CN108890184A - Coordination welding control method based on discrete six-joint robot and two axis positioners - Google Patents

Coordination welding control method based on discrete six-joint robot and two axis positioners Download PDF

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Publication number
CN108890184A
CN108890184A CN201810961924.6A CN201810961924A CN108890184A CN 108890184 A CN108890184 A CN 108890184A CN 201810961924 A CN201810961924 A CN 201810961924A CN 108890184 A CN108890184 A CN 108890184A
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axis
joint robot
welding
welded
speed
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CN108890184B (en
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王标
吴旦夫
张勇
李维诗
蒋亚淼
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Hefei University of Technology
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Hefei University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Abstract

The invention discloses a kind of coordination welding control method based on discrete six-joint robot and two axis positioners, including：1 it is characterized in that carry out as follows：Step 1：A clamping bench is set on two axis positioners, workpiece to be welded is fixed on the clamping bench；The two axis positioner is controlled by industrial control computer；Step 2：The theoretical position of the end movement track of the discrete six-joint robot and two axis positioners；Step 3：Six-joint robot described in coordinated control welds the workpiece to be welded on the two axis positioner.The present invention is able to achieve six-joint robot and the coordination welding of two axis positioners controls, to guarantee welding quality, improves welding efficiency.

Description

Coordination welding control method based on discrete six-joint robot and two axis positioners
Technical field
Welding control method of the present invention based on discrete six-joint robot and two axis positioners, belongs to robot The automatic continuous welding side that welding field more particularly to mutually independent six axis welding robot are combined with two axis positioners Method.
Background technique
Robot is widely used in welding field, and welding robot welding effect has efficiently relative to human weld, The advantages of high quality, in order to guarantee welding quality, generally requires arc welding robot sequential welding when welding to complex parts It connects.Due to the position while welding complexity of workpiece to be welded and the clamping requirement of element to be welded, often need to change in the welding process to be welded The position of workpiece, six-joint robot are widely applied in robot welding field, and to adjust the location of workpiece to be welded, most enterprises are voluntarily Develop positioner.But since six-joint robot and positioner are not homologous ray, it is unable to reach Collaborative Control, in welding process In, when workpiece needs to shift one's position, welding robot needs to stop welding, after positioner completes corresponding movement, then opens Begin to weld, therefore welding process is not continuously, welding quality not can guarantee, and can reduce its working efficiency.
Summary of the invention
The present invention is proposed a kind of based on six axis machine of discrete to solve above-mentioned the shortcomings of the prior art place The coordination welding control method of people and two axis positioners can be according to welding to weld simultaneously realizing the continuous of workpiece Parameter and technique requirement, guarantee that the relative velocity size of welding gun and workpiece is constant, to guarantee the welding quality of weld seam.
To achieve the above object, the invention adopts the following technical scheme：
A kind of the characteristics of coordination welding control method based on discrete six-joint robot and two axis positioners of the invention is It carries out as follows：
Step 1：A clamping bench is set on two axis positioners, workpiece to be welded is fixed on the clamping bench；Described two Axis positioner is controlled by industrial control computer；
Space bit of the workpiece to be welded on the clamping bench is obtained using the position sensor of six-joint robot itself It sets and the rotation center coordinate points of the two axis positioner；
According to the digital-to-analogue size of the workpiece to be welded and the spatial position, the curve to be welded of the workpiece to be welded is obtained Equation and to welding line total length S；
The initial weld position of the workpiece to be welded is determined according to the limit switch on the two axis positioner；
Step 2：The theoretical position of the end movement track of the discrete six-joint robot and two axis positioners：
Step 2.1：According to the welding parameter of the workpiece to be welded and technique requirement, speed of welding is set as v1, then weld Total duration is T=S/v1；
Step 2.2：The angular speed theory equation of change for setting the two axis positioner meets：The two axis positioner is being opened Speed when beginning to weld and terminate welding is 0, what the two axis positioner was rotated in t moment around an axis in the welding process Angular speed is ω (t)；
Step 2.3：According to the angular speed theory equation of change of the two axis positioner, the end of the six-joint robot is obtained End motion speed：
If the pad of t moment is P (t), according to the speed of welding v1And t moment, obtain the position of pad P (t)；
Enable two axis positioner of t moment rotate angle be
The linear velocity for enabling the two axis positioner is v (t)=ω (t) × r, and wherein r is pad P (t) and the rotation The distance between centre coordinate point；Curvilinear equation to be welded after acquiring the two axis positioner rotation angle θ, then six described in t moment The end of axis robot and the relative velocity direction of the two axis positioner are curvilinear equation to be welded cutting at pad P (t) Line direction；
By the linear velocity v (t) and speed of welding v of the two axis positioner1Synthesize the end movement of the six-joint robot Speed is
Step 2.4：The end movement track for enabling the six-joint robot is
The welding total duration T is separated into n time point according to interval of delta t, is denoted as t0,t1,…,ti,…,tn, In, tiIndicate i-th of time point, 0≤i≤n；The then end movement track L (t) of six-joint robot corresponding to n time point Discrete point be denoted as L (t0),L(t1),,L(ti),…,L(tn), wherein L (ti) indicate i-th of time point tiCorresponding end Motion profile point；The theoretical position of two axis positioners corresponding to n time point is denoted as P (t0),P(t1),…,P(ti),…,P (tn) wherein, P (ti) indicate i-th of time point tiThe theoretical position point of two corresponding axis positioners；
Step 3：Six-joint robot described in coordinated control welds the workpiece to be welded on the two axis positioner：
Step 3.1：According to the discrete point L (t of the end movement track L (t) of the six-joint robot0),L(t1),…,L (ti),…,L(tn) the control six-joint robot movement, and it is other in the vertical shaft robot arrival various discrete point position time-division IO encoded signal is sent to the industrial control computer, to control movement, stopping and the emergency stop of the two axis positioner；
Step 3.2：Remember two axis positioners in i-th of time point tiPhysical location be P ' (ti), two axis positioners i-th+ 1 time point ti+1Theoretical position be P (ti+1)；
Enable two axis positioners in i-th of time point tiTo i+1 time point ti+1Actual speed be v '=(P (ti+1)- P′(ti))/Δt；Make an axis in two axis positioners by the actual speed v ' rotation, to match the six-joint robot Speed of welding.
Compared with prior art, the beneficial effects of the present invention are：
1, the present invention is by acquiring six-joint robot motion profile and speed and two axis positioner actual motion speed sides Method realizes the coordination welding control method of six-joint robot and two axis positioners, ensure that welding quality and improves welding effect Rate.
2, in the respective independence and under conditions of cannot achieve linkage of existing six-joint robot and two axis positioners, by this hair Bright step 1, step 2 first set two axis positioner theoretical velocities, and the speed of welding of setting is required according to welding parameter, The motion profile and movement velocity of six-joint robot are acquired, provides theoretical calculation method to link.
3, step 3 through the invention acquires the actual motion speed of two axis positioners, reduces due to six-joint robot It is not homologous ray bring error with two axis positioners, so that the coordination welding for having reached six axis positioners and two axis positioners is controlled Effect processed.
Detailed description of the invention
Fig. 1 is system principle diagram of the invention；
Fig. 2 is flow chart of the method for the present invention；
Fig. 3 is the movement velocity and two axis positioner turntable rotary speed curve synoptic diagrams of six-joint robot welding gun end；
Fig. 4 is regulated the speed for two axis positioners by IO code communication signal and the flow chart of position.
Specific embodiment
In the present embodiment, a kind of stream of the coordination welding control method based on discrete six-joint robot and two axis positioners Journey obtains as shown in Fig. 2, 1, clamping workpiece to be welded to welding line；2, two axis positioner theoretical velocities are set；3, six axis machines are solved Device people motion profile simultaneously waits time discretes；4, control six-joint robot moves and sends I/O port signal in discrete point；5, two axis become Position machine is regulated the speed according to I/O port signal, the coordinated movement of various economic factors.Specific step is as follows for it：
Step 1：A clamping bench is set on two axis positioners, workpiece to be welded is fixed on clamping bench；Two axis positioners It is controlled by industrial control computer, as shown in Figure 1, industrial control computer can pass through data acquisition and procession control module and two The communication of axis positioner, there is also communication, two axis positioners and six axis machines with two axis positioners for data acquisition and procession control module Device people is communicated indirectly by data acquisition and procession control module.
Spatial position and two of the workpiece to be welded on clamping bench are obtained using the position sensor of six-joint robot itself The rotation center coordinate points of axis positioner；
According to the digital-to-analogue size of workpiece to be welded and spatial position, the curvilinear equation to be welded of workpiece to be welded and to be welded is obtained Weld seam total length S；
The initial weld position of workpiece to be welded is determined according to the limit switch on two axis positioners；
Step 2：The theoretical position of the end movement track of discrete six-joint robot and two axis positioners：
Step 2.1 is required according to the welding parameter and technique of workpiece to be welded, sets speed of welding as v1, then when welding total A length of T=S/v1；
Step 2.2, the angular speed theory equation of change for setting two axis positioners meet：Speed such as Fig. 3 of two axis positioners It is shown below, it is the movement velocity of six-joint robot, wherein v above Fig. 32For welding gun end movement speed, initial velocity and end Only velocity magnitude v1, v1For the speed of welding for meeting welding parameter, ω (t) is two axis positioner revolving speeds, i.e. two axis positioners are welding The angular speed rotated in t moment around an axis in termination process is ω (t)；Two axis positioner initial speeds and termination revolving speed are all 0； It is 0 starting speed when welding and terminating welding；
Step 2.3, the angular speed theory equation of change according to two axis positioners obtain the end movement speed of six-joint robot Degree：
If the pad of t moment is P (t), according to speed of welding v1And t moment, obtain the position of pad P (t)；
Enable two axis positioner of t moment rotate angle be
The linear velocity for enabling two axis positioners is v (t)=ω (t) × r, and wherein r is pad P (t) and rotation center coordinate The distance between point；Acquire two axis positioners rotation the angle θ after curvilinear equation to be welded, then the end of t moment six-joint robot with The relative velocity direction of two axis positioners is tangential direction of the curvilinear equation to be welded at pad P (t)；
By the linear velocity v (t) and speed of welding v of two axis positioners1Synthesis six-joint robot end movement speed be
Step 2.4, the end movement track for enabling six-joint robot are
Welding total duration T is separated into n time point according to interval of delta t, is denoted as t0,t1,…,ti,…,tn, wherein tiTable Show i-th of time point, 0≤i≤n；The then discrete point of the end movement track L (t) of six-joint robot corresponding to n time point It is denoted as L (t0),L(t1),…,L(ti),…,L(tn), wherein L (ti) indicate i-th of time point tiCorresponding end movement rail Mark point；The theoretical position of two axis positioners corresponding to n time point is denoted as P (t0),P(t1),…,P(ti),…,P(tn) its In, P (ti) indicate i-th of time point tiThe theoretical position point of two corresponding axis positioners；
Step 3：Coordinated control six-joint robot welds the workpiece to be welded on two axis positioners：
Step 3.1, the discrete point L (t according to the end movement track L (t) of six-joint robot0),L(t1),…,L (ti),…,L(tn) control six-joint robot movement, and reaching the various discrete point position time-division in vertical shaft robot Fa Song IO volume Code signal is to industrial control computer, as shown in Figure 1, six-joint robot passes through robot control cabinet and data acquisition and procession Control module and computer communication, computer control movement, stopping and the urgency of two axis positioners according to different I/O port signals Stop；
Step 3.2, two axis positioners of note are in i-th of time point tiPhysical location be P ' (ti), two axis positioners i-th+ 1 time point ti+1Theoretical position be P (ti+1)；
Enable two axis positioners in i-th of time point tiTo i+1 time point ti+1Actual speed be v '=(P (ti+1)- P′(ti))/Δt；Make an axis in two axis positioners by actual speed v ' rotation, to match the welding speed of six-joint robot Degree, speed adjust process as shown in figure 4, after six-joint robot transmission commencing signal, positioner setting in motion, and each After receiving I/O port signal, regulated the speed according to current location and subsequent time point theoretical position, the coordinated movement of various economic factors.

Claims (1)

1. a kind of coordination welding control method based on discrete six-joint robot and two axis positioners, it is characterized in that by following step It is rapid to carry out：
Step 1：A clamping bench is set on two axis positioners, workpiece to be welded is fixed on the clamping bench；Two axis becomes Position machine is controlled by industrial control computer；
Using the position sensor of six-joint robot itself obtain spatial position of the workpiece to be welded on the clamping bench with And the rotation center coordinate points of the two axis positioner；
According to the digital-to-analogue size of the workpiece to be welded and the spatial position, the curvilinear equation to be welded of the workpiece to be welded is obtained And to welding line total length S；
The initial weld position of the workpiece to be welded is determined according to the limit switch on the two axis positioner；
Step 2：The theoretical position of the end movement track of the discrete six-joint robot and two axis positioners：
Step 2.1：According to the welding parameter of the workpiece to be welded and technique requirement, speed of welding is set as v1, then total duration is welded For T=S/v1；
Step 2.2：The angular speed theory equation of change for setting the two axis positioner meets：The two axis positioner is starting to weld Speed when connecing and terminating welding is 0, and the two axis positioner is in the welding process in t moment around the angle that an axis rotates speed Degree is ω (t)；
Step 2.3：According to the angular speed theory equation of change of the two axis positioner, the end fortune of the six-joint robot is obtained Dynamic speed：
If the pad of t moment is P (t), according to the speed of welding v1And t moment, obtain the position of pad P (t)；
Enable two axis positioner of t moment rotate angle be
The linear velocity for enabling the two axis positioner is v (t)=ω (t) × r, and wherein r is pad P (t) and the rotation center The distance between coordinate points；It acquires the two axis positioner and rotates the curvilinear equation to be welded behind the angle θ, then six axis machine described in t moment The end of device people and the relative velocity direction of the two axis positioner are tangent line side of the curvilinear equation to be welded at pad P (t) To；
By the linear velocity v (t) and speed of welding v of the two axis positioner1The end movement speed for synthesizing the six-joint robot is
Step 2.4：The end movement track for enabling the six-joint robot is
The welding total duration T is separated into n time point according to interval of delta t, is denoted as t0,t1,…,ti,…,tn, wherein tiTable Show i-th of time point, 0≤i≤n；The then discrete point of the end movement track L (t) of six-joint robot corresponding to n time point It is denoted as L (t0),L(t1),…,L(ti),…,L(tn), wherein L (ti) indicate i-th of time point tiCorresponding end movement rail Mark point；The theoretical position of two axis positioners corresponding to n time point is denoted as P (t0),P(t1),…,P(ti),…,P(tn) its In, P (ti) indicate i-th of time point tiThe theoretical position point of two corresponding axis positioners；
Step 3：Six-joint robot described in coordinated control welds the workpiece to be welded on the two axis positioner：
Step 3.1：According to the discrete point L (t of the end movement track L (t) of the six-joint robot0),L(t1),…,L (ti),…,L(tn) the control six-joint robot movement, and it is other in the vertical shaft robot arrival various discrete point position time-division IO encoded signal is sent to the industrial control computer, to control movement, stopping and the emergency stop of the two axis positioner；
Step 3.2：Remember two axis positioners in i-th of time point tiPhysical location be P ' (ti), two axis positioners are in i+1 Time point ti+1Theoretical position be P (ti+1)；
Enable two axis positioners in i-th of time point tiTo i+1 time point ti+1Actual speed be v '=(P (ti+1)-P′ (ti))/Δt；Make an axis in two axis positioners by the actual speed v ' rotation, to match the weldering of the six-joint robot Connect speed.
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109551161A (en) * 2019-01-17 2019-04-02 苏州哈工易科机器人有限公司 External PLC positioner system and welding robot speeds match method
CN111283323A (en) * 2018-12-06 2020-06-16 中国商用飞机有限责任公司 Welding method, welding device, terminal equipment and storage medium
WO2021258338A1 (en) * 2020-06-24 2021-12-30 西门子股份公司 Method for controlling multiple execution mechanisms, electronic device, and storage medium

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