988-05-11 | 航空工业部第625所 | Electron distributions formula welding seam tracking method and device |
| EP0339560A1 (en) * | 1988-04-26 | 1989-11-02 | Fuji Jukogyo Kabushiki Kaisha | Apparatus and method for adjusting position of an industrial robot |
| CN102581445A (en) * | 2012-02-08 | 2012-07-18 | 中国科学院自动化研究所 | Visual real-time deviation rectifying system and visual real-time deviation rectifying method for robot |
| DE102013000743A1 (en) * | 2013-01-17 | 2014-03-13 | Daimler Ag | Device for guiding application of paste-like mass along application path on object e.g. motor vehicle chassis, has evaluating device that evaluates detected data of paste-like mass applied along application path from sensors |
| CN207119917U (en) * | 2017-08-30 | 2018-03-20 | 上海魁殊自动化科技有限公司 | A kind of welding robot |
-
2017
- 2017-08-30 CN CN201710765923.XA patent/CN107335955B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3743776A (en) * | 1970-05-05 | 1973-07-03 | J Angely | Device for tracing seams for welding by electron bombardment |
| CN86106386A (en) * | 1986-09-23 | 1988-05-11 | 航空工业部第625所 | Electron distributions formula welding seam tracking method and device |
| EP0339560A1 (en) * | 1988-04-26 | 1989-11-02 | Fuji Jukogyo Kabushiki Kaisha | Apparatus and method for adjusting position of an industrial robot |
| CN102581445A (en) * | 2012-02-08 | 2012-07-18 | 中国科学院自动化研究所 | Visual real-time deviation rectifying system and visual real-time deviation rectifying method for robot |
| DE102013000743A1 (en) * | 2013-01-17 | 2014-03-13 | Daimler Ag | Device for guiding application of paste-like mass along application path on object e.g. motor vehicle chassis, has evaluating device that evaluates detected data of paste-like mass applied along application path from sensors |
| CN207119917U (en) * | 2017-08-30 | 2018-03-20 | 上海魁殊自动化科技有限公司 | A kind of welding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107335955B (en) | 2019-05-21 |
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| PB01 | Publication | ||
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190425 Address after: 523000 the third industrial zone, Chung Chung, Dongguan, Guangdong. Applicant after: Dongguan Jiaya Automobile Seat Co., Ltd. Address before: 201318 4 building, 1 Lane 99, Shen Mei Road, Pudong New Area, Shanghai, 4 Applicant before: Shanghai great Automation Technology Co., Ltd. |
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| GR01 | Patent grant |