CN110508974B - Welding robot pair origin detection device and detection method - Google Patents
Welding robot pair origin detection device and detection method Download PDFInfo
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- CN110508974B CN110508974B CN201910606971.3A CN201910606971A CN110508974B CN 110508974 B CN110508974 B CN 110508974B CN 201910606971 A CN201910606971 A CN 201910606971A CN 110508974 B CN110508974 B CN 110508974B
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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
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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Abstract
The invention relates to a device and a method for detecting an original point by a welding robot, wherein the device comprises the welding robot, the welding robot comprises an mechanical arm and a welding head rotationally connected with the mechanical arm, welding wires are arranged in the welding head, the device also comprises a detection part, a standard original point is arranged on the detection part, a detection hole passing through the standard original point is arranged on the detection part, the detection hole is matched with the welding wires, a sensor is arranged on the detection part and is used for detecting whether the welding wires enter the detection hole and outputting a detected electric signal, the sensor is sequentially connected with a comparator, a controller and an alarm device, and the controller is used for receiving the output voltage of the comparator and controlling the working state of the alarm device. The invention can quickly and accurately detect the condition of the welding robot to the original point, can alarm the detection condition in real time, and has the characteristics of convenience, quickness, practicability, accuracy, low cost and short detection time.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a device and a method for detecting an original point by a welding robot.
Background
Generally, when a welding operation is performed manually, it is difficult to maintain stability and consistency of the welding operation due to objective and subjective influences such as a technical level and a fatigue degree, and the welding operation is performed under severe working conditions.
With the advance of science and technology, welding robots have emerged, which are industrial robots that engage in welding (including cutting and painting). An industrial robot is a versatile, reprogrammable, automatically controlled Manipulator (Manipulator) with three or more programmable axes for use in the field of industrial automation, according to the international organization for standardization (ISO) which is a definition of standard welding robots. The welding robot replaces manual welding in some fields, reduces manpower, and the product welding uniformity is good, and product quality is high, is fit for mass production, can reduction in production cost, improves production efficiency.
However, if the welding robot encounters a power device for replacing each shaft, the shaft collides and is powered off in the operation process, the mechanical original point of each shaft of the welding robot is lost, if the mechanical original point is lost, each shaft of the welding robot cannot return, the set coordinate value is inaccurate, the welding point is disordered, and the mechanical original point correction needs to be carried out on each shaft of the welding robot again.
When welding robot prepares to begin work and in the course of the work manipulator bump, situations such as outage, in order to guarantee welding quality, whether the welding robot initial point is accurate needs to be confirmed once to carry out next process.
It becomes important to rapidly and accurately detect the origin of the welding robot.
Disclosure of Invention
The invention aims to provide a welding robot origin point detection device, which can quickly and accurately detect the origin point positioning condition of the welding robot, has a real-time prompt alarm function, and has the characteristics of convenience, quickness, practicability, accuracy, low cost and short detection time.
The above object of the present invention is achieved by the following technical solutions:
the invention relates to an origin detection device of a welding robot, which comprises the welding robot, wherein the welding robot comprises a mechanical arm and a welding head rotationally connected with the mechanical arm, welding wires are arranged in the welding head, the welding robot further comprises a detection part, a standard origin is arranged on the detection part, the detection part is provided with a detection hole passing through the standard origin, the detection hole is matched with the welding wires, a sensor is arranged on the detection part and used for detecting whether the welding wires enter the detection hole and outputting detected electric signals, the sensor is sequentially connected with a comparator, a controller and an alarm device, and the controller is used for receiving output voltage of the comparator and controlling the working state of the alarm device.
Foretell welding robot is to initial point detection device, wherein, the test section is including setting up vertical stand on the workstation, the stand upper end is equipped with vertical round platform form reference head, the initial point of standard sets up the first upper end of reference, the detection hole warp the initial point of standard is vertical to be run through the reference head and deepening downwards extremely in the stand, stand upper portion be equipped with the communicating horizontal mounting hole of detection hole lower extreme, install in the mounting hole the sensor.
In the above device for detecting the origin of the welding robot, the sensor is a photo interrupter, and the comparator is a voltage comparator; when the welding wire is inserted into the detection hole, the photoelectric interrupter outputs an electric signal to be transmitted to the voltage comparator, and the voltage comparator compares an input signal with a reference voltage in the voltage comparator and outputs a low level; when the welding wire is not inserted into the detection hole, the photoelectric interrupter outputs an electric signal to be transmitted to the voltage comparator, and the voltage comparator compares an input signal with a reference voltage in the voltage comparator and then outputs a high level.
The welding robot is used for detecting the original point, wherein the alarm device comprises a buzzer, a red signal lamp and a green signal lamp; when the controller receives a high level signal of the voltage comparator, the controller controls the red signal lamp to emit light and the buzzer to sound; when the controller receives a low level signal of the voltage comparator, the controller controls the green signal lamp to emit light, and the buzzer does not work.
A method for detecting an origin detection device by a welding robot comprises the following steps:
1) selecting a standard origin;
2) inputting a coordinate of a standard origin, namely inputting a position coordinate of the standard origin on an operation panel of the welding robot;
3) the welding robot is to the initial point, works as welding wire on the soldered connection inserts the inspection hole, the initial point of welding robot is accurate, works as welding wire on the soldered connection inserts not to advance during the inspection hole, the initial point of welding robot is inaccurate.
In the method for detecting the origin detection device by the welding robot, in step 1), the standard origin is selected by calibrating the origin of the welding robot by using a mechanical origin calibration tool.
In the method for detecting the original point detection device by the welding robot, in step 3), when the original point of the welding robot is accurate, a green signal lamp of the alarm device is turned on; when the original point of the welding robot is inaccurate, a red signal lamp of the alarm device is on, and a buzzer sounds at the same time.
In conclusion, the beneficial technical effects of the invention are as follows:
the invention can quickly, accurately and conveniently detect whether the original point of the welding robot is accurate without carrying out complicated procedures of dismounting, debugging and the like on the welding robot, improves the production efficiency, reduces the production cost, can carry out audible and visual alarm prompt on the detection result of the original point, has simple and convenient operation and low manufacturing cost, and is suitable for batch production.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of a detecting part of the present invention;
fig. 3 is a functional block diagram of the present invention.
In the figures, the reference numbers: 1. A welding robot; 11. a mechanical arm; 12. welding a head; 13. welding wires; 2. a detection unit; 21. a column; 22. a reference head; 23. mounting holes; 3. a standard origin; 4. a detection hole; 5. a sensor; 6. a comparator; 7. a controller; 8. an alarm device; 81. a green signal lamp; 82. a red signal lamp; 83. a buzzer.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-3, the device for detecting the origin of a welding robot of the present invention comprises a welding robot 1, wherein the welding robot 1 comprises a mechanical arm 11 and a welding head 12 rotatably connected with the mechanical arm, a welding wire 13 is arranged in the welding head 12, the device further comprises a detection part 2, a standard origin 3 is arranged on the detection part 2, the detection part 2 is provided with a detection hole 4 passing through the standard origin 3, the detection hole 4 is adapted to the welding wire 13, the detection part 2 is provided with a sensor 5, the sensor 5 is used for detecting whether the welding wire 13 enters the detection hole 4 and outputting a detected electrical signal, the sensor 5 is sequentially connected with a comparator 6, a controller 7 and an alarm device 8, and the controller 7 is used for receiving an output voltage of the comparator 6 and controlling a working state of the alarm device 8.
In one embodiment, the detecting part 2 comprises a vertical upright post 21 arranged on a workbench (not shown in the figure), a vertical round platform-shaped reference head 22 is arranged at the upper end of the upright post 21, a standard origin 3 is arranged at the upper end of the reference head 22, a detecting hole 4 vertically penetrates through the reference head 22 through the standard origin 3 and extends downwards into the upright post 21, a transverse mounting hole 23 communicated with the lower end of the detecting hole 4 is arranged at the upper part of the upright post 21, and a sensor 5 is arranged in the mounting hole 23.
In one embodiment, the sensor 5 is a photo interrupter and the comparator 6 is a voltage comparator; when the welding wire 13 is inserted into the detection hole 4, the photoelectric interrupter outputs an electric signal to be transmitted to the voltage comparator, the voltage comparator compares an input signal with a reference voltage in the voltage comparator and outputs a low level, namely when the welding wire 13 is inserted into the detection hole 4, the welding wire 13 shields a light emitting path of the infrared diode because the lower end of the welding wire 13 extends into the photoelectric interrupter, the light intensity of the infrared diode is weakened, the phototriode of the photoelectric interrupter receives weak infrared light of the infrared diode, the current flowing through a phototriode circuit is small, the negative voltage of the voltage comparator is increased, and the voltage comparator outputs the low level.
When the welding wire 13 is not inserted into the detection hole 4, the photoelectric interrupter outputs an electric signal to be transmitted to the voltage comparator, and the voltage comparator compares the input signal with a reference voltage in the voltage comparator and outputs a high level. When the welding wire 13 is not inserted into the detection hole 4, the phototriode of the photoelectric interrupter receives stronger infrared light of the infrared diode, the current flowing through the circuit of the phototriode is larger, the negative voltage of the voltage comparator is smaller, and the output of the voltage comparator is high level;
in one embodiment, the alarm device 8 comprises a buzzer 83, a red signal light 82 and a green signal light 81; when the controller 7 receives the high level signal of the voltage comparator, the controller 7 controls the red signal lamp 82 to emit light and the buzzer 83 to sound; at this moment, the worker is reminded that the original point of the welding robot 1 has deviation and inaccurate condition, and manual calibration is needed. When the controller 7 receives the low level signal of the voltage comparator, the controller 7 controls the green signal lamp 81 to emit light to prompt the worker, the original point of the welding robot 1 is accurate, debugging is not needed, and the buzzer 83 does not work at the moment.
The controller 7 is one of a single chip microcomputer, a PLC and a central processing unit. The controller 7 in this embodiment may employ AT89C 2051.
The facility example also provides a method for detecting the original point device by the welding robot, which comprises the following steps:
1) selecting a standard origin 3; the standard origin 3 is selected by calibrating the origin of the welding robot 1 by a mechanical origin calibration tool.
Specifically, the mechanical origin correcting tools are installed on the shafts of the welding robot 1 in a one-to-one correspondence manner, the shafts are calibrated through the correcting tools, then the control cabinet is operated, the position is reset to zero, and the equipment is restarted. Then, the coordinates of the reference origin 3 are set on the operation panel of the welding robot 1, and the reference origin on the reference head is associated with the coordinates, thereby completing the selection of the reference origin 3.
2) Inputting the coordinate of the standard origin 3, and inputting the position coordinate of the standard origin 3 on the operation panel of the welding robot 1;
3) the welding robot inserts the inspection hole to the initial point, welding wire on the soldered connection, and the initial point of welding robot 1 is accurate, and when welding wire 13 on soldered connection 12 inserted non-inspection hole 4, the initial point of welding robot 1 was inaccurate.
When the original point of the welding robot 1 is accurate, a green signal lamp 81 of the alarm device 8 is on; when the origin of the welding robot 1 is inaccurate, the red signal lamp 82 of the alarm device 8 is turned on and the buzzer 83 is sounded.
By the method, whether the original point of the welding robot 1 is accurate or not can be conveniently and quickly determined.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (6)
1. A welding robot is to original point detection device, includes the welding robot, the welding robot includes arm and the soldered connection rather than rotating the connection, be equipped with the welding wire in the soldered connection, its characterized in that still includes the detection division, be equipped with the standard original point on the detection division, the detection division is equipped with the inspection hole through the standard original point, the inspection hole with the welding wire looks adaptation, be equipped with the sensor on the detection division, the sensor is used for detecting whether the welding wire gets into the inspection hole and will detect the electric signal output, the sensor connects gradually comparator, controller and alarm device, the controller is used for receiving the output voltage of comparator and control alarm device's operating condition; the detection part is including setting up the vertical stand on the workstation, the stand upper end is equipped with vertical round platform form reference head, the primary standard point sets up the reference head upper end, the inspection hole warp the primary standard point is vertical to be run through the reference head and deepen downwards to in the stand, stand upper portion be equipped with the communicating horizontal mounting hole of inspection hole lower extreme, install in the mounting hole the sensor.
2. The welding robot pair origin detection apparatus according to claim 1, wherein the sensor is a photo interrupter, and the comparator is a voltage comparator; when the welding wire is inserted into the detection hole, the photoelectric interrupter outputs an electric signal to be transmitted to the voltage comparator, and the voltage comparator compares an input signal with a reference voltage in the voltage comparator and outputs a low level; when the welding wire is not inserted into the detection hole, the photoelectric interrupter outputs an electric signal to be transmitted to the voltage comparator, and the voltage comparator compares an input signal with a reference voltage in the voltage comparator and then outputs a high level.
3. The welding robot pair origin detection apparatus as claimed in claim 2, wherein the alarm means comprises a buzzer, a red signal lamp and a green signal lamp; when the controller receives a high level signal of the voltage comparator, the controller controls the red signal lamp to emit light and the buzzer to sound; when the controller receives a low level signal of the voltage comparator, the controller controls the green signal lamp to emit light, and the buzzer does not work.
4. A method of detecting an origin detecting device by a welding robot according to any one of claims 1 to 3, comprising the steps of:
1) selecting a standard origin;
2) inputting a coordinate of a standard origin, namely inputting a position coordinate of the standard origin on an operation panel of the welding robot;
3) the welding robot is to the initial point, works as welding wire on the soldered connection inserts the inspection hole, the initial point of welding robot is accurate, works as welding wire on the soldered connection inserts not to advance during the inspection hole, the initial point of welding robot is inaccurate.
5. The method for detecting an origin detection device by a welding robot as claimed in claim 4, wherein in the step 1), the standard origin is selected by calibrating the origin of the welding robot by a mechanical origin calibration tool.
6. The method for detecting an origin detection device by a welding robot as claimed in claim 4, wherein in the step 3), when the origin of the welding robot is accurate, a green signal lamp of the alarm device is turned on; when the original point of the welding robot is inaccurate, a red signal lamp of the alarm device is on, and a buzzer sounds at the same time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910606971.3A CN110508974B (en) | 2019-07-06 | 2019-07-06 | Welding robot pair origin detection device and detection method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910606971.3A CN110508974B (en) | 2019-07-06 | 2019-07-06 | Welding robot pair origin detection device and detection method |
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| Publication Number | Publication Date |
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| CN110508974A CN110508974A (en) | 2019-11-29 |
| CN110508974B true CN110508974B (en) | 2021-05-11 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5797872A (en) * | 1980-12-10 | 1982-06-17 | Hitachi Ltd | Trackless self-traveling type welding carriage |
| CN202963801U (en) * | 2012-09-14 | 2013-06-05 | 上海日晗精密机械有限公司 | Jig for detecting work origin of robot welding machine |
| CN104626205A (en) * | 2014-12-11 | 2015-05-20 | 珠海格力电器股份有限公司 | Detection method and device for robot mechanical arm |
| CN104700695A (en) * | 2015-02-12 | 2015-06-10 | 北京百科融创教学仪器设备有限公司 | Embedded robot |
| CN206732340U (en) * | 2016-12-08 | 2017-12-12 | 长春一汽富维安道拓汽车金属零部件有限公司 | Arc welding robot TCP calibrators |
-
2019
- 2019-07-06 CN CN201910606971.3A patent/CN110508974B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5797872A (en) * | 1980-12-10 | 1982-06-17 | Hitachi Ltd | Trackless self-traveling type welding carriage |
| CN202963801U (en) * | 2012-09-14 | 2013-06-05 | 上海日晗精密机械有限公司 | Jig for detecting work origin of robot welding machine |
| CN104626205A (en) * | 2014-12-11 | 2015-05-20 | 珠海格力电器股份有限公司 | Detection method and device for robot mechanical arm |
| CN104700695A (en) * | 2015-02-12 | 2015-06-10 | 北京百科融创教学仪器设备有限公司 | Embedded robot |
| CN206732340U (en) * | 2016-12-08 | 2017-12-12 | 长春一汽富维安道拓汽车金属零部件有限公司 | Arc welding robot TCP calibrators |
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| CN110508974A (en) | 2019-11-29 |
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