CN1118297A - Automatic positioning welding robot system - Google Patents
Automatic positioning welding robot system Download PDFInfo
- Publication number
- CN1118297A CN1118297A CN 94112498 CN94112498A CN1118297A CN 1118297 A CN1118297 A CN 1118297A CN 94112498 CN94112498 CN 94112498 CN 94112498 A CN94112498 A CN 94112498A CN 1118297 A CN1118297 A CN 1118297A
- Authority
- CN
- China
- Prior art keywords
- welding
- welding robot
- automatic positioning
- robot system
- soldering part
- 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.)
- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 26
- 238000005476 soldering Methods 0.000 claims description 14
- 239000012141 concentrate Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
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Abstract
The automatic positioning welding robot system adopts the camera measuring system to detect the positions of the welding parts, calculates the mutual position relation, ensures that the two welding parts determine the positions according to requirements under the drive of the position servo control system, realizes automatic positioning and greatly improves the flexibility of the welding robot system.
Description
Robert system for automatic positioning welding belongs to the industrial robot field.
Welding robot is a most widely used Robotics in the industrial production, especially in departments such as automobile and engineering machinery.In the world, each work step of weld assembly is carried out exhaustive division, accurate location, welding production line is tediously long, the investment cost height.Be applicable to production in enormous quantities.Domestic welding robot system often concentrates the dozens of part location to clamp by the positioner grip device because the positioner grip device is adopted in the influence of factors such as fund and existing equipment mostly for miniature workpiece, concentrates welding.Then often carry out weldering just for large-scale workpiece, clamp by positioner grip device location then and carry out integral solder by spot welding.Because the position of each part of weld assembly is located by modes such as mechanical clamps, different weld assemblies needs different grip devices, makes the flexible reduction of robot line for welding entire system.
The object of the present invention is to provide a kind of automated process, realize locating mutually automatically of each parts of weld assembly, simplify anchor clamps even need not anchor clamps, thereby improve robot line for welding entire system flexibility.
To achieve these goals, the present invention does not adopt mechanical means (spot welding or anchor clamps location) to soldering part, accurately locate, by the video camera measuring system, measure and calculate the mutual alignment relation between soldering part, under the driving of Positioning Servo System, soldering part is bonded with each other, realize the automatic location of soldering part mutual alignment.
The present invention has simplified mechanical clamp compared with the prior art, has improved the overall flexibility of welding robot system.
Further specify embodiments of the invention below in conjunction with accompanying drawing: to simplify the analysis and be without loss of generality, suppose that weld assembly is by two planar part P
1And P
2Form, its welding edge is respectively
And
And weld assembly is a plane still, sees accompanying drawing 1, so just can be reduced to a plane problem.
Known by mathematical knowledge, determine the position of a plane in two dimensional surface, as long as determine any position on this plane at 2, these 2 are called datum mark at this.
Be without loss of generality, suppose part P
1Fixing on welding bench, part P
2Then be placed on the movable platform, can move and rotate, see accompanying drawing 1 along x, y direction around vertical axis.
In order to realize part P
2With respect to part P
1Even the location is two welding edge A
1B
1And A
2B
2Fit selected point A
1, B
1Be part P
1Datum mark, the some A
2, B
2Be part P
2Datum mark is made datum mark A by the detection of video camera measuring system
1, B
1, A
2, B
2The position, determine part P by calculating
2With respect to part P
1Position deviation, drive movable platform by Positioning Servo System and drive part P
2Make A
1B
1And A
2B
2Fit, realize part P
1With part P
2The automatic location of relative position.Positioning Servo System also can be the manipulator.
Above-mentioned analysis is discussed at the face bonding connected components, its conclusion is not difficult to be generalized to general space weld assembly, just to determine its position for a space object, need to determine its 3 out-of-line positions, promptly need select three datum marks to measure, and Positioning Servo System is also more complicated.
Can get some by multiselect to datum mark, carry out numerical value by computer and handle, thereby improve the influence of the factors such as size, morpheme error of weld assembly.
Consider the restriction of concrete design of part and Positioning Servo System scope of activities, in practical operation, sometimes soldering part being carried out certain mechanical position limitation is reasonably, or even requisite.
Owing to adopt computer-controlled video camera measuring system, can discern the parts of different shape automatically, thereby allow to carry out mutual automatically coupling, the location of polytype weld assembly at same welding robot workstation.
Cooperate the automatic correction location (robot system of correction positioning welding of weld assembly with respect to welding robot, number of patent application 94112494.0) soldering part is with respect to the welding robot location that can not fix, so only need the mutual alignment between soldering part to determine to get final product, help simplifying automatic station-keeping system.Certainly, according to actual conditions, soldering part also can be in the robot working space stationary positioned.
Large-scale soldering part, can not clamp when welding because weight is bigger.And the lighter part of weight is clamped sometimes is necessary, can adopt electromagnetism adhesive or mechanical clamp.
The present invention has improved the overall flexibility of welding robot system greatly because soldering part is realized location automatically.
Claims (1)
1, Robert system for automatic positioning welding, do not adopt mechanical means accurately to locate to the mutual position of soldering part, the mutual alignment of measuring and calculating between soldering part by the video camera measuring system concerns, under Positioning Servo System drives, soldering part is bonded with each other, realizes the automatic location of soldering part mutual alignment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 94112498 CN1118297A (en) | 1994-09-06 | 1994-09-06 | Automatic positioning welding robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 94112498 CN1118297A (en) | 1994-09-06 | 1994-09-06 | Automatic positioning welding robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1118297A true CN1118297A (en) | 1996-03-13 |
Family
ID=5036177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 94112498 Pending CN1118297A (en) | 1994-09-06 | 1994-09-06 | Automatic positioning welding robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1118297A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6750426B2 (en) | 2000-08-29 | 2004-06-15 | Kvaerner Masa-Yards Oy | Welding arrangement and method |
| CN100415459C (en) * | 2004-10-01 | 2008-09-03 | 发那科株式会社 | Robot program generating device and robot program analyzing device |
| CN106426178A (en) * | 2016-11-15 | 2017-02-22 | 成都陵川特种工业有限责任公司 | Mechanical arm system for automatically identifying welding point |
-
1994
- 1994-09-06 CN CN 94112498 patent/CN1118297A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6750426B2 (en) | 2000-08-29 | 2004-06-15 | Kvaerner Masa-Yards Oy | Welding arrangement and method |
| CN100415459C (en) * | 2004-10-01 | 2008-09-03 | 发那科株式会社 | Robot program generating device and robot program analyzing device |
| CN106426178A (en) * | 2016-11-15 | 2017-02-22 | 成都陵川特种工业有限责任公司 | Mechanical arm system for automatically identifying welding point |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C01 | Deemed withdrawal of patent application (patent law 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |