CN111230267B - Double-station cooperation hybrid welding production line - Google Patents

Double-station cooperation hybrid welding production line Download PDF

Info

Publication number
CN111230267B
CN111230267B CN202010087253.2A CN202010087253A CN111230267B CN 111230267 B CN111230267 B CN 111230267B CN 202010087253 A CN202010087253 A CN 202010087253A CN 111230267 B CN111230267 B CN 111230267B
Authority
CN
China
Prior art keywords
welding
double
robot
motion
robots
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010087253.2A
Other languages
Chinese (zh)
Other versions
CN111230267A (en
Inventor
杨军
寇冬梅
李文辉
于海英
吴岩
赵绍银
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huaxiang Metal Technology Co.,Ltd.
Original Assignee
CHANGCHUN HUAXIANG CAR MUFFLER CO LTD
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CHANGCHUN HUAXIANG CAR MUFFLER CO LTD filed Critical CHANGCHUN HUAXIANG CAR MUFFLER CO LTD
Priority to CN202010087253.2A priority Critical patent/CN111230267B/en
Publication of CN111230267A publication Critical patent/CN111230267A/en
Application granted granted Critical
Publication of CN111230267B publication Critical patent/CN111230267B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/20Stud welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/126Controlling the spatial relationship between the work and the gas torch
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127Means for tracking lines during arc welding or cutting
    • B23K9/1272Geometry oriented, e.g. beam optical trading
    • B23K9/1274Using non-contact, optical means, e.g. laser means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/32Accessories

Abstract

The invention provides a double-station cooperative hybrid welding production line, which comprises: the double-welding robots establish a constraint relation of the coordinated motion of the double-welding robots so as to control the secondary robot to move along with the primary robot in a coordinated manner; the coordinated motion monitoring system is communicated with the centralized controller through a USB port to complete the detection of the state information of the double-welding robot, and according to the motion state of the double-welding robot, the coordinated motion monitoring system makes a control instruction for coordinating the motion of the double-welding robot so as to ensure that the double-welding robot moves synchronously or asynchronously; the workpiece fixture is provided with a pressure sensor, and the pressure sensor can obtain the pressure of an operator for placing a workpiece on the workpiece fixture; and the motion correction system is used for correcting the synchronous or asynchronous motion of the double-welding robot.

Description

Double-station cooperation hybrid welding production line
Technical Field
The invention relates to a welding production line, in particular to a double-station cooperation hybrid welding production line.
Background
The automatic welding of the automobile tool by using the welding robot is a commonly adopted processing mode, but in order to obtain accurate positioning, the manual feeding by workers is still needed at present, then the clamping and the positioning are carried out, and then the automatic welding is carried out by the welding robot according to a set processing program; at present, in modern large-scale processing workshops, on occasions with high welding quality requirements and high welding technical difficulty, welding robots are often introduced to replace manual welding, and at present, the traditional robot welding adopts a work station form, namely one or more robots form one work station, and the work stations exist in an isolated point form and are independent of each other. Many such robots therefore perform tasks that require synchronization and cooperation with the motion of another part or task sequence of another tool, and even seamless, perfect fit with the operation.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a double-station cooperative hybrid welding production line,
the method comprises the following steps: the double-welding robot comprises a main welding robot and a secondary welding robot, a constraint relation of the coordinated motion of the double-welding robot is established, the kinematic coordinate transformation is carried out according to the constraint relation by taking a workpiece reference plane as a symmetrical plane according to the position and the posture of the tail end of a main welding gun of the main welding robot, and the motion path point of the tail end of a secondary welding gun of the secondary welding robot is deduced, so that the secondary robot is controlled to move along with the main welding robot in a coordinated mode;
the coordinated motion monitoring system is communicated with the centralized controller through a USB port to complete detection of state information of the double-welding robots, and according to the motion states of the double-welding robots, the coordinated motion monitoring system makes a control instruction for coordinating the motion of the double-welding robots so that the double-welding robots move synchronously or asynchronously;
the workpiece clamp is provided with a pressure sensor, the pressure sensor can obtain the pressure of an operator on the workpiece clamp, when the pressure exceeds a certain threshold value, the workpiece is proved to be fixed, an action starting signal is automatically transmitted to the double-welding robot, and the double-welding robot starts to carry out a hybrid welding process;
a motion correction system for correcting synchronous or asynchronous motion of the twin welding robots, each welding robot having a driver provided thereon, each driver including at least one position indicator periodically indicating a position for detecting a cooperation error of the twin welding robots; and the controller is used for compensating the cooperative error and comprises an error calculation module and a communication module, wherein the error calculation module is used for comparing the time difference detected by the position indicator with a preset standard time difference, calculating an error value adjusting reference, and providing the speed reference of the driver of the main robot to the driver of the secondary robot through the communication module, so that the driver of the secondary robot is controlled to drive at a higher speed, the error value is compensated, and the driver of the secondary robot is controlled to return to the normal driving speed after compensation.
Further, the position indicator detects a time when the tweezers of each of the dual welding robots pass the transmitter of a certain predetermined position by using an optical or capacitive sensor, continuously tracks and controls the movement of the actuator if a time difference between two predetermined position indications of the tweezers of the two welding robots is accurate enough, and controls the movement of at least one actuator through calculation of the controller based on an error if the time difference between the two predetermined position indications of the tweezers of the two welding robots obtained by the position indicator has the error.
And further, safety gratings are arranged around the welding production line and consist of two parts, namely an independent transmitter and an independent receiver, when any part of the body of an operator covers the transmitted signal, the movement of the robot is immediately stopped and a fault alarm signal is generated, and when no interference object exists in the protected area, the alarm signal is removed and the welding process is continued.
Further, the constraint relationship of the coordinated movement of the two welding robots is symmetry relative to the workpiece or mirror images of each other in the welding direction.
Drawings
FIG. 1 is a side view of a two station cooperative hybrid welding line of the present invention.
FIG. 2 is a top view of the dual station cooperative hybrid welding line of the present invention.
FIG. 3 is a partial view of a welding robot of the dual station cooperative hybrid welding production line of the present invention.
Detailed Description
The double-station cooperation hybrid welding production line comprises a coordination motion monitoring system, wherein the coordination motion monitoring system is communicated with an integrated controller through a USB port to complete detection of state information of the double-welding robots 1 and 2, and according to the motion state of the double-welding robots, the coordination motion monitoring system makes control instructions for coordinating the motion of the double-welding robots so as to enable the double-welding robots to move synchronously or asynchronously. The coordinated motion monitoring system also acquires and processes external sensor signals and controls the motion pose of the double-welding robot in real time, such as the laser sensor is used for tracking the welding seam and controlling the arc length. In addition, the coordinated motion monitoring system receives external control quantity and outputs a certain analog quantity to the robot to manually adjust the motion poses of the double-welding robot, and the main manual control box 4 and the secondary manual control box 5 are utilized to finish manual control of the start, the emergency stop and the pose adjustment in the motion process of the main welding robot 1 and the secondary welding robot 2.
For the double-side hybrid welding process of the double-station hybrid welding robot, the coordination control of the movement between the two welding robots is very critical. Therefore, a constraint relation of the coordinated movement of the double welding robots needs to be established, the constraint relation can be a constraint relation of the double welding robots which are symmetrical relative to the workpiece 3 or mirror images of the welding directions, and the constraint relation is applied to the end manipulator of the double welding robots, so that the positions and postures of the coordinated movement of the double welding robots are obtained. The double-welding robot adopts a primary and secondary coordination control strategy, the main robot 1 is stud welding, the front end of a mechanical arm of the main robot is provided with a stud welding gun 14 and is primary welding, the secondary robot 2 is suspension spot welding, the front end of the mechanical arm of the secondary robot is provided with a suspension spot welding tongs 15 and is secondary welding, a model of the system for coordinated motion is established, a motion path point of the tail end of the suspension spot welding tongs of the secondary robot 2 is deduced through kinematic coordinate transformation by taking a workpiece reference plane as a symmetric plane according to the position and the posture of the tail end of the stud welding gun of the main robot, so that the secondary robot is controlled to move along with the main robot in a coordination mode, and the double-station hybrid welding robot welding process is realized.
For the interaction and safety of the operator and the machine: the workpiece holder 6 is provided with a pressure sensor 7 which is able to obtain the pressure with which the workpiece 3 is placed on the holder by the operator, and when the pressure exceeds a certain threshold, it is verified that the workpiece has been fixed and a start signal is automatically emitted to the robot, and the twin welding robot starts the hybrid welding process. After the welding, operating personnel takes off the work piece, and pressure sensor acquires pressure and is zero this moment, then two welding robot resume initial condition, prepare to wait to carry out welding process to the next work piece 8 of installing, consequently, the production beat does not influence whole play beat, has realized man-machine zero clearance interdynamic, has fully shown the technical effect of the man-machine of robot weldment work station cooperation of assisting each other, very big promotion production efficiency, has mastered the production beat.
Still be provided with safe grating 9 before welding production line operating personnel: the safety grating 9 is a field sensing device, the safety grating is composed of an independent transmitter and an independent receiver, an infrared grating which cannot be seen on one side is formed between the transmitter and the receiver, and the safety grating is a non-contact safety function. During welding, the safety light barrier works normally, and if any part of the operator body covers the light curtain, the safety light barrier is detected by the system. When the safety grating is shielded, the movement of the robot is immediately stopped and a malfunction alarm signal is generated. And after confirming that no interference object exists in the protected area, clearing the alarm signal and continuing the welding process. This applies to situations where the welding process is not complete, but still needs to be stopped.
Correction for synchronous or asynchronous movement of the twin welding robots: each robot is provided with actuators 10 and 11 each including at least one position indicator 12 and 13 periodically indicating a position, and a cooperation error of the twin welding robot can be detected. The position indicator may be a simple indicator that periodically indicates the time when the robotic arm of the twin welding robot has reached a certain sensor. For example, the time when the tweezers of each of the twin welding robots pass the emitter of a certain predetermined position can be detected by using optical or capacitive sensors (the positions of the sensors and the emitter are not shown in the figure, and the appropriate position can be selected for setting according to actual production needs), and if the time difference between the two predetermined position indications of the passing tweezers of the two robots is sufficiently accurate, the position/movement of the actuator can be continuously tracked and controlled. If there is an error in the time difference between the times at which the position indicator is detected to pass the position of its sensor, the rotational speed of the motor of at least one of the drives can be controlled to accelerate or decelerate based on the time difference and the error through calculation by the controller, so that the positions of the two drives can be controlled to move accurately synchronously or asynchronously. The controller comprises an error calculation module and a communication module, wherein the error calculation module is used for calculating an error value adjusting reference by comparing the time difference detected by the position indicator with a preset standard time difference, and providing the speed reference of the driver of the main robot for the driver of the secondary robot through the communication module, so that the driver of the secondary robot is controlled to drive at a higher speed, the error value is supplemented, and the normal driving speed is recovered.
In conclusion, the double-station cooperative hybrid welding production line fully shows that the human-computer cooperation of the robot welding workstation reaches a higher boundary, and is a higher-layer leap of the process layout of the human-computer cooperation; a large amount of logistics turnaround time is saved by using an optimized process layout; the welding fixture is suitable for welding complex workpieces and workpieces with more fixtures, avoids welding deformation and ensures the stability of a welding assembly; the production rhythm is extremely low, the precision is optimized, and the production efficiency of operators is greatly improved; a large amount of human resources are saved, for example, five sets of clamps only complete each group of actions through the cooperation of one operator and two station robots; the daily working strength of an operator is greatly reduced; the scheduling work is very compact, there is no time waste for the operator and the robot, which may be called profit-refinement!
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (4)

1. A double-station cooperative hybrid welding production line is characterized by comprising:
the double-welding robot comprises a main welding robot and a secondary welding robot, a constraint relation of the coordinated motion of the double-welding robot is established, the kinematic coordinate transformation is carried out according to the constraint relation by taking a workpiece reference plane as a symmetrical plane according to the position and the posture of the tail end of a main welding gun of the main welding robot, and the motion path point of the tail end of a secondary welding gun of the secondary welding robot is deduced, so that the secondary robot is controlled to move along with the main welding robot in a coordinated mode;
the coordinated motion monitoring system is communicated with the centralized controller through a USB port to complete detection of state information of the double-welding robots, and according to the motion states of the double-welding robots, the coordinated motion monitoring system makes a control instruction for coordinating the motion of the double-welding robots so that the double-welding robots move synchronously or asynchronously;
the workpiece clamp is provided with a pressure sensor, the pressure sensor can obtain the pressure of an operator for placing a workpiece on the workpiece clamp, when the pressure exceeds a certain threshold value, the workpiece is proved to be fixed, an action starting signal is automatically transmitted to the double-welding robot, and the double-welding robot starts to carry out a hybrid welding process;
a motion correction system that corrects synchronous or asynchronous motion of the twin welding robots, each welding robot having a driver provided thereon, each driver including at least one position indicator that periodically indicates a position for detecting a cooperation error of the twin welding robots; and the controller is used for compensating the cooperative error and comprises an error calculation module and a communication module, wherein the error calculation module is used for comparing the time difference detected by the position indicator with a preset standard time difference, calculating an error value adjusting reference, and providing the speed reference of the driver of the main robot to the driver of the secondary robot through the communication module, so that the driver of the secondary robot is controlled to drive at a faster or slower speed, the error value is compensated, and the driver of the secondary robot is controlled to return to the normal driving speed after compensation.
2. The double-station cooperative hybrid welding production line according to claim 1, characterized in that: the position indicator detects a time when the welding guns of each of the twin welding robots pass the emitter of a predetermined position by using an optical or capacitive sensor, continuously tracks and controls the movement of the actuator if a time difference between the welding guns of the two welding robots passing the predetermined two positions is accurate enough, and controls the movement of at least one actuator through calculation of the controller based on an error if the time difference between the welding guns of the two welding robots passing the predetermined two positions obtained by the position indicator has the error.
3. The double-station cooperative hybrid welding production line according to claim 1, characterized in that: the safety grating is arranged in front of an operator of the welding production line and consists of an independent transmitter and an independent receiver, when any part of the body of the operator covers a transmitting signal, the movement of the robot stops immediately and generates a fault alarm signal, and when no interference object exists in a protected area, the alarm signal is cleared and the welding process is continued.
4. The double-station cooperative hybrid welding production line according to claim 1, characterized in that: the constraint relation of the coordinated movement of the double welding robots is that the double welding robots are symmetrical relative to the workpiece or the welding directions are mirror images of each other.
CN202010087253.2A 2020-02-11 2020-02-11 Double-station cooperation hybrid welding production line Active CN111230267B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010087253.2A CN111230267B (en) 2020-02-11 2020-02-11 Double-station cooperation hybrid welding production line

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010087253.2A CN111230267B (en) 2020-02-11 2020-02-11 Double-station cooperation hybrid welding production line

Publications (2)

Publication Number Publication Date
CN111230267A CN111230267A (en) 2020-06-05
CN111230267B true CN111230267B (en) 2021-06-22

Family

ID=70863494

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010087253.2A Active CN111230267B (en) 2020-02-11 2020-02-11 Double-station cooperation hybrid welding production line

Country Status (1)

Country Link
CN (1) CN111230267B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114769968B (en) * 2022-05-19 2023-07-18 广州东焊智能装备有限公司 Automatic welding system based on multi-industry robot

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63252678A (en) * 1987-04-07 1988-10-19 Komatsu Ltd Weld line detector for welding robot
CN202591871U (en) * 2012-04-17 2012-12-12 漳州联合华鑫焊接自动化设备有限公司 Robot welding system of spring buffer assembly
CN202684284U (en) * 2012-04-17 2013-01-23 漳州联合华鑫焊接自动化设备有限公司 Double-station robot welding workstation for wing box
EP3053699A1 (en) * 2015-01-21 2016-08-10 Audi Ag Device for joining components
CN106503373A (en) * 2016-11-04 2017-03-15 湘潭大学 The method for planning track that a kind of Dual-robot coordination based on B-spline curves is assembled
CN106514068A (en) * 2016-11-15 2017-03-22 成都陵川特种工业有限责任公司 Control method of robot intelligent welding
CN109986563A (en) * 2019-05-01 2019-07-09 湖南大学 A kind of multiple mobile robot's work compound method and system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63252678A (en) * 1987-04-07 1988-10-19 Komatsu Ltd Weld line detector for welding robot
CN202591871U (en) * 2012-04-17 2012-12-12 漳州联合华鑫焊接自动化设备有限公司 Robot welding system of spring buffer assembly
CN202684284U (en) * 2012-04-17 2013-01-23 漳州联合华鑫焊接自动化设备有限公司 Double-station robot welding workstation for wing box
EP3053699A1 (en) * 2015-01-21 2016-08-10 Audi Ag Device for joining components
CN106503373A (en) * 2016-11-04 2017-03-15 湘潭大学 The method for planning track that a kind of Dual-robot coordination based on B-spline curves is assembled
CN106514068A (en) * 2016-11-15 2017-03-22 成都陵川特种工业有限责任公司 Control method of robot intelligent welding
CN109986563A (en) * 2019-05-01 2019-07-09 湖南大学 A kind of multiple mobile robot's work compound method and system

Also Published As

Publication number Publication date
CN111230267A (en) 2020-06-05

Similar Documents

Publication Publication Date Title
US10345788B2 (en) Robot system
EP1123769A2 (en) Robot welding
CN201253852Y (en) Apparatus capable of making robot to high precisely trace designated route
CN108942880B (en) Robot system
WO2021039829A1 (en) Production system
US11904483B2 (en) Work robot system
US20060167587A1 (en) Auto Motion: Robot Guidance for Manufacturing
CN106238969A (en) Non-standard automatic welding system of processing based on structure light vision
CN104698968A (en) Multifunctional automatic drilling and riveting end executor and automatic drilling and riveting method
EP3749491A1 (en) Assembling parts in an assembly line
CN205650975U (en) Non - tender automation of welding system of processing based on structured light vision
CN104354157A (en) Tire transfer robot and control method thereof
US11230005B2 (en) Following robot and work robot system
CN110625611A (en) Mechanical arm auxiliary component assembling method and system based on laser tracking measurement and force sensing combined control
CN103495978B (en) A kind of teaching method of arc welding robot spatial complex weld seam path of welding
CN212329961U (en) Unmanned wall welding robot that climbs based on vision measurement
CN111230267B (en) Double-station cooperation hybrid welding production line
US11161239B2 (en) Work robot system and work robot
CN110977478B (en) Mobile dual-robot machining system and method for drilling and milling weak rigid support
GB2326491A (en) Controlling tracking of robot along working path
KR101503304B1 (en) Method for setting position of lug welding robot using laser pointer
CN112276392A (en) Intelligent robot communication control method and system for welding
JPS6111815A (en) Compensating system of positional shift of robot
US11590616B1 (en) Underactuated joining system for moving assembly line
CN215468711U (en) Laser locating and tracking device of rectangular coordinate submerged arc welding robot

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CP01 Change in the name or title of a patent holder

Address after: No.2088, Yumin Road, Changchun Industrial Economic Development Zone, Jilin Province, 130000

Patentee after: Changchun Huaxiang automobile metal parts Co.,Ltd.

Address before: No.2088, Yumin Road, Changchun Industrial Economic Development Zone, Jilin Province, 130000

Patentee before: CHANGCHUN HUAXIANG CAR MUFFLER Co.,Ltd.

CP01 Change in the name or title of a patent holder
CP01 Change in the name or title of a patent holder

Address after: No.2088, Yumin Road, Changchun Industrial Economic Development Zone, Jilin Province, 130000

Patentee after: Huaxiang Metal Technology Co.,Ltd.

Address before: No.2088, Yumin Road, Changchun Industrial Economic Development Zone, Jilin Province, 130000

Patentee before: Changchun Huaxiang automobile metal parts Co.,Ltd.

CP01 Change in the name or title of a patent holder