CN107335955B - A kind of welding robot - Google Patents
A kind of welding robot Download PDFInfo
- Publication number
- CN107335955B CN107335955B CN201710765923.XA CN201710765923A CN107335955B CN 107335955 B CN107335955 B CN 107335955B CN 201710765923 A CN201710765923 A CN 201710765923A CN 107335955 B CN107335955 B CN 107335955B
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- CN
- China
- Prior art keywords
- welding
- energy
- welding gun
- detection
- control
- Prior art date
Links
- 238000003466 welding Methods 0.000 title claims abstract description 70
- 230000000875 corresponding Effects 0.000 claims description 4
- 230000001276 controlling effects Effects 0.000 claims description 2
- 238000000034 methods Methods 0.000 claims description 2
- 230000001702 transmitter Effects 0.000 claims description 2
- 230000001154 acute Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000006467 substitution reactions Methods 0.000 description 1
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
Abstract
Description
Technical field
A kind of welding robot, especially with the welding robot system of error control system.
Background technique
Welding robot is a kind of mechanical equipment that welding operation is completed under the control of automatic controller, welding robot Reliable welding quality, precision is high, good environmental adaptability, therefore the application of robot welding is more extensively and universal.
In order to allow the robot to complete welding along predetermined path of welding, scheduled program must be set in advance It is fixed, however, due to there are the various errors such as control error, machine error, so that the actual welding path of robot and predetermined weldering Connect between path that there are certain welding errors；In precision welding occasion, by various sensors or control algolithm will weld It connects error and is reduced to minimum as far as possible.Based on this, at high cost, the control of the existing device and method for reducing welding error Complexity, a kind of structure is simple, at low cost, the reliable system of control mode for providing by the present invention, with reduce as far as possible due to The problems such as weld strength uniformity is poor, weldquality is unqualified caused by welding gun inclination.
Summary of the invention
The present invention provides that a kind of structure is simple, at low cost, control mode is simple, high reliablity system, for solving weldering Connect that uniformity is poor, the problem of weldquality difference.
A kind of welding robot including mechanical arm, the retainer that is fixed on mechanical arm tail end, is mounted on mechanical arm tail end Welding gun and the error correcting system that is mounted on retainer, which is characterized in that
According to the instruction of control system, the mechanical arm driving welding gun is located above seam and moves along predefined paths with complete At the welding of two plates；
The error correcting system includes the first, second detection part and filter；
The detection part includes the energy emitter and energy detector for being located at welding gun side and the other side；And And first detection part energy emitter and the energy detector of the second detection part be located at the same side of welding gun；
It is mutually dry to avoid the two that first, second detection part is set with different transmitting and reception frequency It disturbs；
Two energy detectors detect respectively the transmitting of corresponding energy emitter, after plate reflection Signal；
Two energy detectors are separately connected the first, second filter, and first, second filter will test respectively To signal processing after be sent to the control system；The control system is according to the filters filter received treated letter Number information control mechanical arm carries out pose adjustment so that welding gun to be moved to the surface of seam；
Welding arc influences the work of energy emitter and energy receiver in order to prevent, and suitable filter connection energy is arranged Detector ensure that the accuracy of signal acquisition while not influence welding operation.
Different transmittings and reception frequency can prevent two groups of interference between energy emitter and energy detector；It can lead to The pulse frequency of the driver of adjustment energy emitter connection is crossed to realize, so that realizing different energy emitters has not Same frequency.More energy emitters and energy detector can be used to provide more information to improve point of welding gun control Resolution, for example use three groups, four groups, five groups or more of detection part.
The operation principle of the present invention is that: if welding gun is located at the surface of seam, and not with seam and or plate be in one Determine angle, then the energy that two energy emitters are respectively transmitted and plate reflect after, detected by corresponding energy detector Energy should be identical or roughly the same.If welding gun and seam are at an angle, two energy detectors and energy transmitting Device equally will with seam at an angle, then the energy that respectively transmits of two energy emitters with after plate reflection, 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 is super Preset threshold values is crossed, then control system will take measures to be mounted on mechanical arm to adjust mechanical arm, namely have adjusted On welding gun posture, until above-mentioned difference be less than preset threshold values.If welding gun is located above seam but deviation distance Bigger, then one group of detection part is able to detect that signal, another group of detection part detect very faint or obvious low signal, At this point, 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 Be, due to mechanical arm be based under control of the control system prior art can within a certain error range along predefined paths reality It now welds, therefore, welding gun will not be excessively far from seam, for example is only positioned at the surface of one block of plate.To provided by the invention Detection part can further improve the angle between the relative positional relationship between welding gun and seam, especially welding gun and seam Degree, guarantee welding gun perpendicular to seam, perpendicular to two plates 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, carries out two plates along predefined paths The welding of material, and real-time detection and adjustment welding gun position and posture, make welding gun be always positioned at seam surface and perpendicular to Plane where two plates, ensure that welding quality and welding efficiency, meanwhile, the present invention is into using energy emitter and energy acceptance Device transmitting and detection signal energy, by sending a signal to control system after filters filter, components in its entirety is few, cost Low, software design is simple, does not increase excessive signal processing burden to control system, has that structure is simple, at low cost, controlling party The advantages of formula is simple, high reliablity.
Detailed description of the invention
Attached drawing 1 shows overall structure figure.
Specific embodiment
The present invention provides that a kind of structure is simple, at low cost, control mode is simple, high reliablity welding robot system:
A kind of welding robot including mechanical arm, the retainer that is fixed on mechanical arm tail end 1, is mounted on mechanical arm tail end 1 On welding gun 2 and the error correcting system that is mounted on retainer, according to the instruction of control system, the mechanical arm driving weldering Rifle 2 is located above seam and moves along predefined paths to complete the welding of two plates 3/4；
The error correcting system includes the first, second detection part 5/6 and filter；
The detection part 5/6 include be located at 2 side of welding gun and the other side energy emitter 5A 6A and energy inspection Survey device 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；
It is mutually dry to avoid the two that first, second detection part is set with different transmitting and reception frequency It disturbs；
The energy detector 5B 6B detect respectively the energy emitter 5A 6A transmitting, letter after flat reflective Number；
The two energy detector 5B 6B be separately connected the first, second filter, the first, second filter difference The control system is sent to after the signal processing that will test；The control system is according to the information control mechanical arm received Pose adjustment is carried out so that welding gun 2 to be moved to the surface of seam；
Welding arc influences the work of energy emitter and energy receiver in order to prevent, and suitable filter connection energy is arranged Detector ensure that the accuracy of signal acquisition while not influence welding operation.
The energy emitter 5A 6A and energy receiver 5B 6B 2 axis direction of axis direction and welding gun between folder Angle is acute angle；
Different transmittings and reception frequency can prevent two groups of interference between energy emitter and energy detector；It can lead to The pulse frequency of the driver of adjustment energy emitter connection is crossed to realize, so that realizing different energy emitters has not Same frequency.In a particular application, more energy emitters and energy detector can be used to provide more information to mention The resolution ratio that high welding gun 2 controls, for example use three groups, four groups, five groups or more of detection part.
Detection part selects the existing sensor in market, photoelectric sensor, infrared emission such as with transmitter/detector Device/detector etc. can be realized the intensity of the signal after detection reflection or the sensor of distance.
In order to make it easy to understand, the width expansionization of seam in attached drawing 1 is shown.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art, It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention answers the protection model with claim Subject to enclosing.
Claims (2)
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 CN107335955A (en) | 2017-11-10 |
| CN107335955B true CN107335955B (en) | 2019-05-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710765923.XA CN107335955B (en) | 2017-08-30 | 2017-08-30 | A kind of welding robot |
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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 IP Right Grant
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 |
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| Publication number | Publication date |
|---|---|
| CN107335955A (en) | 2017-11-10 |
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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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