CN112775936B - Butt welding device and method based on flexible tool and visual positioning - Google Patents
Butt welding device and method based on flexible tool and visual positioning Download PDFInfo
- Publication number
- CN112775936B CN112775936B CN202110013672.6A CN202110013672A CN112775936B CN 112775936 B CN112775936 B CN 112775936B CN 202110013672 A CN202110013672 A CN 202110013672A CN 112775936 B CN112775936 B CN 112775936B
- Authority
- CN
- China
- Prior art keywords
- welding
- tool
- positioning
- mechanical arm
- degree
- 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
Links
- 238000003466 welding Methods 0.000 title claims abstract description 161
- 230000000007 visual effect Effects 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000005389 magnetism Effects 0.000 claims abstract description 15
- 241000252254 Catostomidae Species 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- 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
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a butt welding device and a butt welding method based on flexible tools and visual positioning, wherein the butt welding device comprises a positioning butt welding tool and a visual unit which are connected on a multi-degree-of-freedom mechanical arm, and the multi-degree-of-freedom mechanical arm is connected with a pickup butt welding tool and the positioning butt welding tool through quick-change tools; the electric controller controls the position group to control the existence of magnetism of the tooling and the pick-up welding tooling; the mechanical arm controller controls the multi-degree-of-freedom mechanical arm to move and be respectively connected with the pickup assembly welding tool or the positioning assembly tool, so that the welding structural member is picked up and assembled. The invention has the characteristics of automatic assembly and accurate assembly, and saves a great deal of manpower and time; the flexible production of the welding link is realized, and the welding quality and consistency of the welding structural part are improved.
Description
Technical Field
The invention relates to the field of robot automatic processing, in particular to a butt welding device and method based on flexible tools and visual positioning, which are used for automatically realizing positioning and butt welding of welding structural parts before spot welding and improving the butt welding positioning precision.
Background
With the rapid development of modern industry in China, welding production tends to be specialized and large-scale. Many welded structures of complex construction are widely used in various fields such as energy, construction, heavy and general machinery, etc. They are all welded from a number of parts. In order to determine the positional relationship of the components of the welded structure, the jig used for spot welding the welded structure is referred to as a positioning jig. The positioning alignment fixture can well ensure the position relation of each component of the weldment and the assembly relation of the weldment and other parts, and can avoid the scribing process of a plurality of welded structural parts, so that the labor productivity can be greatly improved. However, the existing welding components have no simple positioning assembly tool with high universality, and most of the positioning assembly tools are aimed at specific industries; in addition, the existing installation positioning group pair tool is manually operated by workers, and the labor intensity of the workers is high.
Therefore, the positioning group pair tool with simple structure, strong universality and high positioning precision can be assembled and installed manually, and the problem to be solved in the field of automatic processing is solved urgently.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a positioning assembly welding device and a positioning assembly welding method which can be picked up by a robot, and a program control tool generates magnetic attraction force, so that flexible production of welding links is realized, and welding quality and consistency of welding structural members are improved.
The invention is realized by the following technical scheme.
The invention provides a butt welding device based on a flexible tool and visual positioning, which comprises a multi-degree-of-freedom mechanical arm, a pickup butt welding tool, a visual unit, a positioning and butt welding tool, a mechanical arm controller and an electric controller, wherein the mechanical arm controller is connected with the pickup butt welding tool;
the multi-degree-of-freedom mechanical arm is connected with a positioning assembly tool and a visual unit, and is connected with a pickup welding tool and the positioning assembly tool through a quick-change tool; the electric controller controls the position group to control the existence of magnetism of the tooling and the pick-up welding tooling;
the mechanical arm controller controls the multi-degree-of-freedom mechanical arm to move and be respectively connected with the pickup assembly welding tool or the positioning assembly tool, so that the welding structural member is picked up and assembled.
Further preferably, the welding device further comprises a welding structure, a loading and unloading area for welding the finished product of the structure, a welding platform for assembling the welding structure and a quick-change system bracket for installing a quick-change tool.
As a further preferable mode, the quick-change tool comprises a quick-change tool B arranged on the mechanical arm with multiple degrees of freedom and a quick-change tool A arranged on the positioning group pairing tool and the pickup welding tool.
As a further preferable mode, the visual unit is arranged at the top of the multi-degree-of-freedom mechanical arm and is in the same direction with the pickup splice welding tool and the positioning assembly tool which are arranged at the end part of the multi-degree-of-freedom mechanical arm.
As further preferable, the positioning assembly tooling comprises an upper electric permanent magnet chuck, a lower electric permanent magnet chuck and a bracket, wherein the quick-change tool A is connected to the tail part of the bracket, and the upper electric permanent magnet chuck and the lower electric permanent magnet chuck are respectively arranged at the front part and the bottom part of the bracket.
As a further preferable mode, the upper permanent magnet sucker and the lower permanent magnet sucker can be controlled to have magnetism when in normal operation and have no magnetism when not in operation through an electric controller program.
As a further preferable mode, the positioning group is vertically arranged or obliquely arranged upwards on the power-on permanent magnet sucker of the tool.
As a further preferred aspect, the pick-up welding tool includes a quick-change tool a and an electro-permanent magnetic chuck connected by a connection pipe, the electro-permanent magnetic chuck being vertically disposed.
As a further preferred aspect, the multi-degree-of-freedom mechanical arm is a six-degree-of-freedom industrial robot.
Correspondingly, the invention also provides a butt welding method based on the flexible tool and the visual positioning of the device, which comprises the following steps:
1) The method comprises the steps of guiding a welding structural member finished product three-dimensional model into a mechanical arm controller;
2) Connecting the positioning group pair tool on a multi-degree-of-freedom mechanical arm, and then placing the positioning group pair tool on a welding platform; the electric controller is used for controlling the positioning group to magnetically attract the lower permanent magnet sucker of the tooling on the welding platform;
3) The method comprises the steps of connecting a pickup welding tool on a multi-degree-of-freedom mechanical arm, identifying and positioning a welding structural member through a visual unit, and controlling an electric controller to enable an electric permanent magnet sucker of the pickup welding tool to magnetically attract the pickup welding structural member;
4) The multi-degree-of-freedom mechanical arm recognizes and positions the positioning group alignment fixture through the visual unit, and moves the picked welding structural member to the vicinity of the positioning group alignment fixture on the welding platform; the electric controller controls the positioning group pair tooling magnetic attraction welding structural parts; positioning and aligning the first welding structural member;
5) The mechanical arm with multiple degrees of freedom moves to the position of the quick-change system bracket, the pick-up welding tool is put down, the positioning group pair tool is picked up, and the step 2) is repeated, so that the positioning group pair tool is accurately placed;
6) The mechanical arm with multiple degrees of freedom moves to the position of the quick-change system bracket, is connected with the pick-up welding tool, and repeats the steps 3) -4), so that the welding structural member is accurately picked up and assembled;
7) And (4) circulating the steps 2) to 4) until the whole welding structural part is assembled.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1) The invention controls magnetism through a program, can rapidly complete the fixation of the tool and the welding structural member, and saves a great deal of manpower and time compared with the traditional positioning group for the welding tool.
2) The invention can finish the picking and assembling of the welding structural member by matching with the robot and combining with visual recognition, and has high positioning precision;
3) According to the invention, the placement of the tool and the assembly of the welding structural members are completed through the robot, so that the assembly operation efficiency is effectively improved, the flexible production of the welding links is realized, and the welding quality and consistency of the welding structural members are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate and do not limit the invention, and together with the description serve to explain the principle of the invention:
FIG. 1 is a schematic diagram of a butt welding device based on flexible tooling and visual positioning;
FIG. 2 is a schematic diagram showing the cooperative connection of the positioning pairing tool I and the multi-degree-of-freedom mechanical arm;
FIG. 3 is a schematic diagram of a positioning pair tool I;
FIG. 4 is a schematic diagram of a multi-degree-of-freedom mechanical arm of the present invention for positioning the alignment fixture I on a welding platform;
FIG. 5 is a schematic diagram of a positioning pair tooling II;
FIG. 6 is a schematic diagram of the mating connection of a pick-up splice tool with a multi-degree of freedom mechanical arm of the present invention;
FIG. 7 is a schematic view of a pick-up splice welding tool of the present invention;
FIG. 8 is a schematic view of a multiple degree of freedom robotic arm of the present invention picking up welded structures via a picking up splice tool.
In the figure: 1. a multi-degree-of-freedom mechanical arm; 2. picking up the splice welding tool; 3. a vision unit; 4. positioning group pairing tool II; 5. a welding platform; 6. positioning group pairing tool I; 7. a robotic arm controller; 8. an electric controller; 9. feeding and discharging areas; 10. welding a structural member finished product; 11. welding structural members; 12. a quick-change system bracket; 13. quick change tool A; 14. quick-change tool B; 15. powering on a permanent magnet chuck; 16. a bracket; 17. powering down the permanent magnet chuck; 18. an electro-permanent magnetic chuck; 19. and (5) connecting pipes.
Detailed Description
The present invention will now be described in detail with reference to the drawings and the specific embodiments thereof, wherein the exemplary embodiments and descriptions of the present invention are provided for illustration of the invention and are not intended to be limiting.
As shown in fig. 1, the embodiment of the invention provides a butt welding device based on flexible tooling and visual positioning, which comprises a multi-degree-of-freedom mechanical arm 1, a pickup butt welding tooling 2, a visual unit 3, a positioning butt welding tooling ii 4, a welding platform 5, a positioning butt welding tooling i 6, a mechanical arm controller 7, an electric controller 8, a loading and unloading area 9, a welding structural member finished product 10, a welding structural member 11 and a quick-change system bracket 12.
The multi-degree-of-freedom mechanical arm 1 is connected with a positioning assembly tool and a visual unit 3, and the multi-degree-of-freedom mechanical arm 1 is connected with a pickup welding tool 2 and positioning assembly tools I6 and II 4 through quick-change tools; the electric controller 8 controls the existence of magnetism of the bit group pair tools I6 and II 4 and the pickup welding tool 2; the upper and lower material areas 9 are arranged on the side of the welding platform 5 and are used for placing welding structural members 11 and welding structural member finished products 10; the welding platform 5 is used for assembling welding structural members; the quick change system holder 12 is used for replacing the quick change tools a13, B14. The multi-degree-of-freedom mechanical arm 1 adopts a six-degree-of-freedom industrial robot and is arranged between the feeding and discharging area 9 and the welding platform 5.
The device controls the multi-degree-of-freedom mechanical arm 1 to move through the mechanical arm controller 7 to be respectively connected with the pickup assembly welding tool 2 or the positioning assembly tooling I6 and II 4, and picks up and assembles the welding structural member 11.
As shown in fig. 2, the quick-change tool a13 is connected to the quick-change tool B14 at the end of the multiple-degree-of-freedom mechanical arm 1, and the vision unit 3 is mounted at the end of the multiple-degree-of-freedom mechanical arm 1. The vision unit 3 is arranged at the top of the multi-degree-of-freedom mechanical arm 1 and is in the same direction with the pickup welding tool 2 and the positioning assembly tools I6 and II 4 which are arranged at the end part of the multi-degree-of-freedom mechanical arm 1.
FIG. 3 is a schematic diagram of the positioning pair tooling I6; the quick-change tool A13 is connected to the tail of the bracket 16, and the upper permanent magnet 15 and the lower permanent magnet 17 are respectively arranged at the front and the bottom of the bracket 16. The power-on permanent magnet sucker 15 is vertically arranged. The upper permanent magnet sucker 15 and the lower permanent magnet sucker 17 can control the existence of magnetic attraction through the program of the electric controller 8, and have magnetism during normal operation and have no magnetism during non-operation. The electric permanent magnetic chuck is magnetized or demagnetized instantaneously by being electrified or powered off, and does not lose magnetism even if the power is suddenly cut off, so that better power-off protection can be formed.
As shown in fig. 4, the program control of the positioning group pair tooling I6 may adopt the current mature industrial automatic control system, that is, after the positioning group pair tooling I6 carried by the multi-degree-of-freedom mechanical arm 1 moves in place under the guidance of the vision unit 3, the positioning group pair tooling I6 is fixed on the welding platform 5 by controlling the on/off of the lower permanent magnet sucker through the I/O signal to achieve the existence of magnetism.
In order to meet the positioning assembly requirement during non-vertical welding of the welding structural members, the fixture can be designed into a positioning assembly fixture II 4 shown in fig. 5, and the upper permanent magnet sucker 15 is obliquely arranged upwards. The positioning assembly welding tool is provided with a bracket 16 meeting the requirements according to the welding requirements, then an upper permanent magnet sucker 15 and a lower permanent magnet sucker 17 are installed, and the program control of the upper permanent magnet sucker and the lower permanent magnet sucker is identical to that of the positioning assembly welding tool I6.
The quick-change tool a13 is connected with the quick-change tool B14 at the end of the multi-degree-of-freedom mechanical arm 1, and as shown in fig. 6, the visual unit 3 is mounted at the end of the multi-degree-of-freedom mechanical arm 1.
As shown in fig. 7, the pick-up welding tool 2 includes a quick change tool a13 and an electro permanent magnet chuck 18 connected by a connection pipe 19, the electro permanent magnet chuck 18 being vertically disposed. The permanent magnet sucker 18 controls the magnetic attraction by a program, and has magnetism when working normally and has no magnetism when not working.
The program control of the pickup welding tool 2 adopts a mature industrial automatic control system, namely after the multi-degree-of-freedom mechanical arm identifies and positions the welding structural member 11 through the visual unit 3, the multi-degree-of-freedom mechanical arm carries the pickup welding tool 2 to move in place, and the I/O signal is used for controlling the connection of the electric permanent magnet chuck to pick up the workpiece, as shown in figure 8.
According to the invention, by leading in the three-dimensional model of the welding structure finished product 10 in advance, the multi-degree-of-freedom mechanical arm 1 can complete the picking, accurate positioning, assembling and assembling of the welding structure 11 by fixedly connecting different positioning assembling tools I6 or II 4 and the picking and welding tool 2 on the welding platform 5 through the matched assembling visual unit 3 and utilizing the magnetic attraction of the electric permanent magnet sucker on each tool, and the quick-change system bracket 12 can place different tools for the multi-degree-of-freedom mechanical arm 1 to call, so that the positioning assembling process of the welding structure 11 is completed.
The butt welding process based on flexible tooling and visual positioning by adopting the device provided by the invention is as follows:
1) The whole three-dimensional model of the welding structural part finished product 10 is guided into a multi-degree-of-freedom mechanical arm 1 system in advance;
2) The multi-degree-of-freedom mechanical arm 1 is matched and connected with a quick-change tool A13 through a quick-change tool B14 on a quick-change system bracket 12; connecting a positioning group pair tool I6 to the multi-degree-of-freedom mechanical arm 1, and then placing the positioning group pair tool I6 on the welding platform 5; the positioning group generates magnetic attraction to the lower permanent magnet sucker 17 of the tool I6 through program control and is fixed on the welding platform 5;
3) The multi-degree-of-freedom mechanical arm 1 moves to the position of the quick-change system bracket 12, is connected with the quick-change tool A13 in a matched manner through the quick-change tool B14, connects the pickup welding tool 2 to the multi-degree-of-freedom mechanical arm 1, performs identification and positioning on the welding structural member 11 through the visual unit 3, moves the pickup welding tool 2 to the position of the welding structural member 11, and enables the electro-permanent magnet sucker 18 of the pickup welding tool 2 to generate magnetic attraction to pick up the welding structural member 11 through program control;
4) The multi-degree-of-freedom mechanical arm 1 picks up the welding structural member 11 and then moves to the vicinity of the positioning assembly tooling I6 on the welding platform 5, and after the positioning assembly tooling I6 is identified and positioned through the visual unit 3, the welding structural member 11 is accurately placed to the positioning assembly tooling I6; the positioning assembly is controlled by a program to generate magnetic attraction to fix the welding structural member 11 on the electrified permanent magnet sucker 15 of the tool I6; at this time, positioning and aligning the first welding structural member are completed;
5) The mechanical arm 1 with multiple degrees of freedom moves to the position of the quick-change system bracket 12, the pick-up welding tool 2 is put down, the positioning group pair tool I6 is picked up, and the step 2 is repeated, so that the positioning group pair tool I6 is accurately placed;
6) The mechanical arm 1 with multiple degrees of freedom moves to the position of the quick-change system bracket 12, is connected with the pickup welding tool 2, and repeats the steps 3) and 4), so that the welding structural member 11 is accurately picked up and assembled;
7) And (2) circulating the steps 2) to 4) until the whole welding structure 11 is assembled.
In the assembling and splicing step 2), the multi-degree-of-freedom mechanical arm 1 can call the positioning group to operate the tool II 4 at any time according to the assembling requirement of the welding structural member 11.
The invention is not limited to the above embodiments, and based on the technical solution disclosed in the invention, a person skilled in the art may make some substitutions and modifications to some technical features thereof without creative effort according to the technical content disclosed, and all the substitutions and modifications are within the protection scope of the invention.
Claims (6)
1. The butt welding device based on the flexible tool and the visual positioning is characterized by comprising a multi-degree-of-freedom mechanical arm (1), a pickup butt welding tool (2), a visual unit (3), positioning assembly tools I, II (6, 4), a mechanical arm controller (7) and an electric controller (8);
the positioning assembly tooling I and II (6 and 4) comprises an upper electric permanent magnet sucker (15), a lower electric permanent magnet sucker (17) and a bracket (16), wherein the quick-change tool A (13) is connected to the tail part of the bracket (16), and the upper electric permanent magnet sucker (15) and the lower electric permanent magnet sucker (17) are respectively arranged at the front part and the bottom part of the bracket (16);
the upper permanent magnet sucker (15) and the lower permanent magnet sucker (17) are controlled to have magnetism when working normally by an electric controller (8) program, and have no magnetism when not working;
the positioning group is vertically arranged or obliquely arranged upwards on the upper permanent magnet suckers (15) of the tools I and II (6 and 4);
the pickup welding tool (2) comprises a quick-change tool A (13) and an electro-permanent magnet sucker (18) connected through a connecting pipe (19), wherein the electro-permanent magnet sucker (18) is vertically arranged;
the multi-degree-of-freedom mechanical arm (1) is connected with a positioning group pair tool and a visual unit (3), and the multi-degree-of-freedom mechanical arm (1) is connected with a pickup welding tool (2) and positioning group pair tools I and II (6 and 4) through a quick-change tool; the electric controller (8) is used for controlling the existence of magnetism of the bit group pair tools I, II (6, 4) and the pick-up welding tool (2);
the mechanical arm controller (7) is used for controlling the mechanical arm (1) with multiple degrees of freedom to move, and the mechanical arm controller is respectively connected with the pick-up welding tool (2) or the positioning assembly tools I and II (6 and 4) to pick up and assemble the welding structural member (11).
2. The butt welding device based on flexible tooling and visual positioning according to claim 1, further comprising a loading and unloading area (9) for placing a welding structural member (11), a finished welding structural member (10), a welding platform (5) for assembling the welding structural member (11), and a quick-change system bracket (12) for installing a quick-change tool.
3. The butt welding device based on flexible tooling and visual positioning according to claim 1, wherein the quick-change tool comprises a quick-change tool B (14) arranged on the mechanical arm (1) with multiple degrees of freedom and a quick-change tool A (13) arranged on the positioning butt welding tooling I, II (6, 4) and the pickup butt welding tooling (2).
4. The butt welding device based on flexible tooling and visual positioning according to claim 1, wherein the visual unit (3) is arranged at the top of the multi-degree-of-freedom mechanical arm (1) and is in the same direction with the pickup butt welding tooling (2) and the positioning butt welding tooling I, II (6, 4) arranged at the end part of the multi-degree-of-freedom mechanical arm (1).
5. The butt welding device based on flexible tooling and visual positioning according to claim 1, wherein the multi-degree-of-freedom mechanical arm (1) is a six-degree-of-freedom industrial robot.
6. A flexible tooling and visual positioning based butt welding method based on the apparatus of any one of claims 1-5, comprising:
1) The method comprises the steps of (1) guiding a welding structure finished product three-dimensional model into a mechanical arm control system;
2) Connecting the positioning group pair tool on a multi-degree-of-freedom mechanical arm, and then placing the positioning group pair tool on a welding platform; the electric controller is used for controlling the positioning group to magnetically attract the lower permanent magnet sucker of the tooling on the welding platform;
3) The method comprises the steps of connecting a pickup welding tool on a multi-degree-of-freedom mechanical arm, identifying and positioning a welding structural member through a visual unit, and controlling an electric controller to enable an electric permanent magnet sucker of the pickup welding tool to magnetically attract the pickup welding structural member;
4) The multi-degree-of-freedom mechanical arm recognizes and positions the positioning group alignment fixture through the visual unit, and moves the picked welding structural member to the vicinity of the positioning group alignment fixture on the welding platform; the electric controller controls the positioning group pair tooling magnetic attraction welding structural parts; positioning and aligning the first welding structural member;
5) The mechanical arm with multiple degrees of freedom moves to the position of the quick-change system bracket, the pick-up welding tool is put down, the positioning group pair tool is picked up, and the step 2) is repeated, so that the positioning group pair tool is accurately placed;
6) The mechanical arm with multiple degrees of freedom moves to the position of the quick-change system bracket, is connected with the pick-up welding tool, and repeats the steps 3) -4), so that the welding structural member is accurately picked up and assembled;
7) And (4) circulating the steps 2) to 4) until the whole welding structural part is assembled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110013672.6A CN112775936B (en) | 2021-01-06 | 2021-01-06 | Butt welding device and method based on flexible tool and visual positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110013672.6A CN112775936B (en) | 2021-01-06 | 2021-01-06 | Butt welding device and method based on flexible tool and visual positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112775936A CN112775936A (en) | 2021-05-11 |
| CN112775936B true CN112775936B (en) | 2024-02-20 |
Family
ID=75755859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110013672.6A Active CN112775936B (en) | 2021-01-06 | 2021-01-06 | Butt welding device and method based on flexible tool and visual positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112775936B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072104A (en) * | 2013-01-15 | 2013-05-01 | 中机建重工有限公司 | Portable magnetic span plate used for steel plate split joint and welding |
| CN208174773U (en) * | 2018-05-04 | 2018-11-30 | 陈永振 | A kind of handset bracket |
| CN110524582A (en) * | 2019-09-16 | 2019-12-03 | 西安中科光电精密工程有限公司 | A kind of flexibility welding robot workstation |
| CN214323361U (en) * | 2021-01-06 | 2021-10-01 | 西安中科光电精密工程有限公司 | Butt-splicing welding device based on flexible tool and visual positioning |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8157155B2 (en) * | 2008-04-03 | 2012-04-17 | Caterpillar Inc. | Automated assembly and welding of structures |
-
2021
- 2021-01-06 CN CN202110013672.6A patent/CN112775936B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072104A (en) * | 2013-01-15 | 2013-05-01 | 中机建重工有限公司 | Portable magnetic span plate used for steel plate split joint and welding |
| CN208174773U (en) * | 2018-05-04 | 2018-11-30 | 陈永振 | A kind of handset bracket |
| CN110524582A (en) * | 2019-09-16 | 2019-12-03 | 西安中科光电精密工程有限公司 | A kind of flexibility welding robot workstation |
| CN214323361U (en) * | 2021-01-06 | 2021-10-01 | 西安中科光电精密工程有限公司 | Butt-splicing welding device based on flexible tool and visual positioning |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112775936A (en) | 2021-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN2778454Y (en) | Robot welding production line | |
| US8322591B2 (en) | Automated assembly and welding of structures | |
| CN112775575A (en) | Intelligent flexible assembly welding robot system and method | |
| CN214323361U (en) | Butt-splicing welding device based on flexible tool and visual positioning | |
| CN112775936B (en) | Butt welding device and method based on flexible tool and visual positioning | |
| CN207171296U (en) | A kind of double flexible welding positioner for welding workstation | |
| CN111716342B (en) | Carrier device for end effector assembly, end effector and robot | |
| CN112223325A (en) | Manipulator and operation method thereof | |
| CN210233040U (en) | Reconfigurable fixture system of automobile body repairing and remanufacturing robot | |
| CN209624753U (en) | A kind of Switching Power Supply automatic aging test equipment | |
| CN218614151U (en) | Flexible auto-change over device of robot tool | |
| CN218385129U (en) | Automatic shaping diode lead wire installation diode device | |
| CN217102048U (en) | Robot clamp and six-axis robot | |
| CN105619435A (en) | Rigid-flexible mechanical arm having vibration excitation function, robot and method | |
| CN115555288A (en) | Deburring unit and deburring production system | |
| CN214322268U (en) | Intelligent flexible assembly welding robot system | |
| CN115740889A (en) | Intelligent welding system of robot | |
| CN115229472A (en) | Automatic assembly mechanism for rectangular sealing ring | |
| CN113400006A (en) | Automatic clamp spring and bolt installing machine of graphite joint robot | |
| JP2009297841A (en) | Assembling system using mobile versatile fixture | |
| CN218776614U (en) | Robot workpiece taking and quick replacing device | |
| CN202726339U (en) | Automatic welding platform of support | |
| CN218533671U (en) | Full-automatic intelligent processing system of work piece | |
| CN205764846U (en) | A kind of gearbox mount bracket automatic Model Selection is automatically positioned and the most urgent frock | |
| CN220411903U (en) | Special-shaped connector loading attachment |
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 |