CN109894781A - Multirobot welding control method and system - Google Patents
Multirobot welding control method and system Download PDFInfo
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- CN109894781A CN109894781A CN201910293580.0A CN201910293580A CN109894781A CN 109894781 A CN109894781 A CN 109894781A CN 201910293580 A CN201910293580 A CN 201910293580A CN 109894781 A CN109894781 A CN 109894781A
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Abstract
The present invention provides a kind of multirobot welding control systems, including multiple robots, further include following device: image obtains identification device: obtaining the image of to-be-welded pieces, identifies the contact to be welded of to-be-welded pieces；Region division device: judging the quantity of the pad of to-be-welded pieces, to-be-welded pieces is equally divided into several welding regions according to the quantity of the contact to be welded, each welding region respectively corresponds a robot；Welding controller: robot receives the welding point image in its locating region and identifies the corresponding position of to-be-welded pieces at pad and butt welding contact is welded.Reached by image recognizing step and obtains to-be-welded pieces image and identify contact to be welded, and to-be-welded pieces are equally divided by several welding regions according to the quantity of contact to be welded, it then controls corresponding robot and soldering is carried out to the pad in its present welding region to-be-welded pieces.
Description
Technical field
The present invention relates to automatic controls, welding field, in particular to a kind of multirobot welding control method and system.
Background technique
Robot welding at present mainly with single robot welding based on, usually by programmable logic controller (PLC)
(Progr1mm12le Logi33ontroller, PL3) control cabinet controls the operation of robot.Although passing through individual machine people
It is higher than artificial come the efficiency welded, but for producing in enormous quantities, production efficiency or lower.In addition, more machines
When device people carries out operation to same product simultaneously, if there is the interference region of coincidence in the operating area of Liang Tai robot, need to keep away
Mian Liangge robot collides in interference region.
Summary of the invention
The present invention provides a kind of multirobot welding control method and system, can know to the pad of to-be-welded pieces
Other places reason, so that each robot has different working regions, the problem of avoiding the occurrence of robot interference and collision.
A kind of multirobot welding control method, including multiple robots, the control mode of the multiple robot include
Following steps:
The image for obtaining to-be-welded pieces, identifies the contact to be welded of to-be-welded pieces；
The quantity of the pad of to-be-welded pieces is judged, if being equally divided into to-be-welded pieces according to the quantity of the contact to be welded
Dry welding region, each welding region respectively correspond a robot；
Robot receives the welding point image in its locating region and identifies the corresponding position of to-be-welded pieces at pad
And butt welding contact is welded.
Further,
The quantity of the pad of the judgement to-be-welded pieces, according to the quantity of the contact to be welded by to-be-welded pieces average mark
For several welding regions, the step of each welding region respectively corresponds a robot further include:
The quantity of pad, the image of to-be-welded pieces are obtained, and pad is located at the image of weldment and is carried out
Label；
The image of weldment is equally divided into several regions, each region tool according to the marker number of pad from left to right
There is the label of identical quantity, and the label in each region does not repeat；
The quantity of robot is obtained, and obtains the successively sequence of robot from left to right；
Robot and several regions is primary from left to right corresponding respectively.
A kind of multirobot welding control system, including multiple robots, further include following device:
Image obtains identification device: obtaining the image of to-be-welded pieces, identifies the contact to be welded of to-be-welded pieces；
Region division device: judging the quantity of the pad of to-be-welded pieces, will be to be welded according to the quantity of the contact to be welded
Fitting is equally divided into several welding regions, and each welding region respectively corresponds a robot；
Welding controller: robot receives the welding point image in its locating region and identifies to be welded at pad
Simultaneously butt welding contact is welded for the corresponding position of part.
Further,
The region division device further include:
Mark module: for obtaining the quantity of pad, the image of to-be-welded pieces, and pad is located at weldment
Image at be marked；
Label division module: the image of weldment is equally divided into several areas according to the marker number of pad from left to right
Domain, each region has the label of identical quantity, and the label in each region does not repeat；
Region respective modules: obtaining the quantity of robot, and obtains the successively sequence of robot from left to right, by robot
It is corresponding in turn to from left to right respectively with several regions.
Further,
The robot includes mechanical arm, and mechanical arm mainly includes fixed bracket, cradle head, connecting rod one and welding gun；Its
In, cradle head includes control arm one and control arm two, and control arm one and the mechanical structure having the same of control arm two；Connecting rod
One includes rotating bar one and rotating bar two；The power output end of fixed bracket 1 is connect with one one end of control arm, and control arm one is another
End is connect with one one end of rotating bar, and one other end of rotating bar is connect with two one end of control arm, two other end of control arm and rotating bar
The connection of two one end, two other end of rotating bar connect welding gun.Fixed bracket is by upper fixed connecting rod, right fixed connecting rod, left fixation
Connecting rod, mechanical arm driving motor fix bracket afterwards, are front fixing bracket, nock connecting rod, front right end connecting rod, preceding
Portion left end connecting rod, fixed bracket and motor control axis composition；It fixes bracket afterwards and front fixing bracket is arranged in parallel, and have
Three corners of identical mechanical structure, platy structure in equilateral triangle, equilateral triangle plate are integrally provided with one respectively
A mounting hole；Upper fixed connecting rod, right fixed connecting rod and left fixed connecting rod fix bracket and preceding fixation after being arranged in parallel in
In the above-mentioned mounting hole of bracket；The middle part of support bracket fastened equilateral triangle plate has the logical of installation mechanical arm driving motor afterwards
Hole；The middle part of the equilateral triangle plate of front fixing bracket has the through-hole of mounting and fixing bracket and motor control axis；Fixed branch
Frame and motor control axis one end are connected with mechanical arm driving motor, and the other end is in the past in support bracket fastened equilateral triangle plate
It is stretched out in portion's through-hole.
Further,
Control arm one and the mechanical structure having the same of control arm two include that joint of mechanical arm rear end support and rotation are closed
Save front-end bracket；Cradle head rear end support is U-shaped structure, and interlude is equipped with cradle head rear end support connecting hole, and rotation is closed
Section rear end support connecting hole is through-hole；Cradle head front-end bracket is closed body structure, far from cradle head rear end branch
The end face of frame is equipped with cradle head front-end bracket connecting hole, and cradle head front-end bracket connecting hole is through-hole.
Further,
Control arm one and control arm two are equal further include: cradle head big belt pulley, cradle head control shaft, cradle head are perpendicular
Histogram is passed to bevel gear, cradle head horizontal bevel gear, cradle head electric machine support, cradle head motor, cradle head angle
Sensor, cradle head small belt pulley, cradle head belt；Wherein, cradle head control shaft both ends are rotatably arranged in rotation
In the two-arm of the U-shaped structure of joint rear end support；Cradle head big belt pulley and cradle head vertical direction bevel gear are solid respectively
Dingan County is mounted in the left and right ends of cradle head control shaft, and is respectively positioned in cradle head rear end support；Cradle head front-end bracket
It is fixedly connected with cradle head control shaft, cradle head front-end bracket can be rotated with cradle head control shaft；Cradle head electricity
Machine support is fixedly mounted on inside cradle head front-end bracket；It is opened up on cradle head electric machine support for installing cradle head electricity
The through-hole of machine, the output shaft of cradle head electric machine support stretch out the through-hole and are connected with cradle head horizontal bevel gear；Rotation is closed
Horizontal bevel gear engages with cradle head vertical direction bevel gear；Cradle head angular transducer is fixedly mounted on cradle head
Inside front-end bracket；Cradle head small belt pulley is fixedly installed on the input shaft of cradle head angular transducer；Cradle head
Small belt pulley is connect by cradle head belt with cradle head big belt pulley.
Further,
Fixed bracket and motor control axis are connected with the cradle head rear end support connecting hole on control arm one, control arm
Cradle head front-end bracket connecting hole on one is connected with mechanical arm rotating bar one, turn of one other end of rotating bar and control arm two
Movable joint rear end support connecting hole is connected, and the cradle head front-end bracket connecting hole of control arm two is connected with two one end of rotating bar,
Two other end of rotating bar is connected with welding gun.Fixed bracket and motor control shaft end portion, one both ends of rotating bar, two one end of rotating bar
With mounting flange.
Further,
The welding constraint stress test device further includes battery, and the battery drives electricity to the mechanical arm respectively
Machine and cradle head motor are powered, and the battery is provided with power supply circuit, and the power supply circuit includes EM3 and first
Control unit, the first rectifier power source, DC/DC converting unit, the second rectification unit, charhing unit, protection location, 220V exchange are defeated
Enter and be electrically connected with EM3 and first control unit, EM3 and first control unit are electrically connected with the first rectifier power source, and it is left to form 300V
Right DC voltage, direct voltage output are electrically connected with DC/DC converting unit, and it is defeated to form high-frequency ac through DC/DC converting unit
Out, high-frequency ac output is electrically connected with the second rectification unit, is electrically connected by the second rectification unit with charhing unit.The charging
Unit is electrically connected with protection location, and protection location and DC/DC converting unit are collectively formed with overcurrent, over-voltage, overheat and under-voltage
The power supply circuit of protection；The DC/DC converting unit includes an adjusting transformer T2, and adjusting transformer T2 has two groups of secondary
Output, by being used as power supply circuit after the rectification circuit of the second level, battery charging is used for first group of secondary output；The other end and core
4 ends of piece are electrically connected, and two poles that voltage-stabiliser tube is connected with reverse phase are serially connected with 4 ends of chip in the output plus terminal of the first rectifier power source
Pipe 43, the output plus terminal of 43 tie point of diode and the first rectifier power source of voltage-stabiliser tube and reverse phase connection is by resistance R2 and capacitor 33
The capacitance-resistance circuit connect.
Further,
The protection location includes photoelectrical coupler, charge circuit sample circuit, and charge circuit sample circuit is by pressure stabilizing
The luminous tube of pipe, current-limiting resistance R5, resistance R6 and photoelectrical coupler, which concatenates, to be constituted, and charge circuit sample circuit is attempted by power supply electricity
The output end on road, the emitter of the photoelectric receiving tube of photoelectrical coupler are electrically connected with 3 end of control terminal of chip, die terminals and chip
The connection of F terminal shortcircuit, between tie point and earth-return and be connected to the circuit that concatenates of resistance R4 and capacitor C7, resistance R4 and capacitor C7
Concatenation circuit and meet a capacitor C8.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the flow chart of multirobot welding control method；
Fig. 2 is flow diagram included by region division step；
Fig. 3 is robot subregion schematic diagram；
Fig. 4 is the structural schematic diagram of robot；
Fig. 5 is support bracket fastened structural schematic diagram；
Fig. 6 is the structural schematic diagram of cradle head.
1, fixed bracket；11, upper fixed connecting rod；12, left fixed connecting rod；13, mechanical arm driving motor；14, right solid
Determine connecting rod；15, front left end connecting rod；16, front right end connecting rod；17, fixed bracket and motor control axis；18, preceding
Fixed bracket；19, nock connecting rod；110, bracket is fixed afterwards；2, cradle head；21, cradle head big belt pulley；22,
Cradle head control shaft；23, cradle head rear end support；24, cradle head vertical direction bevel gear；25, cradle head is horizontal
Bevel gear；26, cradle head electric machine support；27, cradle head motor；28, cradle head angular transducer；29, cradle head
Small belt pulley；210, cradle head belt；211, rear end support connecting hole；212, cradle head front-end bracket；213, front end branch
Frame connecting hole；31, rotating bar one；32, rotating bar two；4, welding gun.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
The embodiment of the invention provides a kind of multirobot welding control method, its flow chart as shown in Figure 1, including it is multiple
Robot, the control mode of the multiple robot the following steps are included:
S1, image obtain identification step: obtaining the image of to-be-welded pieces, identify the contact to be welded of to-be-welded pieces；
S2, region division step: judging the quantity of the pad of to-be-welded pieces, will be to according to the quantity of the contact to be welded
Weldment is equally divided into several welding regions, and each welding region respectively corresponds a robot；
S3, welding rate-determining steps: robot receive the welding point image in its locating region and identify pad it is present to
Simultaneously butt welding contact is welded for the corresponding position of weldment.
The principle and effect of above-mentioned technical step are:
Reached by image recognizing step and obtain to-be-welded pieces image and identify contact to be welded, and according to the number of contact to be welded
To-be-welded pieces are equally divided into several welding regions by amount, and it is to be welded to its present welding region then to control corresponding robot
Pad on part carries out soldering.
In one embodiment, the quantity of the pad of the judgement to-be-welded pieces, according to the quantity of the contact to be welded
To-be-welded pieces are equally divided into several welding regions, the step of each welding region respectively corresponds a robot further include:
S11, markers step: the quantity of pad, the image of to-be-welded pieces are obtained, and pad is located at weldment
Image at be marked；
S12, label partiting step: if the image of weldment is equally divided into from left to right according to the marker number of pad
Dry region, each region has the label of identical quantity, and the label in each region does not repeat；
S13, region correspond to step: obtaining the quantity of robot, and obtain the successively sequence of robot from left to right, by machine
Device people and several regions are primary from left to right corresponding respectively.
The principle and effect of above-mentioned technical step are:
Image is handled first, pad is marked, then according to the quantity of label by to-be-welded pieces by a left side
Several regions are equally divided into the right side, and each robot is primary from left to right corresponding respectively with several regions, reaching today makes
There is identical pad in each robot, and is divided to region, so that will not when working between each robot
It influences each other.If subregion field result can be shown in Fig. 3.
A kind of multirobot welding control system, including multiple robots, further include following device:
Image obtains identification device: obtaining the image of to-be-welded pieces, identifies the contact to be welded of to-be-welded pieces；
Region division device: judging the quantity of the pad of to-be-welded pieces, will be to be welded according to the quantity of the contact to be welded
Fitting is equally divided into several welding regions, and each welding region respectively corresponds a robot；
Welding controller: robot receives the welding point image in its locating region and identifies to be welded at pad
Simultaneously butt welding contact is welded for the corresponding position of part.
The principle and effect of above-mentioned technical step are:
Reached by image recognizing step and obtain to-be-welded pieces image and identify contact to be welded, and according to the number of contact to be welded
To-be-welded pieces are equally divided into several welding regions by amount, and it is to be welded to its present welding region then to control corresponding robot
Pad on part carries out soldering.
In one embodiment, the region division device further include:
Mark module: for obtaining the quantity of pad, the image of to-be-welded pieces, and pad is located at weldment
Image at be marked；
Label division module: the image of weldment is equally divided into several areas according to the marker number of pad from left to right
Domain, each region has the label of identical quantity, and the label in each region does not repeat；
Region respective modules: obtaining the quantity of robot, and obtains the successively sequence of robot from left to right, by robot
It is corresponding in turn to from left to right respectively with several regions.
The principle and effect of above-mentioned technical step are:
Image is handled first, pad is marked, then according to the quantity of label by to-be-welded pieces by a left side
Several regions are equally divided into the right side, and each robot is primary from left to right corresponding respectively with several regions, reaching today makes
There is identical pad in each robot, and is divided to region, so that will not when working between each robot
It influences each other.
In one embodiment, as shown in Figure 4, Figure 5 and Figure 6, the robot includes mechanical arm, and mechanical arm mainly includes
Fixed bracket 1, cradle head 2, connecting rod one and welding gun 4；Wherein, cradle head 2 includes control arm one and control arm two, and is controlled
Arm one and the mechanical structure having the same of control arm two；Connecting rod one includes rotating bar 1 and rotating bar 2 32；Fixed bracket 1
Power output end is connect with one one end of control arm, and one other end of control arm is connect with one 31 one end of rotating bar, and rotating bar 1 is another
One end is connect with two one end of control arm, and two other end of control arm is connect with 2 32 one end of rotating bar, and 2 32 other end of rotating bar connects
Connect welding gun 4.Fixed bracket 1 drives electricity by upper fixed connecting rod 11, right fixed connecting rod 14, left fixed connecting rod 12, mechanical arm
Machine 13, rear fixed bracket 110, front fixing bracket 18, nock connecting rod 19, front right end connecting rod 16, front left end connect
Extension bar 15, fixed bracket and motor control axis 17 form；It fixes bracket 110 afterwards and front fixing bracket 18 is arranged in parallel, and have
There is identical mechanical structure, three corners of platy structure in equilateral triangle, equilateral triangle plate are integrally provided with respectively
One mounting hole；Upper fixed connecting rod 11, right fixed connecting rod 14 and left fixed connecting rod 12 fix bracket after being arranged in parallel in
110 and front fixing bracket 18 above-mentioned mounting hole in；The middle part for fixing the equilateral triangle plate of bracket 110 afterwards has installation mechanical
Arm driving motor 13) through-hole；The middle part of the equilateral triangle plate of front fixing bracket 18 has mounting and fixing bracket and motor
The through-hole of control shaft 17；Fixed bracket and 17 one end of motor control axis are connected with mechanical arm driving motor 13, and the other end is in the past
It is stretched out in the middle through-hole of the equilateral triangle plate of fixed bracket 18.
The effect and principle of above-mentioned technical proposal are:
Cradle head, connecting rod one and welding gun are fixed respectively by fixed bracket, and pass through cradle head and company
Butt welding gun is controlled bar one respectively, it is driven to be moved, and achievees the purpose that weld the pad of to-be-welded pieces, by
It is connect in support bracket fastened power output end with one one end of control arm, one other end of control arm is connect with one one end of rotating bar, is turned
One other end of lever is connect with two one end of control arm, and two other end of control arm is connect with two one end of rotating bar, and rotating bar two is another
Connection welding gun in end achievees the purpose that support bracket fastened power is sequentially output control welding gun and carries out mobile in the above manner, makes to weld
Rifle position is welded at corresponding solder joint.
In one embodiment, control arm one and the mechanical structure having the same of control arm two include joint of mechanical arm
Rear end support 23 and cradle head front-end bracket 212；Cradle head rear end support 23 is U-shaped structure, and interlude is equipped with rotation and closes
Rear end support connecting hole 211 is saved, cradle head rear end support connecting hole 211 is through-hole；Cradle head front-end bracket 212 is closing
Body structure, the end face far from cradle head rear end support 23 be equipped with cradle head front-end bracket connecting hole 213, rotation
Joint front-end bracket connecting hole 213 is through-hole.
In one embodiment, control arm one and control arm two are equal further include: cradle head big belt pulley 21, cradle head
Control shaft 22, cradle head horizontal bevel gear 25, cradle head electric machine support 26, turns cradle head vertical direction bevel gear 24
Movable joint motor 27, cradle head angular transducer 28, cradle head small belt pulley 29, cradle head belt 210；Wherein, turn
In the two-arm for the U-shaped structure that 22 both ends of movable joint control shaft are rotatably arranged in cradle head rear end support 23；Cradle head
Big belt pulley 21 and cradle head vertical direction bevel gear 24 are respectively and fixedly installed to the left and right ends of cradle head control shaft 22,
And it is respectively positioned in cradle head rear end support 23；Cradle head front-end bracket 212 is fixedly connected with cradle head control shaft 22, is turned
Movable joint front-end bracket 212 can be rotated with cradle head control shaft 22；Cradle head electric machine support 26 is fixedly mounted on rotation
Inside joint front-end bracket 212；The through-hole for installing cradle head motor 27 is opened up on cradle head electric machine support 26, is rotated
The output shaft of joint motor bracket 26 stretches out the through-hole and is connected with cradle head horizontal bevel gear 25；Cradle head level bores tooth
Wheel 25 is engaged with cradle head vertical direction bevel gear 24；Cradle head angular transducer 28 is fixedly mounted on cradle head front end
Inside bracket 212；Cradle head small belt pulley 29 is fixedly installed on the input shaft of cradle head angular transducer 28；Rotation is closed
Section small belt pulley 29 is connect by cradle head belt 210 with cradle head big belt pulley 21.
The effect and principle of above-mentioned technical proposal are:
Pass through cradle head big belt pulley, cradle head control shaft, cradle head vertical direction bevel gear, cradle head water
Flat bevel gear, cradle head electric machine support, cradle head motor, cradle head angular transducer, cradle head small belt pulley with
And cradle head belt carries out corresponding engaged transmission, reaches cradle head motor and says that power is transferred to cradle head level respectively
Bevel gear, cradle head vertical direction bevel gear simultaneously control the purpose that cradle head front-end bracket is rotated.
In one embodiment, the cradle head rear end support on bracket and motor control axis 17 and control arm one is fixed
Connecting hole 211 is connected, and the cradle head front-end bracket connecting hole 213 on control arm one is connected with mechanical arm rotating bar 1, turns
One 31 other end of lever is connected with the cradle head rear end support connecting hole 211 of control arm two, before the cradle head of control arm two
End bracket connecting hole 213 is connected with 2 32 one end of rotating bar, and 2 32 other end of rotating bar is connected with welding gun 4.Fixed bracket and
17 end of motor control axis, one 31 both ends of rotating bar, 2 32 one end of rotating bar have mounting flange.
In one embodiment, the welding constraint stress test device further includes battery, and the battery is right respectively
The mechanical arm driving motor and cradle head motor are powered, and the battery is provided with power supply circuit, the power supply
Circuit includes EM3 and first control unit, the first rectifier power source, DC/DC converting unit, the second rectification unit, charhing unit, guarantor
Unit is protected, 220V exchange input is electrically connected with EM3 and first control unit, EM3 and first control unit and the first rectifier power source
Electrical connection forms the DC voltage of 300V or so, and direct voltage output is electrically connected with DC/DC converting unit, converts through DC/DC single
Member forms high-frequency ac output, and high-frequency ac output is electrically connected with the second rectification unit, by the second rectification unit and charhing unit
Electrical connection.The charhing unit is electrically connected with protection location, protection location and DC/DC converting unit collectively form with
Stream, over-voltage, overheat and the power supply circuit of under-voltage protection；The DC/DC converting unit includes an adjusting transformer T2, is adjusted
Transformer T2 has two groups of secondary outputs, and first group of secondary output is by being used as power supply circuit, battery after the rectification circuit of the second level
Charging uses；The other end is electrically connected with 4 ends of chip, is serially connected with surely in the output plus terminal of the first rectifier power source and 4 ends of chip
The output of diode 43 tie point and the first rectifier power source of the diode 43 that pressure pipe is connected with reverse phase, voltage-stabiliser tube and reverse phase connection
The capacitance-resistance circuit that anode is connect by resistance R2 and capacitor 33.
The protection location includes photoelectrical coupler, charge circuit sample circuit, and charge circuit sample circuit is by pressure stabilizing
The luminous tube of pipe, current-limiting resistance R5, resistance R6 and photoelectrical coupler, which concatenates, to be constituted, and charge circuit sample circuit is attempted by power supply electricity
The output end on road, the emitter of the photoelectric receiving tube of photoelectrical coupler are electrically connected with 3 end of control terminal of chip, die terminals and chip
The connection of F terminal shortcircuit, between tie point and earth-return and be connected to resistance R4 and capacitor 37 concatenates circuit, resistance R4 and capacitor 37
Concatenation circuit and connect a capacitor 38.
The principle and effect of above-mentioned technical proposal are:
Electric current caused by the electric current as caused by power supply circuit load, voltage change or environment, voltage change pass through photoelectricity coupling
Clutch feeds back the control terminal 3 to chip, achievees the purpose that current stabilization, pressure stabilizing by the frequency of oscillation that chip adjusts transformer T2.Using
Photoelectrical coupler feedback electric current as caused by load, electric current caused by voltage change or environment, voltage change completely isolated the
One rectification unit, the electrolytic capacitor for having the resistance less than 10 Ω between the control terminal 3 and negative supply of chip and concatenating eliminate control
The influence of 3 alternating voltage of end processed, and chip and an adjusting transformer T2 are constituted with overcurrent, over-voltage, overheat and under-voltage protection
Power supply circuit can export quick charge needed for electric current, in quick charge, can guarantee charging current it is steady, not by
The influence of input voltage and environment temperature.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of multirobot welding control method, which is characterized in that including multiple robots, the control of the multiple robot
Mode the following steps are included:
The image for obtaining to-be-welded pieces, identifies the contact to be welded of to-be-welded pieces；
To-be-welded pieces are equally divided into several welderings according to the quantity of the contact to be welded by the quantity for judging the pad of to-be-welded pieces
Region is connect, each welding region respectively corresponds a robot；
Robot receives the welding point image in its locating region and identifies the corresponding position of to-be-welded pieces at pad and right
Pad is welded.
2. multirobot welding control method according to claim 1, which is characterized in that
The quantity of the pad of the judgement to-be-welded pieces, if being equally divided into to-be-welded pieces according to the quantity of the contact to be welded
The step of dry welding region, each welding region respectively corresponds a robot further include:
The quantity of pad, the image of to-be-welded pieces are obtained, and pad is located at the image of weldment and is marked；
The image of weldment is equally divided into several regions according to the marker number of pad from left to right, each region has phase
Label with the label of quantity, and each region does not repeat；
The quantity of robot is obtained, and obtains the successively sequence of robot from left to right；
Robot and several regions is primary from left to right corresponding respectively.
3. a kind of multirobot welding control system, which is characterized in that further include following device including multiple robots:
Image obtains identification device: obtaining the image of to-be-welded pieces, identifies the contact to be welded of to-be-welded pieces；
Region division device: judging the quantity of the pad of to-be-welded pieces, according to the quantity of the contact to be welded by to-be-welded pieces
Several welding regions are equally divided into, each welding region respectively corresponds a robot；
Welding controller: robot receives the welding point image in its locating region and identifies to-be-welded pieces at pad
Simultaneously butt welding contact is welded for corresponding position.
4. multirobot welding control system according to claim 3, which is characterized in that
The region division device further include:
Mark module: for obtaining the quantity of pad, the image of to-be-welded pieces, and pad is located to the figure of weldment
As place is marked；
Label division module: being equally divided into several regions according to the marker number of pad for the image of weldment from left to right,
Each region has the label of identical quantity, and the label in each region does not repeat；
Region respective modules: obtaining the quantity of robot, and obtains the successively sequence of robot from left to right, if by robot and
Dry region is corresponding in turn to from left to right respectively.
5. multirobot welding control system according to claim 3, which is characterized in that the robot includes machinery
Arm, mechanical arm mainly include fixed bracket (1), cradle head (2), connecting rod one and welding gun (4)；Wherein, cradle head (2) includes
Control arm one and control arm two, and control arm one and the mechanical structure having the same of control arm two；Connecting rod one includes rotating bar one
(31) and rotating bar two (32)；The power output end of fixed bracket 1 connect with one one end of control arm, one other end of control arm and turn
The connection of lever one (31) one end, rotating bar one (31) other end are connect with two one end of control arm, two other end of control arm and rotation
The connection of bar two (32) one end, rotating bar two (32) other end connect welding gun (4).Fixed bracket (1) by upper fixed connecting rod (11),
Right fixed connecting rod (14), mechanical arm driving motor (13), fixes bracket (110), preceding fixed branch at left fixed connecting rod (12) afterwards
Frame (18), nock connecting rod (19), front right end connecting rod (16), front left end connecting rod (15), fixed bracket and
Motor control axis (17) composition；It fixes bracket (110) afterwards and front fixing bracket (18) is arranged in parallel, and mechanical knot having the same
Three corners of structure, platy structure in equilateral triangle, equilateral triangle plate are integrally provided with a mounting hole respectively；It is upper solid
Determine to fix after connecting rod (11), right fixed connecting rod (14) and left fixed connecting rod (12) are arranged in parallel in bracket (110) and before
In the above-mentioned mounting hole of fixed bracket (18)；The middle part for the equilateral triangle plate for fixing bracket (110) afterwards has installation mechanical arm
The through-hole of driving motor (13)；The middle part of the equilateral triangle plate of front fixing bracket (18) has mounting and fixing bracket and motor
The through-hole of control shaft (17)；Fixed bracket and motor control axis (17) one end are connected with mechanical arm driving motor (13), another
End is stretched out from the middle through-hole of the equilateral triangle plate of front fixing bracket (18).
6. multirobot welding control system according to claim 5, which is characterized in that control arm one and control arm two have
There is identical mechanical structure, includes joint of mechanical arm rear end support (23) and cradle head front-end bracket (212)；Cradle head
Rear end support (23) is U-shaped structure, and interlude is equipped with cradle head rear end support connecting hole (211), cradle head rear end support
Connecting hole (211) is through-hole；Cradle head front-end bracket (212) is closed body structure, far from cradle head rear end branch
The end face of frame (23) is equipped with cradle head front-end bracket connecting hole (213), and cradle head front-end bracket connecting hole (213) is logical
Hole.
7. multirobot welding control system according to claim 5, which is characterized in that control arm one and control arm two are equal
Further include: cradle head big belt pulley (21), cradle head vertical direction bevel gear (24), turns cradle head control shaft (22)
Movable joint horizontal bevel gear (25), cradle head electric machine support (26), cradle head motor (27), cradle head angular transducer
(28), cradle head small belt pulley (29), cradle head belt (210)；Wherein, cradle head control shaft (22) both ends are rotatable
Ground is arranged in the two-arm of the U-shaped structure of cradle head rear end support (23)；Cradle head big belt pulley (21) and cradle head
Vertical direction bevel gear (24) is respectively and fixedly installed to the left and right ends of cradle head control shaft (22), and is respectively positioned on cradle head
In rear end support (23)；Cradle head front-end bracket (212) is fixedly connected with cradle head control shaft (22), cradle head front end
Bracket (212) can be rotated with cradle head control shaft (22)；Cradle head electric machine support (26) is fixedly mounted on cradle head
Front-end bracket (212) is internal；The through-hole for installing cradle head motor (27) is opened up on cradle head electric machine support (26), is turned
The output shaft of movable joint electric machine support (26) stretches out the through-hole and is connected with cradle head horizontal bevel gear (25)；Cradle head water
Flat bevel gear (25) is engaged with cradle head vertical direction bevel gear (24)；Cradle head angular transducer (28) is fixedly mounted on
Cradle head front-end bracket (212) is internal；Cradle head is fixedly installed on the input shaft of cradle head angular transducer (28)
Small belt pulley (29)；Cradle head small belt pulley (29) passes through cradle head belt (210) and cradle head big belt pulley (21)
Connection.
8. multirobot welding control system according to claim 7, which is characterized in that fixed bracket and motor control
Axis (17) is connected with the cradle head rear end support connecting hole (211) on control arm one, the cradle head front end on control arm one
Bracket connecting hole (213) is connected with mechanical arm rotating bar one (31), and the rotation of rotating bar one (31) other end and control arm two is closed
It saves rear end support connecting hole (211) to be connected, the cradle head front-end bracket connecting hole (213) and rotating bar two (32) of control arm two
One end is connected, and rotating bar two (32) other end is connected with welding gun (4).Fixed bracket and motor control axis (17) end, rotation
Bar one (31) both ends, rotating bar two (32) one end have mounting flange.
9. the robot welding control system according to claim 3 to 8, which is characterized in that the welding constraint stress is surveyed
It further includes battery that trial assembly, which is set, and the battery is respectively to the mechanical arm driving motor (13) and cradle head motor (27)
It is powered, the battery is provided with power supply circuit, and the power supply circuit includes EM3 and first control unit, the first rectification
Power supply, DC/DC converting unit, the second rectification unit, charhing unit, protection location, 220V exchange input and the control of EM3 and first
Unit electrical connection, EM3 and first control unit are electrically connected with the first rectifier power source, form the DC voltage of 300V or so, direct current
Voltage output is electrically connected with DC/DC converting unit, through DC/DC converting unit formed high-frequency ac output, high-frequency ac output with
The electrical connection of second rectification unit, is electrically connected by the second rectification unit with charhing unit.The charhing unit and protection location electricity
Connection, protection location and DC/DC converting unit are collectively formed with overcurrent, over-voltage, overheat and the power supply circuit of under-voltage protection；Institute
The DC/DC converting unit stated includes an adjusting transformer T2, and adjusting transformer T2 has two groups of secondary outputs, and first group of secondary is defeated
Out by being used as power supply circuit after the rectification circuit of the second level, battery charging is used；The other end is electrically connected with 4 ends of chip,
The output plus terminal of first rectifier power source is serially connected with the diode 43 that voltage-stabiliser tube is connected with reverse phase with 4 ends of chip, voltage-stabiliser tube and anti-
The resistance that the output plus terminal of 43 tie point of diode and the first rectifier power source that are connected is connect by resistance R2 and capacitor 33
Hold circuit.
10. robot welding control system according to claim 9, which is characterized in that the protection location includes photoelectricity
Coupler, charge circuit sample circuit, charge circuit sample circuit are by voltage-stabiliser tube, current-limiting resistance R5, resistance R6 and photoelectricity coupling
The luminous tube of clutch, which concatenates, to be constituted, and charge circuit sample circuit is attempted by the output end of power supply circuit, the photoelectricity of photoelectrical coupler
The emitter of reception pipe is electrically connected with 3 end of control terminal of chip, and the F terminal shortcircuit connection of die terminals and chip, tie point and ground return
Between road and it is connected to the concatenation circuit of resistance R4 and capacitor 37, the concatenation circuit of resistance R4 and capacitor 37 simultaneously connects a capacitor 38.
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| CN201910293580.0A CN109894781A (en) | 2019-04-12 | 2019-04-12 | Multirobot welding control method and system |
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| CN201910293580.0A CN109894781A (en) | 2019-04-12 | 2019-04-12 | Multirobot welding control method and system |
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| CN201910293580.0A Withdrawn CN109894781A (en) | 2019-04-12 | 2019-04-12 | Multirobot welding control method and system |
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