CN111922579B - System and method for accurately welding sealing body pole needle and bridge band based on six-axis robot - Google Patents
System and method for accurately welding sealing body pole needle and bridge band based on six-axis robot Download PDFInfo
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- CN111922579B CN111922579B CN202010476641.XA CN202010476641A CN111922579B CN 111922579 B CN111922579 B CN 111922579B CN 202010476641 A CN202010476641 A CN 202010476641A CN 111922579 B CN111922579 B CN 111922579B
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
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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
- B23K37/0252—Steering means
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Abstract
The invention provides a six-axis robot-based system and a method for accurately welding a sealing body pole needle and a bridge belt, which solve the problems that the bridge belt qualification is misjudged, the bridge belt coverage rate cannot be counted and the bridge belt is easily damaged in the existing igniter bridge belt welding process. The system comprises a sealing body material tray, a bridge belt material tray, a welding pin material tray, a conveying mechanism, a working platform, a manipulator, a transfer table, a second vision system, a cross sliding table, a welding mechanism and a bridge belt detection table, wherein the manipulator, the transfer table, the second vision system, the cross sliding table, the welding mechanism and the bridge belt detection table are arranged on the working platform; the sealing body material tray, the transfer table, the second vision system, the cross sliding table, the welding mechanism, the welding needle material tray, the bridge belt material tray and the bridge belt detection table are all positioned in the working area of the manipulator; the manipulator comprises a six-axis robot and a welding jig assembly; the welding jig assembly comprises a welding jig connecting plate, a bridge belt sucking jig connected to the welding jig connecting plate, a sealing body grabbing jig, a welding pin grabbing jig and a first vision system.
Description
Technical Field
The invention relates to a system and a method for welding a polar needle of a sealing body and a bridge band, in particular to a system and a method for accurately welding the polar needle of the sealing body and the bridge band based on a six-axis robot.
Background
The igniter is an important component of devices such as an engine, a rocket and the like, and plays a decisive role in judging whether the engine and the rocket can ignite. The igniter is prepared by the following steps: firstly, a sealing body is manufactured, then a bridge belt is installed and welded on a pole pin of the sealing body, and finally the igniter is obtained.
The welding quality of the bridge belt of the igniter determines whether the igniter can normally discharge to ignite the igniter, and the conventional bridge belt welding has the following defects:
1. before the bridge belt is welded, the qualification of the bridge belt is judged, and usually, manual work is adopted to judge and screen under a microscope, and the process of judging whether the bridge belt is qualified or not according to experience easily causes misjudgment; the operator is easy to fatigue, so that the working efficiency is low, and the diameter of the bridge belt cannot be detected;
2. the bridge belt and the sealing body are assembled in such a way that the screened bridge belt is manually clamped by tweezers and placed into the sealing body, and then the toothpick is used for shifting the bridge belt to enable the bridge belt to cover the pole needle, the bridge belt covering condition is judged by naked eyes manually, operators are easy to fatigue, the covering rate cannot be counted, and no record is recorded in the detection process;
3. the bridge belt welding adopts manual welding spot positioning, operation welding and welding bottom line switching, after welding is finished, the welding spot quality is manually detected under a microscope, a welding needle can be adhered to the bridge belt during welding, and when the welding needle is lifted upwards, the bridge belt can be torn and damaged;
4. the igniter bridge strip spot welding process is fully manual operation, the requirement on the operation level of welding personnel in the welding process is high, and at least one year is needed for cultivating a qualified bridge strip welding personnel; meanwhile, the production yield of the igniter is influenced by the instability of manual welding.
Disclosure of Invention
The invention provides a six-axis robot-based system and a six-axis robot-based method for accurately welding a sealing body pole needle and a bridge belt, and aims to solve the technical problems that the welding process of the bridge belt of an existing igniter is fully manually operated, misjudgment of the qualification rate of the bridge belt exists, the coverage rate of the bridge belt in the assembling process cannot be counted, the bridge belt is easily damaged during welding, and the qualification rate is influenced due to instability of manual welding.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the utility model provides a system for accurately welding a sealing body pole needle and a bridge belt based on six robots, includes sealing body charging tray, bridge belt charging tray and welding needle charging tray, and its special character lies in: the bridge belt detection device comprises a conveying mechanism, a working platform, a manipulator, a transfer table, a second vision system, a cross sliding table, a welding mechanism and a bridge belt detection table;
the sealing body tray is arranged on the conveying mechanism;
the transfer table, the second vision system, the cross sliding table, the welding mechanism, the welding needle material tray, the bridge belt material tray and the bridge belt detection table are all arranged on the working platform;
the sealing body material tray, the transfer table, the second vision system, the cross sliding table, the welding mechanism, the welding needle material tray, the bridge belt material tray and the bridge belt detection table are all positioned in the working area of the manipulator;
the manipulator comprises a six-axis robot and a welding jig assembly;
the welding jig assembly comprises a welding jig connecting plate, and a bridge belt suction jig, a sealing body grabbing jig, a welding pin grabbing jig and a first vision system which are connected to the welding jig connecting plate, wherein the sealing body grabbing jig, the welding pin grabbing jig and the first vision system are uniformly distributed on the circumference by taking the bridge belt suction jig as the center;
the welding jig connecting plate is connected with a working shaft of the six-shaft robot through a connecting flange;
the bridge belt suction jig comprises a jig shaft arranged along the central shaft of the welding jig connecting plate and a sucker arranged at the lower end of the jig shaft;
the sealing body grabbing jig comprises a sealing body cylinder and 2 sealing body chucks, wherein the sealing body cylinder is arranged on the welding jig connecting plate, and the lower end of the sealing body cylinder is inclined outwards;
the welding pin grabbing jig comprises a welding pin cylinder and 2 welding pin chucks, wherein the welding pin cylinder is arranged on the welding jig connecting plate, and the lower end of the welding pin cylinder inclines outwards;
the first vision system comprises a camera arranged on the welding jig connecting plate, and the axis of the camera is parallel to the axis of the jig shaft;
the transfer table is used for placing the sealing body grabbed by the sealing body grabbing jig;
the first vision system is used for photographing a sealing body pole needle on the centering rotary table;
the second vision system is used for photographing the bottom surface of the sealing body;
the cross sliding table comprises a two-dimensional adjusting mechanism arranged on the working platform and a sealing body base arranged on the two-dimensional adjusting mechanism; the two-dimensional adjusting mechanism is used for driving the sealing body on the sealing body base to move to or out of a working area of the welding mechanism;
the bridge belt detection table is used for placing a bridge belt to be welded and providing a backlight source for detection.
Further, the device also comprises a scanning unit arranged on the working platform;
the scanning unit comprises a code scanner and a rotatable code scanning platform, and the code scanner is used for scanning the label of the sealing body on the code scanning platform.
Further, the two-dimensional adjusting mechanism comprises a first linear motion assembly and a second linear motion assembly;
the first linear motion assembly comprises a first guide rail seat arranged on the working platform, a first guide rail arranged on the first guide rail seat, a first sliding block linearly moving along the first guide rail, a first ball screw motion pair positioned in the first guide rail seat and a first servo motor connected with a first screw of the first ball screw motion pair, and a nut of the first ball screw motion pair is fixedly connected with the first sliding block;
the second linear motion assembly comprises a second guide rail seat, a second guide rail arranged on the second guide rail seat, a second sliding block linearly moving along the second guide rail, a second ball screw motion pair positioned in the second guide rail seat and a second servo motor connected with a second screw of the second ball screw motion pair, and a nut of the second ball screw motion pair is fixedly connected with the second sliding block;
the moving direction of the first sliding block is vertical to the moving direction of the conveying mechanism;
the second guide rail seat is fixedly connected with the first sliding block, and the second guide rail is perpendicular to the first guide rail;
the second sliding block is connected with the sealing body base positioned above the second sliding block.
Furthermore, the cross sliding table further comprises a clamping unit arranged on the second sliding block;
the clamping unit comprises a clamping cylinder arranged on the first sliding block and 2 clamping air claws driven by the clamping cylinder, and the 2 clamping air claws are used for clamping a sealing body on a sealing body base.
Further, the manipulator is positioned between the conveying mechanism and the working platform;
the two-dimensional adjusting mechanism is positioned between the manipulator and the welding mechanism, and the manipulator, the two-dimensional adjusting mechanism and the welding mechanism are collinear.
Further, the two-dimensional adjusting mechanism is positioned in the middle of the working platform;
the scanning unit, the second vision system and the transfer table are positioned on one side of the two-dimensional adjusting mechanism;
the welding needle material tray, the bridge belt material tray and the bridge belt detection table are located on the other side of the two-dimensional adjusting mechanism.
Further, the second vision system comprises a camera support and a fixed camera which are arranged on the working platform, and an included angle exists between the fixed camera and the working platform.
Further, the manipulator further comprises a base positioned between the conveying mechanism and the working platform, and the six-axis robot is arranged on the base;
one end of the working platform, which is close to the conveying mechanism, is provided with a notch for placing the base.
Meanwhile, the invention provides a method for accurately welding a sealing body pole needle and a bridge belt based on a six-axis robot, which is characterized by comprising the following steps of:
1) the six-axis robot drives the sealing body grabbing jig to move to the position above a sealing body material tray, grabs a sealing body to be welded in the sealing body material tray and places the sealing body on the code scanning table, the code scanning table is driven to rotate, and the code scanning table scans the label of the sealing body on the code scanning table;
2) after the sealing body is subjected to code scanning, stopping rotation of the code scanning table, driving a first vision system to move to the position above the code scanning table by a six-axis robot, photographing a polar needle of the sealing body to be welded by the first vision system, carrying out polar needle polishing quality detection, and executing the step 3 if the polar needle polishing quality is qualified; if not, placing the sealing body in a waste material tray, and executing the step 1);
3) the six-axis robot drives the sealing body grabbing jig to grab the sealing body to be welded and move the sealing body to the second vision system photographing area, the second vision system photographs the bottom surface of the sealing body to be welded, the angle of the sealing body to be welded, which needs to rotate, is calculated according to the photographing result of the bottom surface of the sealing body and the position of the base of the sealing body on the two-dimensional adjusting mechanism, and the six-axis robot drives the sealing body to be welded to rotate by a corresponding angle and places the sealing body to be welded on the middle rotating table;
4) resetting a sealing body grabbing jig of the six-axis robot to be the position of the bottom surface of the sealing body to be welded in the step 3) when the second vision system shoots the bottom surface of the sealing body to be welded, grabbing the sealing body to be welded on a transfer table by the sealing body grabbing jig and moving the sealing body to a shooting area of the second vision system, shooting the bottom surface of the sealing body to be welded again by the second vision system, judging whether the deviation between the actual shape and the calibrated shape meets the requirement according to the shooting result of the bottom surface of the sealing body, and if so, executing the step 5); if not, placing the sealing body in a waste material tray, and executing the step 1);
the actual shape is the bottom surface shape of the to-be-welded sealing body on the photographed picture, and the calibration shape is the cross-sectional shape of a groove for placing the sealing body on the sealing body base;
5) the sealing body grabbing jig inserts the sealing body to be welded into the sealing body base, and the clamping air claw of the clamping unit clamps the sealing body;
6) the six-axis robot drives the first vision system to move to the position of a to-be-welded sealing body on the sealing body base, and photographs are taken to obtain the position of a sealing body polar needle;
7) the six-axis robot driving bridge belt suction jig moves to the position above a bridge belt material tray, sucks a bridge belt to be welded in the bridge belt material tray and places the bridge belt on a bridge belt detection table;
8) the six-axis robot drives a first vision system to move to the position above a bridge belt detection table, the bridge belt detection table provides a backlight source for detection, the first vision system photographs a bridge belt to be welded and detects the quality of the bridge belt, if the quality of the bridge belt to be welded is qualified, the step 9) is executed, if the quality of the bridge belt to be welded is unqualified, the bridge belt to be welded is placed in a waste material tray, and the step 7) is executed;
9) calculating the angle of the bridge belt to be welded, which needs to be rotated, according to the photographing result of the step 8) and the position of the polar pin of the sealing body in the step 6), sucking the bridge belt to be welded by a bridge belt sucking jig, driving the bridge belt to be welded to rotate by the corresponding angle by a six-axis robot, and putting the bridge belt back on a bridge belt detection table;
10) the six-axis robot suction jig is reset to be the position before the rotation of the bridge belt to be welded in the step 9), the first vision system shoots the bridge belt to be welded on the bridge belt detection table again, whether the deviation between the theoretical position and the actual position meets the requirement is judged according to the shooting result, and if yes, the step 11 is executed); if not, placing the bridge belt to be welded in a waste material tray, and executing the step 7);
wherein the theoretical position is the position of the polar needle of the sealing body, and the actual position is the position of a bridge area of a bridge belt to be welded;
11) the bridge belt suction jig sucks a bridge belt to be welded on the bridge belt detection table and places the bridge belt in a sealing body pole needle on a sealing body base, and a bridge belt bridge area covers the pole needle;
12) the two-dimensional adjusting mechanism drives the sealing body on the sealing body base to a working area of the welding mechanism, and welding of the bridge belt to be welded and the sealing body pole needle is carried out;
13) after welding, the two-dimensional adjusting mechanism is moved out of the welding mechanism, the first vision system photographs the welded sealing body, welding quality is detected, and if the welding quality is qualified, the step 14) is executed; if not, placing the welded sealing body in a waste material tray;
14) the sealing body grabbing jig puts the welded sealing body back to the material disc to complete welding of the pole needle and the bridge belt.
Compared with the prior art, the invention has the advantages that:
1. the welding system and the welding method adopt the conveying mechanism to transmit a sealing body material tray, the sealing body grabbing jig of the six-axis robot realizes the transportation, the rotation and the insertion of the sealing body on a sealing body base, the bridge belt sucking jig realizes the sucking, the rotation and the loading of a bridge belt into the position of a sealing body pole needle, and the welding needle grabbing jig realizes the transportation and the insertion of a welding needle into the welding mechanism; the first vision system and the second vision system judge the polishing quality of the polar needle of the sealing body, calculate the rotation angle of the sealing body, calculate the welding spot position of the polar needle, judge the quality of the bridge belt and calculate the rotation angle of the bridge belt, and the cross sliding table realizes that the sealing body assembled with the bridge belt is moved to the welding spot position of the welding mechanism; the welding system and the welding method form a complete automatic line production, have high working efficiency and simultaneously avoid misoperation caused by artificial fatigue.
2. The welding system and the welding method adopt visual identification and robot high-precision positioning technology to realize automatic assembly and welding of the bridge belt tiny parts, and solve the problems that the pole needle cannot be seen when the bridge belt is matched with the pole needle manually by using tweezers, the bridge belt is placed into an igniter sealing body, the coverage rate of a bridge area and the pole needle is only completed by experience, and the like. The position of the pole pin and the bridge belt is guaranteed to be recorded and calibrated before assembly, the coverage rate of a bridge area and the pole pin after welding is guaranteed to reach 100%, and the qualified rate of products is improved.
3. The welding system and the method photograph the sealing body through the first vision system, detect the quality of the polar needle of the sealing body and have high detection accuracy; the first vision system is matched with the bridge belt detection table to realize the detection of the quality of the bridge belt, and the first vision system photographs the bridge belt to obtain the diameter of the bridge belt.
4. The welding system also comprises a scanning unit for scanning the label of the sealing body, thereby realizing the technical process, quality recording and traceability.
5. The welding system further comprises a clamping unit for clamping the sealing body on the sealing body base.
6. The manipulator is integrated with a bridge belt suction jig, a sealing body grabbing jig, a welding pin grabbing jig and a vision system, before welding, the first vision system shoots the sealing body polar pin, the quality of the sealing body polar pin is detected, and the detection precision and accuracy are high; arranging a bridge belt suction jig in the middle of a welding jig connecting plate, so that the bridge belt suction jig can rotate conveniently, the sucked bridge belt can rotate, and the bridge area rotated to the bridge belt is just corresponding to the position of a sealing body pole needle; the axis of the camera is parallel to the axis of the jig shaft, after the camera takes photos of the polar needle, the sucking disc sucks the bridge belt and rotates to a proper position, the bridge belt on the sucking disc is translated, no error is generated between the bridge belt and the polar needle, and the mounting precision is high; the sealing body grabbing jig and the welding pin grabbing jig are positioned on the outer side of the welding jig connecting plate and are arranged obliquely, so that the sealing body and the electrode pin can be grabbed conveniently, and meanwhile, the oblique arrangement is used for preventing the jigs from damaging other parts in the material tray in the grabbing process; the manipulator can realize the processes of bridge belt suction, sealing body grabbing, welding pin grabbing and sealing body pole pin quality detection through a six-axis robot, realizes automation of operation, and has high working efficiency and reduced errors caused by manual operation.
7. The manipulator of the invention can realize multiple functions of bridge belt suction, seal body grabbing, welding pin grabbing and seal body polar pin quality detection by using a six-axis robot, thus the cost is lower and the occupied space is small.
8. The inner side surfaces of the clamping heads of the sealing body are provided with V-shaped grooves, so that the sealing body can be clamped conveniently; because the diameter of the welding pin is smaller, only one of the 2 welding pin chucks needs to be provided with a V-shaped groove on the inner side surface, so that the welding pin can be clamped conveniently.
9. Because the bridge belt is light, the bridge belt is not installed in place due to the fact that the bridge belt is adhered to the sucker after the traditional resin sucker is adsorbed in place, and the sucker is made of polytetrafluoroethylene, so that the problem of adhesion is solved.
10. In order to facilitate the installation, the first mounting plate of sealing body cylinder accessible sets up on the welding jig connecting plate, and welding pin cylinder accessible second mounting plate sets up on the welding jig connecting plate.
11. In order to improve the stability of first mounting panel and second mounting panel, be equipped with the locating piece that is used for fixing a position first mounting panel and second mounting panel on the welding jig connecting plate respectively.
12. The welding method adopts a mode that a manipulator is matched with a vision system to finish the carrying of a sealing body, the quality detection of a bridge belt, the assembly of the bridge belt into the igniter sealing body, the matching of the bridge belt with an igniter sealing body pole needle and the like, and simultaneously, the position coordinates of the pole needle, the bridge belt bridge area and the rotation angle of the bridge belt are accurately calculated through a vision recognition algorithm, and a six-axis robot absorbs the bridge belt to adjust the angle of the bridge belt and assemble the bridge belt into the igniter sealing body, thereby finishing the automatic assembly and welding of the bridge belt; automatic assembly and welding of the bridge belt and the sealing body are realized, and the qualification rate of products is improved.
Drawings
FIG. 1 is a first structural schematic diagram of a six-axis robot-based system for precisely welding a sealing body pole needle and a bridge belt;
FIG. 2 is a schematic structural diagram II of a six-axis robot-based system for precisely welding a sealing body pole needle and a bridge band;
FIG. 3 is a third structural schematic diagram of a six-axis robot-based system for precisely welding a sealing body pole needle and a bridge band;
FIG. 4 is a schematic structural diagram of a manipulator in a six-axis robot-based system for precisely welding a sealing body pole pin and a bridge band (a base only shows a part);
FIG. 5 is a first schematic structural diagram of a welding jig assembly in a six-axis robot-based system for accurately welding a sealing body pole pin and a bridge belt according to the present invention;
FIG. 6 is a schematic structural diagram II of a welding jig assembly in a six-axis robot-based system for accurately welding a sealing body pole pin and a bridge band according to the present invention;
FIG. 7 is an enlarged view of a portion of FIG. 3 at I;
FIG. 8 is a flow chart of a method for accurately welding a sealing body pole needle and a bridge belt based on a six-axis robot according to an embodiment of the invention;
wherein the reference numbers are as follows:
01-manipulator, 1-six-axis robot, 11-first axis, 12-second axis, 13-third axis, 14-fourth axis, 15-fifth axis, 16-working axis;
2-welding jig assembly, 21-welding jig connecting plate, 22-connecting flange, 23-bridge band suction jig, 231-jig shaft, 232-sucking disc, 24-sealing body grabbing jig, 241-sealing body cylinder, 242-sealing body chuck, 243-first mounting plate, 25-welding needle grabbing jig, 251-welding needle cylinder, 252-welding needle chuck, 253-second mounting plate, 26-first vision system, 261-camera, 262-camera mounting plate, 27-positioning block;
3-a conveying mechanism, 31-a sealing body tray;
4-a working platform, 41-a code scanner, 42-a code scanning table, 43-a transfer table, 44-a bridge belt detection table, 45-a bridge belt material tray and 46-a welding pin material tray; 5-second vision system, 51-camera mount, 52-fixed camera;
6-a cross sliding table, 61-a two-dimensional adjusting mechanism;
6111-a first guide rail seat, 6112-a first guide rail, 6113-a first sliding block, 6114-a first ball screw kinematic pair and 6115-a first servo motor;
6121-a second guide rail seat, 6122-a second guide rail, 6123-a second sliding block, 6124-a second ball screw kinematic pair and 6125-a second servo motor;
62-sealing body base, 63-clamping unit, 631-clamping cylinder, 632-clamping air claw and 64-drag chain;
7-a welding mechanism;
8-base.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
As shown in fig. 1 to 3, a system for accurately welding a sealing body pole needle and a bridge belt based on a six-axis robot comprises a conveying mechanism 3, a working platform 4, a manipulator 01, a scanning unit, a transfer table 43, a second vision system 5, a cross sliding table 6, a welding mechanism 7, a bridge belt detection table 44, a sealing body tray 31, a bridge belt tray 45 and a welding needle tray 46; the sealing body material tray 31 is arranged on the conveying mechanism 3, and the conveying mechanism 3 conveys the sealing body material tray 31 to a working area of the manipulator 01; the transfer table 43, the scanning unit, the second vision system 5, the cross sliding table 6, the welding mechanism 7, the welding needle material disc 46, the bridge belt material disc 45 and the bridge belt detection table 44 are all arranged on the working platform 4, and the transfer table 43 is arranged close to the second vision system 5; the sealing body tray 31, the transfer table 43, the scanning unit, the second vision system 5, the cross sliding table 6, the welding mechanism 7, the welding needle tray 46, the bridge belt tray 45 and the bridge belt detection table 44 are all located in the working area of the manipulator 01.
The manipulator 01 is positioned between the conveying mechanism 3 and the working platform 4, and as shown in fig. 4, the manipulator 01 comprises a base 8, a six-axis robot 1 and a welding jig assembly 2; six axles of six axis robot 1 are the primary shaft 11, secondary shaft 12, third axle 13, fourth axle 14, fifth axle 15 and the working shaft 16 that sets gradually respectively, and six axis robot 1 sets up on base 8, and the one end that work platform 4 is close to transport mechanism 3 is equipped with the breach that is used for placing base 8.
As shown in fig. 5 and 6, the welding jig assembly 2 includes a welding jig connecting plate 21, a connecting flange 22, a bridge belt suction jig 23, a sealing body gripping jig 24, a welding pin gripping jig 25 and a first vision system 26, the connecting flange 22 is located in the middle of the upper surface of the welding jig connecting plate 21, the bridge belt suction jig 23 is located in the middle of the lower surface of the welding jig connecting plate 21, and the sealing body gripping jig 24, the welding pin gripping jig 25 and the first vision system 26 are circumferentially and uniformly distributed with the bridge belt suction jig 23 as a center; the position of the sucking disc should be the lowest, so that interference between other jigs and the workbench when the bridge belt is sucked is avoided; the welding jig assembly 2 can realize bridge belt suction, seal body grabbing, welding pin grabbing and seal body pole pin detection, and improves the working efficiency.
The connecting flange 22 is used for connecting the welding jig connecting plate 21 with the working shaft 16 of the six-axis robot 1, specifically, one end of the connecting flange 22 is arranged in the middle of the upper surface of the welding jig connecting plate 21, and the other end of the connecting flange is connected with the working shaft 16 of the six-axis robot 1.
Bridge area suction jig 23 includes perpendicular setting at the tool axle 231 of welding jig connecting plate 21 lower surface middle part and the sucking disc 232 of setting at tool axle 231 lower extreme, tool axle 231 upper end is passed through the flange and is connected with welding jig connecting plate 21, the material of sucking disc 232 can adopt polytetrafluoroethylene, because the bridge area is very light, there is the bridge area in the traditional resin sucking disc the condition of sucking disc adhesion after target in place adsorbing, cause the bridge area to install not in place, the resin sucking disc is softer simultaneously, repeated positioning accuracy is lower, can not satisfy the requirement of assembly quality and assembly accuracy, consequently, adopt the sucking disc of polytetrafluoroethylene self-control, the problem that adhesion and repeated positioning accuracy are low has been avoided.
The sealing body grabbing jig 24 comprises a first mounting plate 243, a sealing body cylinder 241, a sealing body chuck support and 2 sealing body chucks 242 which are arranged oppositely, the first mounting plate 243 is obliquely arranged on the welding jig connecting plate 21, the sealing body cylinder 241 is arranged on the first mounting plate 243, the sealing body chuck support is arranged on the lower end face of the sealing body cylinder 241, a sliding guide rail is arranged on the lower end face of the sealing body chuck support, the 2 sealing body chucks 242 are arranged in the sliding guide rail, the 2 sealing body chucks 242 can move in the sliding guide rail in the opposite directions or in the opposite directions under the driving of an external air source and are used for clamping or loosening the sealing body, in order to further clamp the sealing body, a first V-shaped groove used for clamping the sealing body is formed in the inner side face of the 2 sealing body chucks 242.
The welding pin grabbing jig 25 comprises a second mounting plate 253, a welding pin cylinder 251, a welding pin chuck support and 2 welding pin chucks 252 arranged oppositely, the second mounting plate 253 is obliquely arranged on the welding jig connecting plate 21, the welding pin cylinder 251 is arranged on the second mounting plate 253, the welding pin chuck support is arranged on the lower end face of the welding pin cylinder 251, a sliding guide rail is arranged on the lower end face of the welding pin chuck support, the 2 welding pin chucks 252 are arranged in the sliding guide rail, the 2 welding pin chucks 252 can move in the sliding guide rail in an opposite direction or in an opposite direction under the driving of the welding pin cylinder 251 and are used for clamping or loosening a welding pin, and in order to further clamp the welding pin, a second V-shaped groove is formed in the inner side face of one welding pin chuck 252 of the 2 welding pin chucks 252; in other embodiments, the inner side of each of the 2 pin holders 252 may be formed with a second V-shaped groove.
The structure of the welding pin grabbing jig 25 is the same as that of the sealing body grabbing jig 24, but the shape of the welding pin is smaller than that of the sealing body, so that the size and the specification of the welding pin grabbing jig 25 are smaller than those of the sealing body grabbing jig 24, correspondingly, the size of the welding pin chuck 252 is smaller than that of the sealing body chuck 242, and the second V-shaped groove is also smaller than that of the first V-shaped groove.
In order to improve the stability of the first mounting plate 243 and the second mounting plate 253, a positioning block 27 is provided on the welding jig connecting plate 21 for positioning the first mounting plate 243 and the second mounting plate 253.
The manipulator of the embodiment further comprises an air source, which is used for providing power sources for parts which need power sources, such as the sealing body grabbing jig 24, the welding pin grabbing jig 25, the bridge belt sucking jig 23 and the like, and realizing the functions of grabbing and sucking parts and the like.
The scanning unit comprises a rotatable code scanning platform 42 and a code scanning device 41 which are arranged on the working platform 4, wherein a sealing body grabbed by the manipulator 01 from a sealing body tray 31 is placed on the code scanning platform 42, the code scanning platform 42 drives the sealing body on the code scanning platform to rotate, and the code scanning device 41 scans a label of the sealing body on the code scanning platform 42.
The transfer table 43 is used for placing the sealing body grabbed by the manipulator 01 from the code scanning table 42; the camera of the first vision system 26 is used for photographing the sealing body pole needle on the centering rotary table 43, so as to detect the quality of the sealing body pole needle.
The second vision system 5 photographs the bottom surface of the sealing body grasped by the sealing body grasping jig 24 to obtain the angle of the sealing body required to rotate so as to facilitate the positioning and assembly of the sealing body and the sealing body base 62 on the cross sliding table 6; the second vision system 5 comprises a camera support 51 and a fixed camera 52 arranged on the work platform 4, and an included angle exists between the fixed camera 52 and the work platform 4.
As shown in fig. 3 and 7, the cross slide table 6 includes a two-dimensional adjusting mechanism 61 provided on the work platform 4 and a sealing body base 62 provided on the two-dimensional adjusting mechanism 61; the two-dimensional adjusting mechanism 61 is used for driving the sealing body base 62 to move to or out of a working area of the welding mechanism 7, and further driving the sealing body on the sealing body base 62 to move to or out of a welding machine structure position; the two-dimensional adjusting mechanism 61 is positioned between the manipulator 01 and the welding mechanism 7, and the manipulator 01, the two-dimensional adjusting mechanism 61 and the welding mechanism 7 are collinear;
the two-dimensional adjusting mechanism 61 comprises a first linear motion assembly and a second linear motion assembly; the first linear motion assembly comprises a first guide rail seat 6111 arranged on the working platform 4, a first guide rail 6112 arranged on the first guide rail seat 6111, a first slide block 6113 linearly moving along the first guide rail 6112, a first ball screw motion pair 6114 positioned in the first guide rail seat 6111 and a first servo motor 6115 connected with a first screw of the first ball screw motion pair 6114, and a nut of the first ball screw motion pair is fixedly connected with the first slide block 6113; the second linear motion assembly comprises a second guide rail seat 6121, a second guide rail 6122 arranged on the second guide rail seat 6121, a second sliding block 6123 linearly moving along the second guide rail 6122, a second ball screw motion pair 6124 positioned in the second guide rail seat 6121 and a second servo motor 6125 connected with a second screw of the second ball screw motion pair 6124, and a nut of the second ball screw motion pair 6124 is fixedly connected with the second sliding block 6123; the moving direction of the first sliding block 6113 is perpendicular to the moving direction of the conveying mechanism 3; the second guide rail seat 6121 is fixedly connected with the first slide block 6113, and the second guide rail 6122 is perpendicular to the first guide rail 6112; the second slider 6123 is connected to the sealing body base 62 located above it.
A clamping unit 63 on the end face of the second slider 6123 for improving the stability of the sealing body on the sealing body base 62; the clamping unit 63 includes a clamping cylinder 631 disposed on the first slide block 6113 and 2 clamping air claws 632 driven by the clamping cylinder 631, and the 2 clamping air claws 632 clamp the seal on the seal base 62.
Two sides of the first guide rail seat 6111 are provided with drag chains 64, and a motor wire of a second servo motor 6125 on the cross sliding table 6 is arranged in the drag chain 64 on one side; the connecting line of the sealing body base 62 and the welding machine is arranged in the drag chain 64 at the other side, so that the motor is prevented from abrading the motor line and the connecting line in the moving process, and the connecting line and the motor line are prevented from being clamped, and the work of the two-dimensional adjusting mechanism 61 is prevented from being influenced.
The bridge band inspection station 44 is used for placing a bridge band to be inspected and providing a backlight source for inspection. The bridge tape inspection station 44 includes a bridge tape pad provided on the work table 4 and supplies a backlight for inspection to the bridge tape pad.
In the welding system of the embodiment, the two-dimensional adjusting mechanism 61 is positioned in the middle of the working platform 4, and the linear motion direction of the first guide rail 6112 is perpendicular to the transportation direction of the conveying mechanism 3; the scanning unit, the transfer table 43 and the second vision system 5 are arranged on one side of the two-dimensional adjusting mechanism 61, the scanning unit, the second vision system 5 and the transfer table 43 are sequentially arranged along the linear motion direction of the first guide rail 6112, and the scanning unit is arranged close to the conveying mechanism 3; the bridge belt detection table 44, the bridge belt material tray 45 and the welding pin material tray 46 are sequentially arranged on the other side of the two-dimensional adjusting mechanism 61 along the linear motion direction of the first guide rail 6112, and the bridge belt detection table 44 is arranged close to the conveying mechanism 3.
As shown in fig. 8, based on the above welding system, the present embodiment provides a method for accurately welding a sealing body pole pin and a bridge strap based on a six-axis robot, which includes the following steps:
1) the six-axis robot 1 is at an initial position, and the welding jig assembly 2 is positioned above the conveying line sealing body tray 31 of the conveying mechanism 3 at the initial position; the conveying mechanism 3 conveys the sealing body material tray 31 into the working area of the six-axis robot 1, and after a photoelectric sensor on the conveying mechanism 3 senses that the material tray is in place, the jacking mechanism jacks up and positions the material tray; the six-axis robot 1 drives the welding needle grabbing jig 25 to move to the position above the welding needle tray 46, grabs the welding needles in the welding needle tray 46 and installs the welding needles at the welding head of the welding mechanism 7, the six-axis robot 1 drives the sealing body grabbing jig 24 to move to the position above the sealing body tray 31, grabs the sealing bodies to be welded in the sealing body tray 31 and places the sealing bodies on the code scanning table 42, the code scanning table 42 rotates, and in the rotating process of the code scanning table 42, the code scanner 41 scans the labels of the sealing bodies on the code scanning table 42;
2) after the sealing body is scanned, stopping rotation of the code scanning table 42, driving the first vision system 26 to move to the position above the code scanning table 42 by the six-axis robot 1, photographing the polar needle of the sealing body to be welded on the code scanning table 42 by the first vision system 26, carrying out polar needle polishing quality detection, and if the polar needle polishing quality is qualified, executing the step 3); if not, placing the sealing body in a waste material tray, and executing the step 1);
3) the six-axis robot 1 drives the sealing body grabbing jig 24 to grab the sealing body to be welded and move the sealing body to the photographing area of the second vision system 5, the second vision system 5 photographs the bottom surface of the sealing body to be welded, and the angle of the sealing body to be welded, which needs to be rotated, is calculated according to the photographing result of the bottom surface of the sealing body and the position of the sealing body base 62 on the two-dimensional adjusting mechanism 61, so that the sealing body to be welded can be exactly corresponding to the position of the groove for placing the sealing body on the sealing body base 62 after being rotated; the working shaft 16 of the six-axis robot 1 drives the to-be-welded sealing body to rotate by a corresponding angle and is placed back on the transfer table 43;
4) resetting a sealing body grabbing jig 24 of the six-axis robot 1 to be the position for photographing the bottom surface of the sealing body to be welded by the second vision system 5 in the step 3), grabbing the sealing body to be welded on a transfer table 43 by the sealing body grabbing jig 24 and moving the sealing body to be welded to a photographing area of the second vision system 5, photographing the bottom surface of the sealing body to be welded again by the second vision system 5, judging whether the deviation between the actual shape and the calibrated shape meets the requirement according to the photographing result of the bottom surface of the sealing body, and executing the step 5 if the deviation range is within 5 degrees; if the deviation is more than 5 degrees, placing the sealing body in a waste material tray, and executing the step 1);
the actual shape is the shape of the bottom surface of the to-be-welded sealing body on the picture of the bottom surface of the sealing body photographed by the second vision system 5, and the calibration shape is the shape of a groove for placing the sealing body on the sealing body base 62;
5) the sealing body grabbing jig 24 inserts the sealing body to be welded into the sealing body base 62, and the clamping air claw 632 of the clamping unit 63 on the two-dimensional adjusting mechanism 61 tightly holds the sealing body;
6) the six-axis robot 1 drives the first vision system 26 to move to the position of a to-be-welded sealing body on the sealing body base 62, and photographs are taken to obtain the position of a sealing body polar needle;
7) the six-axis robot 1 drives the bridge belt suction jig 23 to move above the bridge belt tray 45, sucks the bridge belt in the bridge belt tray 45 and places the bridge belt on the bridge belt detection table 44;
8) the six-axis robot 1 drives the first vision system 26 to move to the position above the bridge belt detection table 44, the bridge belt detection table 44 provides a backlight source for detection, the first vision system 26 photographs the bridge belt and detects the quality of the bridge belt, if the quality (aperture and angle teeth) of the bridge belt is qualified, step 9 is executed, if the quality (aperture and angle teeth) of the bridge belt is not qualified, the robot sucks the bridge belt, the bridge belt is placed in a bridge belt recovery box, and step 7 is executed);
9) calculating the angle of the bridge belt to be rotated according to the photographing result of the step 8) and the position of the polar needle of the sealing body in the step 6), sucking the bridge belt by using a bridge belt sucking jig 23, driving the bridge belt to rotate by a corresponding angle by using a working shaft 16 of the six-shaft robot 1, and putting the bridge belt back on a bridge belt detecting table 44;
10) the six-axis robot 1 sucks the jig to reset to the position before the rotation of the bridge belt to be welded in the step 9), the first vision system 26 takes a picture of the bridge belt on the bridge belt detection table 44 again, whether the deviation between the theoretical position and the actual position meets the requirement is judged according to the picture taking result, and if the deviation range is within 5 degrees, the step 11 is executed); if the deviation is more than 5 degrees, placing the bridge belt in a waste material tray, and executing the step 1);
wherein the theoretical position is the position of the polar needle of the sealing body, and the actual position is the position of a bridge area of a bridge belt to be welded;
11) the bridge belt sucking jig 23 sucks the bridge belt on the bridge belt detecting table 44 and puts the bridge belt into the sealing body polar needle on the sealing body base 62, and the bridge belt bridge area covers the polar needle;
12) the first vision system 26 of the six-axis robot 1 photographs the position of the welding needle on the welding mechanism 7, the two-dimensional adjusting mechanism 61 drives the sealing body on the sealing body base 62 to the welding position of the welding mechanism 7 according to the photographing result, the two-dimensional adjusting mechanism 61 further moves one pole needle of the sealing body to a matching welding point, the lower electrode cylinder acts to switch on the electrode and perform point-one welding (one pole needle is welded with the bridge band), the two-dimensional adjusting mechanism 61 moves the other pole needle of the sealing body to the matching welding point, the lower electrode cylinder acts to switch on the electrode and perform point-two welding (the other pole needle is welded with the bridge band), and the welding of the bridge band and the pole needle of the sealing body is completed;
13) after the bridge belt and the pole pin are welded, the two-dimensional adjusting mechanism 61 is moved out of the welding mechanism 7, the first vision system 26 photographs the welded sealing body, the welding quality is detected, and if the welding quality is qualified, the step 14 is executed); if not, placing the welded sealing body in a waste material tray, and executing the step 1);
14) the clamping air claw 632 of the clamping unit 63 is opened, the sealing body grabbing jig 24 puts the welded sealing body back to the tray, the sealing body grabbing jig 24 of the six-axis robot 1 detects whether the sealing body is put in place, and the robot is reset to the initial position (original point).
And (4) repeating the steps 1) to 14) to weld all the sealing body polar needles and the bridge belts on the whole material tray, and after the welding of all the sealing body polar needles and the bridge belts on the whole material tray is finished, descending the jacking mechanism to stop the air cylinder from releasing, and transporting the sealing body material tray 31 to the next procedure.
After about 100 parts are welded (or the welding pins on the welding mechanism cannot meet the welding requirements), the welding pin grabbing jig 25 of the six-axis robot 1 grabs the welding pins from the welding pin tray 46 to replace the welding pins on the welding mechanism.
The above description is only for the purpose of describing the preferred embodiments of the present invention and does not limit the technical solutions of the present invention, and any known modifications made by those skilled in the art based on the main technical concepts of the present invention fall within the technical scope of the present invention.
Claims (9)
1. The utility model provides a system for accurately welding is taken with bridge to sealing body utmost point needle based on six robots, includes sealing body charging tray (31), bridge area charging tray (45) and welding pin charging tray (46), its characterized in that: the device also comprises a conveying mechanism (3), a working platform (4), a manipulator (01), a transfer table (43), a second vision system (5), a cross sliding table (6), a welding mechanism (7) and a bridge belt detection table (44);
the sealing body tray (31) is arranged on the conveying mechanism (3);
the transfer table (43), the second vision system (5), the cross sliding table (6), the welding mechanism (7), the bridge belt detection table (44), the bridge belt material tray (45) and the welding pin material tray (46) are all arranged on the working platform (4);
the sealing body material tray (31), the transfer table (43), the second vision system (5), the cross sliding table (6), the welding mechanism (7), the bridge belt detection table (44), the bridge belt material tray (45) and the welding pin material tray (46) are all located in the working area of the manipulator (01);
the manipulator (01) comprises a six-axis robot (1) and a welding jig assembly (2);
the welding jig assembly (2) comprises a welding jig connecting plate (21), and a bridge belt suction jig (23), a sealing body grabbing jig (24), a welding pin grabbing jig (25) and a first vision system (26) which are connected to the welding jig connecting plate (21), wherein the sealing body grabbing jig (24), the welding pin grabbing jig (25) and the first vision system (26) are uniformly distributed circumferentially with the bridge belt suction jig (23) as a center;
the welding jig connecting plate (21) is connected with a working shaft (16) of the six-shaft robot (1) through a connecting flange (22);
the bridge belt suction jig (23) comprises a jig shaft (231) arranged along the central shaft of the welding jig connecting plate (21) and a sucking disc (232) arranged at the lower end of the jig shaft (231);
the sealing body grabbing jig (24) comprises a sealing body cylinder (241) which is arranged on the welding jig connecting plate (21) and the lower end of which is arranged in an outward inclined mode, and 2 sealing body chucks (242) driven by the sealing body cylinder (241);
the welding pin grabbing jig (25) comprises a welding pin cylinder (251) which is arranged on the welding jig connecting plate (21) and the lower end of which is arranged in an outward inclined mode and 2 welding pin chucks (252) driven by the welding pin cylinder (251);
the first vision system (26) comprises a camera (261) arranged on the welding jig connecting plate (21), and the axis of the camera (261) is parallel to the axis of the jig shaft (231);
the transfer table (43) is used for placing the sealing body grabbed by the sealing body grabbing jig (24);
the first vision system (26) is used for photographing a sealing body pole needle on the centering rotary table (43);
the second vision system (5) is used for photographing the bottom surface of the sealing body;
the cross sliding table (6) comprises a two-dimensional adjusting mechanism (61) arranged on the working platform (4) and a sealing body base (62) arranged on the two-dimensional adjusting mechanism (61); the two-dimensional adjusting mechanism (61) is used for driving the sealing body on the sealing body base (62) to move to or out of a working area of the welding mechanism (7);
the bridge belt detection table (44) is used for placing bridge belts to be welded and providing backlight sources for detection.
2. The six-axis robot-based precision seal needle and bridge strap welding system of claim 1, wherein: the device also comprises a scanning unit arranged on the working platform (4);
the scanning unit comprises a code scanner (41) and a rotatable code scanning platform (42), wherein the code scanner (41) is used for scanning the label of the sealing body on the code scanning platform (42).
3. The six-axis robot-based precision seal needle and bridge strap welding system of claim 2, wherein: the two-dimensional adjusting mechanism (61) comprises a first linear motion assembly and a second linear motion assembly;
the first linear motion assembly comprises a first guide rail seat (6111) arranged on the working platform (4), a first guide rail (6112) arranged on the first guide rail seat (6111), a first sliding block (6113) linearly moving along the first guide rail (6112), a first ball screw motion pair (6114) positioned in the first guide rail seat (6111) and a first servo motor (6115) connected with a first screw of the first ball screw motion pair (6114), and a nut of the first ball screw motion pair (6114) is fixedly connected with the first sliding block (6113);
the second linear motion assembly comprises a second guide rail seat (6121), a second guide rail (6122) arranged on the second guide rail seat (6121), a second sliding block (6123) linearly moving along the second guide rail (6122), a second ball screw motion pair (6124) positioned in the second guide rail seat (6121) and a second servo motor (6125) connected with a second screw of the second ball screw motion pair (6124), and a nut of the second ball screw motion pair (6124) is fixedly connected with the second sliding block (6123);
the moving direction of the first sliding block (6113) is vertical to the moving direction of the conveying mechanism (3);
the second guide rail seat (6121) is fixedly connected with the first sliding block (6113), and the second guide rail (6122) is perpendicular to the first guide rail (6112);
the second sliding block (6123) is connected with a sealing body base (62) positioned above the second sliding block.
4. The six-axis robot-based precision seal needle and bridge strap welding system of claim 3, wherein: the cross sliding table (6) further comprises a clamping unit (63) arranged on the second sliding block (6123);
the clamping unit (63) comprises a clamping cylinder (631) arranged on the first sliding block (6113) and 2 clamping air claws (632) driven by the clamping cylinder (631), wherein the 2 clamping air claws (632) are used for clamping a sealing body on the sealing body base (62).
5. The six-axis robot based precision seal needle and bridge strap welding system according to any one of claims 2 to 4, wherein: the manipulator (01) is positioned between the conveying mechanism (3) and the working platform (4);
the two-dimensional adjusting mechanism (61) is positioned between the manipulator (01) and the welding mechanism (7), and the manipulator (01), the two-dimensional adjusting mechanism (61) and the welding mechanism (7) are collinear.
6. The six-axis robot-based precision seal needle and bridge strap welding system of claim 5, wherein: the two-dimensional adjusting mechanism (61) is positioned in the middle of the working platform (4);
the scanning unit, the second vision system (5) and the transfer table (43) are positioned on one side of the two-dimensional adjusting mechanism (61);
the welding needle tray (46), the bridge belt tray (45) and the bridge belt detection table (44) are located on the other side of the two-dimensional adjusting mechanism (61).
7. The six-axis robot-based precision seal needle and bridge strap welding system of claim 6, wherein: the second vision system (5) comprises a camera support (51) and a fixed camera (52) which are arranged on the working platform (4), and an included angle exists between the fixed camera (52) and the working platform (4).
8. The six-axis robot-based precision seal needle and bridge strap welding system of claim 7, wherein: the manipulator (01) further comprises a base (8) positioned between the conveying mechanism (3) and the working platform (4), and the six-axis robot (1) is arranged on the base (8);
one end of the working platform (4) close to the conveying mechanism (3) is provided with a notch for placing the base (8).
9. A six-axis robot-based precise welding method for a sealing body polar needle and a bridge belt is characterized in that the six-axis robot-based precise welding system for the sealing body polar needle and the bridge belt is adopted, and comprises the following steps:
1) the six-axis robot (1) drives the sealing body grabbing jig (24) to move to the position above the sealing body material disc (31), the sealing bodies to be welded in the sealing body material disc (31) are grabbed and placed on the code scanning table (42), the code scanning table (42) is driven to rotate, and the code scanning device (41) scans the labels of the sealing bodies on the code scanning table (42);
2) after the sealing body finishes scanning the code, stopping rotating the code scanning platform (42), driving a first vision system (26) to move to the position above the code scanning platform (42) by a six-axis robot (1), photographing a pole pin of the sealing body to be welded by the first vision system (26), and carrying out pole pin polishing quality detection, if the pole pin polishing quality is qualified, executing the step 3); if not, placing the sealing body in a waste material tray, and executing the step 1);
3) the six-axis robot (1) drives the sealing body grabbing jig (24) to grab the sealing body to be welded and moves the sealing body to the photographing area of the second vision system (5), the second vision system (5) photographs the bottom surface of the sealing body to be welded, the angle of the sealing body to be welded, which needs to rotate, is calculated according to the photographing result of the bottom surface of the sealing body and the position of a sealing body base (62) on the two-dimensional adjusting mechanism (61), and the six-axis robot (1) drives the sealing body to be welded to rotate by a corresponding angle and places the sealing body on the middle rotating table (43);
4) resetting a sealing body grabbing jig (24) of the six-axis robot (1) to be a position when the second vision system (5) shoots the bottom surface of the sealing body to be welded in the step 3), grabbing the sealing body to be welded on a transfer table (43) by the sealing body grabbing jig (24) and moving the sealing body to be welded to a shooting area of the second vision system (5), shooting the bottom surface of the sealing body to be welded again by the second vision system (5), judging whether the deviation between the actual shape and the calibrated shape meets the requirement according to the shooting result of the bottom surface of the sealing body, and if so, executing the step 5); if not, placing the sealing body in a waste material tray, and executing the step 1);
the actual shape is the bottom surface shape of the to-be-welded sealing body on the photographed picture, and the calibration shape is the cross section shape of a groove for placing the sealing body on a sealing body base (62);
5) the sealing body grabbing jig (24) inserts the sealing body to be welded into a sealing body base (62), and a clamping air claw (632) of a clamping unit (63) clamps the sealing body;
6) the six-axis robot (1) drives the first vision system (26) to move to a position of a to-be-welded sealing body on the sealing body base (62), and photographs are taken to obtain the position of a polar needle of the sealing body;
7) the six-axis robot (1) drives the bridge belt suction jig (23) to move to the position above the bridge belt material disc (45), sucks a bridge belt to be welded in the bridge belt material disc (45) and places the bridge belt on the bridge belt detection table (44);
8) the six-axis robot (1) drives a first vision system (26) to move to the position above a bridge belt detection table (44), the bridge belt detection table (44) provides a backlight source for detection, the first vision system (26) photographs a bridge belt to be welded and performs bridge belt quality detection, if the bridge belt to be welded is qualified in quality, step 9 is executed, if the bridge belt to be welded is unqualified, the bridge belt to be welded is placed in a waste material tray, and step 7 is executed;
9) calculating the angle of the bridge belt to be welded, which needs to rotate, according to the photographing result in the step 8) and the position of the polar pin of the sealing body in the step 6), sucking the bridge belt to be welded by a bridge belt sucking jig (23), driving the bridge belt to be welded to rotate by the corresponding angle by a six-axis robot (1), and putting the bridge belt to be welded on a bridge belt detection table (44);
10) the suction jig of the six-axis robot (1) is reset to the position before the rotation of the bridge belt to be welded in the step 9), the first vision system (26) shoots the bridge belt to be welded on the bridge belt detection table (44) again, whether the deviation between the theoretical position and the actual position meets the requirement or not is judged according to the shooting result, and if yes, the step 11 is executed; if not, placing the bridge belt to be welded in a waste material tray, and executing the step 7);
wherein the theoretical position is the position of the polar needle of the sealing body, and the actual position is the position of a bridge area of a bridge belt to be welded;
11) a bridge belt suction jig (23) sucks a bridge belt to be welded on a bridge belt detection table (44) and places the bridge belt in a sealing body on a sealing body base (62), and a bridge belt bridge area covers a pole needle;
12) the two-dimensional adjusting mechanism (61) drives the sealing body on the sealing body base (62) to a working area of the welding mechanism (7) to weld the bridge belt to be welded and the sealing body polar needle;
13) after welding, the two-dimensional adjusting mechanism (61) is moved out of the welding mechanism (7), the first vision system (26) photographs the welded sealing body, welding quality is detected, and if the welding quality is qualified, the step 14 is executed; if not, placing the welded sealing body in a waste material tray;
14) the sealing body grabbing jig (24) puts the welded sealing body back to the material disc to complete the welding of the pole needle and the bridge belt.
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| CN114619464A (en) * | 2022-03-28 | 2022-06-14 | 深慧视(深圳)科技有限公司 | Quick self-adaptation robot processing apparatus based on machine vision |
| CN115415704B (en) * | 2022-09-23 | 2023-09-22 | 千思跃智能科技(苏州)股份有限公司 | Intelligent welding and 3D camera detection equipment |
| CN115502690B (en) * | 2022-10-19 | 2023-04-07 | 成都川哈工机器人及智能装备产业技术研究院有限公司 | High-precision servo clothes assembling system of precise plug connector and artificial intelligence assembling method |
| CN116119352B (en) * | 2023-04-18 | 2023-06-27 | 苏州光斯奥光电科技有限公司 | Device and method for loading and unloading planar workpiece |
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| CN208880048U (en) * | 2018-08-08 | 2019-05-21 | 电子科技大学中山学院 | Be applied to multi-functional anchor clamps on feeding manipulator |
| CN109352241A (en) * | 2018-11-27 | 2019-02-19 | 中国航发贵州黎阳航空动力有限公司 | Control the method and fixture of igniter welding deformation |
| CN110850252A (en) * | 2019-12-06 | 2020-02-28 | 江苏飞尔机电科技有限公司 | Automatic detecting marking line for electronic igniter |
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