CN112935540A - Thin-wall structure laser welding system and method based on multi-robot cooperation - Google Patents
Thin-wall structure laser welding system and method based on multi-robot cooperation Download PDFInfo
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- CN112935540A CN112935540A CN202110134833.7A CN202110134833A CN112935540A CN 112935540 A CN112935540 A CN 112935540A CN 202110134833 A CN202110134833 A CN 202110134833A CN 112935540 A CN112935540 A CN 112935540A
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/12—Working by laser beam, e.g. welding, cutting or boring in a special atmosphere, e.g. in an enclosure
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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Abstract
The invention relates to a thin-wall structure laser welding system and method based on multi-robot cooperation, wherein the thin-wall structure laser welding system based on multi-robot cooperation comprises two parallel guide rails, a welding robot for welding wall plate parts and an auxiliary robot for compressing the wall plate parts are arranged on the two guide rails respectively through external shafts, a laser welding head is arranged on the welding robot, and the welding robot and the auxiliary robot respectively have strokes moving along the width direction of the guide rails through the external shafts; a covering used for supporting the wallboard part is connected between the two guide rails, and a flexible tool used for adjusting and positioning the covering is arranged at the bottom of the covering. The invention belongs to the technical field of laser welding.
Description
Technical Field
The invention relates to the technical field of laser welding, in particular to a thin-wall structure laser welding system and method based on multi-robot cooperation.
Background
The method for manufacturing the T-shaped joint of the wall plate of the airplane body by adopting the laser welding technology is an advanced manufacturing technology generally accepted in the field of home and abroad aviation manufacturing. The existing T-shaped joint of the aircraft fuselage wall panel is generally manufactured by adopting a riveting connection technology, but the riveting structure has the limitations of heavy weight, low production efficiency, higher manufacturing cost and the like, and is not beneficial to ensuring the structural integrity of the aircraft fuselage wall panel. The laser welding technology simplifies the structural design of the wall plate, uses materials for construction, and becomes the development trend of manufacturing the wall plate structure. Compared with the traditional welding technology, the laser welding technology has more advantages in the structures with the manufacturing precision requirements of the plane wall plates, and the application examples of airbus companies show that the laser welding technology is adopted to replace the traditional riveting technology, especially the bilateral double-beam synchronous laser welding is adopted, the weight of the machine body structure and the manufacturing cost are effectively reduced, and the production efficiency is greatly improved. However, the advanced dual-beam laser welding special equipment is a prerequisite for realizing the dual-beam laser welding manufacturing of the ribbed wallboard, so that many domestic and foreign industrial groups and research institutions develop special equipment for laser welding of T-shaped joints of body wallboards, and the reliability and stability of the laser welding of the T-shaped joints are improved.
In the prior art, large-scale double-beam welding platforms developed for ribbed wall plates of airplanes are divided into two types, one type uses a large-scale gantry machine tool as a welding execution system, and the other type is a double-beam welding system based on double robots. The welding wallboard stringer of the double-beam welding system based on the gantry machine tool has the advantages of good welding stability, high precision and the like, but has the problems of poor process accessibility, low welding flexibility and the like for welding of the lug plate and the bulkhead; the double-beam laser welding platform based on the double robots has the advantages of high welding flexibility, good process accessibility and the like, but the processing capacity of the platform is limited by the sizes of the arms of the robots, so that the processing capacity of the double-beam laser welding system based on the double robots can only meet the requirement of manufacturing of airplane wallboards within a certain size range. In addition, the double-beam welding tool for the ribbed wallboard of the airplane is mostly an integral special tool, and has the problems of high cost, low efficiency, difficulty in controlling the welding deformation of weak-rigidity wallboard parts and the like.
Therefore, the inventor provides a thin-wall structure laser welding system and method based on multi-robot cooperation.
Disclosure of Invention
(1) Technical problem to be solved
The embodiment of the invention provides a thin-wall structure laser welding system and method based on multi-robot cooperation, and solves the technical problems that the manufacturing of an aircraft panel in a certain size range can only be met, the cost is high, the efficiency is low, and the welding deformation of weak-rigidity panel parts is not favorably controlled.
(2) Technical scheme
In a first aspect, an embodiment of the invention provides a thin-wall structure laser welding system based on multi-robot cooperation, which comprises two parallel guide rails, wherein a welding robot for welding wall plate parts and an auxiliary robot for compressing the wall plate parts are respectively arranged on the two guide rails through external shafts;
a covering used for supporting the wallboard part is connected between the two guide rails, and a flexible tool used for adjusting and positioning the covering is arranged at the bottom of the covering.
The flexible tool comprises a plurality of magnetic columns arranged at the bottom of the skin, suckers are arranged at the top ends of the magnetic columns respectively, and the magnetic columns are fixedly connected with the skin through the suckers.
Further improved, flexible frock includes the base, and each magnetic column is fixed respectively to be established on the base immediately.
In a further improvement, the bottom of the skin is also provided with an auxiliary positioning device for auxiliary positioning of the wallboard part.
In a second aspect, an embodiment of the present invention provides a welding method using the above-mentioned thin-wall structure laser welding system based on multi-robot cooperation, including the following steps:
s1, the two welding robots and the two auxiliary robots move to the set initial positions respectively;
s2, the central control unit respectively obtains first signals whether the two welding robots and the two auxiliary robots arrive, if the first signals are not, the step S1 is repeated, and if the first signals are yes, the step S3 is carried out;
s3, the two welding robots and the two auxiliary robots move to the initial welding positions respectively;
s4, the central control unit respectively obtains a second signal whether the two welding robots and the two auxiliary robots arrive, if the second signal is not, the step S3 is repeated, and if the second signal is yes, the step S5 is carried out;
s5, the two auxiliary robots move to the pressing positions respectively, and the two auxiliary robots perform clamping actions after reaching the pressing positions respectively;
s6, the central control unit respectively acquires a third signal whether the two auxiliary robots reach the compaction position, if the third signal is not, the step S5 is repeated, and if the third signal is yes, the step S7 is carried out;
s7, the two welding robots move to the welding initial positions respectively;
s8, the central control unit respectively acquires a fourth signal whether the two welding robots reach the welding starting positions, if the fourth signal is not, the step S7 is repeated, and if the fourth signal is yes, the step S9 is carried out;
s9, turning on the shielding gas, turning on the wire feeder, turning on the laser of the laser welding heads on the two welding robots respectively, and detecting the change of the state signal;
s10, the two welding robots and the two auxiliary robots respectively move synchronously along the track and weld the wall plate parts;
s11, the central control unit respectively acquires a fifth signal whether the two welding robots and the two auxiliary robots reach the welding end point, if the fifth signal is not, the central control unit continues to execute the step S10, and if the fifth signal is yes, the central control unit enters the step S12;
and S12, closing the shielding gas, closing the wire feeder, closing the laser of the laser welding heads on the two welding robots, then loosening the two auxiliary robots, and returning the two welding robots and the two auxiliary robots to the set initial positions respectively.
(3) Advantageous effects
In summary, in the thin-wall structure laser welding system and method based on multi-robot cooperation, the guide rail guides the two welding robots and the two auxiliary robots to move along the X axis and the Y axis, so that the limitation of the operation ranges of the joint arms of the two welding robots and the two auxiliary robots is expanded, the two welding robots and the two auxiliary robots can exert the advantage of flexibility, the action postures of laser beams are mainly regulated, the welding of long welding seams is realized, and the stability of the welding of the long welding seams is improved. Each part is a complete unit, welding peripheral equipment such as a welding head and the like are integrated on the welding robot and the platform thereof, and the welding robot and the platform are connected with an upper computer through the Ethernet, so that the free switching between unit control and upper computer joint control can be realized.
The invention provides a platform scheme for cooperative work of two welding robots and two auxiliary robots, which can complete welding in various modes based on flexible combination of a man-machine control interface and robot flexible combination and based on interface interchange of arm ends of the robots. Firstly, two welding robots are symmetrically combined to realize double-beam laser welding of a T-shaped joint of a ribbed wallboard, the two auxiliary robots position a wallboard part at a welding position by utilizing a pneumatic auxiliary clamping tool fixture and move in cooperation with the welding robots to realize follow-up pressing, positioning, clamping and welding deformation control of the wallboard part, the two auxiliary robots can also be used as positioning guide, image sensors of the two auxiliary robots are matched with contact sensors on the tool fixture to transmit a welding seam position signal to the welding robots, the posture of a welding execution end is adjusted in time, and the effect of locating and welding is achieved; two auxiliary robot are for the effect of welding seam pressure grinding, and the supplementary stress relief when controlling welding deformation utilizes the contact pick on the frock clamp simultaneously, carries out check-up and correction to auxiliary robot's signal, improves welding robot's welding position precision. The combination of the two welding robots and the two auxiliary robots can realize the all-position indexing synchronous welding of the circular seam of the large-diameter cylinder, improve the welding efficiency and reduce the welding deformation. The two welding robots and the two auxiliary robots can also be combined in a process mode, and in-situ laser cleaning, laser welding and laser shock strengthening of welding positions are synchronously achieved.
The flexible tool can adjust and position the skin, so that the wallboard part is adsorbed and positioned, and meanwhile, the control of welding deformation of the wallboard part is realized by applying force or torque based on the magnetic column of the flexible tool according to the laser welding deformation characteristic.
Based on the technical requirements of double-beam laser welding of a T-shaped structure of a ribbed wallboard, the functions of laser power, laser incidence angle, wire feeding, welding shielding gas and the like on auxiliary clamping execution ends of two auxiliary robots are respectively designed, the functions of cylinder control, pressing direction and the like on the welding execution ends of the two welding robots are respectively provided with four independent software packages, and the two welding robots and the two auxiliary robots are simultaneously controlled by the four independent software packages to complete the control and adjustment of a welding system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a thin-wall structure laser welding method based on multi-robot cooperation according to an embodiment of the present invention.
FIG. 2 is a top view of a thin-walled structure laser welding system based on multi-robot coordination in one embodiment of the present invention.
Fig. 3 is a diagram showing the connection of two welding robots, two auxiliary robots, a panel part and a skin in accordance with an embodiment of the present invention, wherein the direction indicated by the arrows in the diagram is the welding direction.
FIG. 4 is a diagram illustrating the connection of flexible tooling, skin and wallboard components in accordance with an embodiment of the present invention.
FIG. 5 is a side view of a multi-robot based cooperative laser welding system for thin-walled structures in accordance with an embodiment of the present invention.
In the figure:
1-a guide rail; 2-an outer shaft; 3-wall plate parts; 4-a welding robot; 41-laser beam; 42-welding the execution end; 5-an auxiliary robot; 51-auxiliary clamping execution end; 6-covering; 7-a magnetic column; 71-a sucker; 72-a base; 8-auxiliary positioning means; 9-tooling fixture.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, alterations, and improvements in the parts, components, and connections without departing from the spirit of the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1 to 5, a thin-wall structure laser welding system based on multi-robot cooperation comprises two parallel guide rails 1, wherein a welding robot 4 for welding a wall plate part 3 and an auxiliary robot 5 for pressing the wall plate part 3 are respectively arranged on the two guide rails 1 through an external shaft 2, a laser welding head is arranged on the welding robot 4, and the welding robot 4 and the auxiliary robot 5 respectively have a stroke moving along the width direction of the guide rails 1 through the external shaft 2;
a skin 6 used for supporting the wallboard part 3 is connected between the two guide rails 1, and a flexible tool used for adjusting and positioning the skin 6 is arranged at the bottom of the skin 6.
A welding method adopting the thin-wall structure laser welding system based on multi-robot cooperation comprises the following steps:
s1, the two welding robots 4 and the two auxiliary robots 5 move to the set initial positions respectively;
s2, the central control unit respectively obtains the first signals whether the two welding robots 4 and the two auxiliary robots 5 arrive, if the first signals are not, the step S1 is repeated, if the first signals are yes, the step S3 is proceeded;
s3, the two welding robots 4 and the two auxiliary robots 5 move to the initial welding positions respectively;
s4, the central control unit respectively acquires a second signal indicating whether the two welding robots 4 and the two auxiliary robots 5 arrive, if the second signal is no, the step S3 is repeated, and if the second signal is yes, the process proceeds to step S5;
s5, the two auxiliary robots 5 move to the pressing positions respectively, and the two auxiliary robots 5 perform clamping actions after reaching the pressing positions respectively;
s6, the central control unit respectively obtains a third signal indicating whether the two auxiliary robots 5 reach the compacting position, if the third signal is no, the step S5 is repeated, and if the third signal is yes, the step S7 is performed;
s7, the two welding robots 4 move to the welding initial positions respectively;
s8, the central control unit respectively obtains a fourth signal indicating whether the two welding robots 4 reach the welding start positions, if the fourth signal is no, the step S7 is repeated, and if the fourth signal is yes, the process goes to step S9;
s9, turning on the shielding gas, turning on the wire feeder, turning on the laser of the laser welding heads on the two welding robots 4 respectively, and detecting the change of the state signal;
s10, the two welding robots 4 and the two auxiliary robots 5 respectively move synchronously along the track and weld the wall plate part 3;
s11, the central control unit respectively obtains a fifth signal whether the two welding robots 4 and the two auxiliary robots 5 reach the welding end, if the fifth signal is no, the step S10 is continuously executed, if the fifth signal is yes, the step S12 is proceeded;
and S12, turning off the shielding gas, turning off the wire feeder, turning off the laser of the laser welding heads on the two welding robots 4, then loosening the two auxiliary robots 5, and respectively returning the two welding robots 4 and the two auxiliary robots 5 to the set initial positions.
Referring to fig. 2 again, the direction in which the two welding robots 4 and the two auxiliary robots 5 respectively move along the guide rail 1 is the X-axis direction, and the direction in which the two welding robots 4 and the two auxiliary robots 5 respectively move along the outer axis 2 is the Y-axis direction. The two welding robots 4 and the two auxiliary robots 5 can have a stroke moving along the X-axis and the Y-axis, respectively, through the guide rail 1 and the external axis 2, facilitating the welding operation, and the two welding robots 4 and the two auxiliary robots 5 move on the guide rail 1 and the external axis 2, respectively, through the control of the central control unit.
The two welding robots 4 and the two auxiliary robots 5 have six axes, respectively, and the six axes have six degrees of freedom, respectively, and can be linked with the motors of the external axes 2 under the control of the central control unit.
The relative positions of the welding execution ends 42 on the two welding robots 4 and the auxiliary gripping execution ends 51 of the two auxiliary robots 5 during welding are shown in fig. 3. The welding execution ends 42 of the two welding robots 4 are respectively positioned at two sides of the wall plate part 3, and the auxiliary clamping execution ends 51 of the two auxiliary robots 5 are respectively positioned at two sides of the wall plate part 3. In the welding process, the magnetic column 7 of the flexible tool automatically adjusts the position and the angle of the sucker 71.
In the welding process, the welding execution ends 42 of the two welding robots 4 and the auxiliary clamping execution ends 51 of the two auxiliary robots 5 are independently controlled through the PLC respectively, and meanwhile, the central control system cooperatively controls the two welding robots 4 and the two auxiliary robots 5 through the EtherCAT.
The thin-wall structure laser welding system and method based on multi-robot cooperation in the embodiment have the following advantages:
(1) two welding robot 4 of guide 1 guide and two auxiliary robot 5 along following X axle and Y axle motion, have expanded the limitation of two welding robot 4 and two auxiliary robot 5 joint arm operating ranges on the one hand, can make two welding robot 4 and two auxiliary robot 5 performance flexibility advantages on the other hand to the regulation and control laser beam 41 acts on the gesture and gives first place to, with the welding of long welding seam, improves long welding seam welded stability. Each part is a complete unit, welding peripheral equipment such as a welding head and the like are integrated on the welding robot 4 and the platform thereof, and the welding robot is connected with an upper computer through the Ethernet, so that the free switching between unit control and upper computer joint control can be realized.
(2) The platform scheme that two welding robots 4 and two auxiliary robots 5 work in coordination is proposed to this embodiment, based on man-machine control interface to the flexible combination of robot, based on the interface interchange of robot arm end, can accomplish the welding of multiple mode. Firstly, two welding robots 4 are symmetrically combined to realize double-beam laser welding of a T-shaped joint of a ribbed wallboard, two auxiliary robots 5 position a wallboard part 3 at a welding position by using a pneumatic auxiliary clamping tool clamp 9 and move in cooperation with the welding robots 4 to realize follow-up pressing, positioning, clamping and welding deformation control of the wallboard part 3, the two auxiliary robots 5 can also be used for positioning and guiding, image sensors of the two auxiliary robots 5 are matched with contact sensors on the tool clamp 9 to transmit welding seam position signals to the welding robots 4, the posture of a welding execution end 51 is adjusted in time, and the function of locating and welding is achieved; two auxiliary robot 5 are the welding seam and roll the effect, and the supplementary stress relief when controlling welding deformation utilizes the contact pick-up on frock clamp 9 simultaneously, checks up and revises auxiliary robot 5's signal, improves welding robot 4's welding position precision. The combination of the two welding robots 4 and the two auxiliary robots 5 can realize the all-position indexing synchronous welding of the circular seam of the large-diameter cylinder, improve the welding efficiency and reduce the welding deformation. The two welding robots 4 and the two auxiliary robots 5 can also be combined in a process to synchronously realize in-situ laser cleaning, laser welding and laser shock strengthening of the welding position.
(3) The flexible tool can adjust and position the skin 6, so that the wallboard part 3 is adsorbed and positioned, and meanwhile, the control of welding deformation of the wallboard part 3 is realized by applying force or torque based on the magnetic column of the flexible tool according to the laser welding deformation characteristic.
(4) Based on the technological requirements of the double-beam laser welding of the T-shaped structure of the ribbed wallboard, the auxiliary clamping execution ends 51 of the two auxiliary robots 5 are respectively provided with laser power, laser incidence angle, wire feeding, welding shielding gas and other functions, the cylinder control on the welding execution ends 42 on the two welding robots 4, the pressing direction and other functions are respectively provided with four independent software packages, the two welding robots 4 and the two auxiliary robots 5 are simultaneously controlled through the four independent software packages, and the control and adjustment of a welding system are completed.
Further, in an embodiment, the flexible tool comprises a plurality of magnetic columns 7 arranged at the bottom of the skin 6, the top ends of the magnetic columns 7 are respectively provided with a suction cup 71, and the magnetic columns 7 and the skin 6 are fixedly connected through the suction cups 71.
Further, in an embodiment, the flexible tooling includes a base 72, and each magnetic column 7 is respectively fixed and vertically arranged on the base 72.
Further, in an embodiment, the bottom of the skin 6 is further provided with an auxiliary positioning device 8 for auxiliary positioning of the panel part 3. Referring to fig. 4 again, in order to control the deformation of the wallboard part 3 during the welding process and ensure the contour accuracy of the wallboard part 3, an external force and a torque are applied to the skin 6 through the magnetic columns 7 and the suction cups 71 of the flexible tooling, so that the purpose of controlling the laser welding deformation of the wallboard part 3 is achieved, and the magnitude and the direction of the applied force and the torque are obtained through a numerical calculation method. In the welding process of the wallboard part 3, in order to ensure the accurate positioning and the welding seam quality of the wallboard part 3, the auxiliary positioning device 8 is adopted to carry out auxiliary supporting and positioning on the skin 6.
The above description is only an example of the present application and is not limited to the present application. Various modifications and alterations to this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (5)
1. A thin-wall structure laser welding system based on multi-robot cooperation is characterized by comprising two parallel guide rails, wherein a welding robot for welding wall plate parts and an auxiliary robot for compressing the wall plate parts are arranged on the two guide rails through external shafts respectively;
a covering used for supporting the wallboard part is connected between the two guide rails, and a flexible tool used for adjusting and positioning the covering is arranged at the bottom of the covering.
2. The multi-robot cooperation-based thin-wall structure laser welding system as claimed in claim 1, wherein the flexible tool comprises a plurality of magnetic columns arranged at the bottom of the skin, suckers are respectively arranged at the top ends of the magnetic columns, and the magnetic columns and the skin are fixedly connected through the suckers.
3. The multi-robot cooperation-based laser welding system for the thin-wall structure is characterized by comprising a base, wherein each magnetic column is fixedly and vertically arranged on the base.
4. The multi-robot synergy-based thin-walled structure laser welding system of claim 1, wherein the bottom of the skin is further provided with auxiliary positioning means for auxiliary positioning of wall plate parts.
5. A welding method using the thin-walled structure laser welding system based on multi-robot cooperation according to any one of claims 1 to 4, characterized by comprising the steps of:
s1, the two welding robots and the two auxiliary robots move to the set initial positions respectively;
s2, the central control unit respectively obtains first signals whether the two welding robots and the two auxiliary robots arrive, if the first signals are not, the step S1 is repeated, and if the first signals are yes, the step S3 is carried out;
s3, the two welding robots and the two auxiliary robots move to the initial welding positions respectively;
s4, the central control unit respectively obtains a second signal whether the two welding robots and the two auxiliary robots arrive, if the second signal is not, the step S3 is repeated, and if the second signal is yes, the step S5 is carried out;
s5, the two auxiliary robots move to the pressing positions respectively, and the two auxiliary robots perform clamping actions after reaching the pressing positions respectively;
s6, the central control unit respectively acquires a third signal whether the two auxiliary robots reach the compaction position, if the third signal is not, the step S5 is repeated, and if the third signal is yes, the step S7 is carried out;
s7, the two welding robots move to the welding initial positions respectively;
s8, the central control unit respectively acquires a fourth signal whether the two welding robots reach the welding starting positions, if the fourth signal is not, the step S7 is repeated, and if the fourth signal is yes, the step S9 is carried out;
s9, turning on the shielding gas, turning on the wire feeder, turning on the laser of the laser welding heads on the two welding robots respectively, and detecting the change of the state signal;
s10, the two welding robots and the two auxiliary robots respectively move synchronously along the track and weld the wall plate parts;
s11, the central control unit respectively acquires a fifth signal whether the two welding robots and the two auxiliary robots reach the welding end point, if the fifth signal is not, the central control unit continues to execute the step S10, and if the fifth signal is yes, the central control unit enters the step S12;
and S12, closing the shielding gas, closing the wire feeder, closing the laser of the laser welding heads on the two welding robots, then loosening the two auxiliary robots, and returning the two welding robots and the two auxiliary robots to the set initial positions respectively.
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| CN114505845A (en) * | 2022-02-21 | 2022-05-17 | 哈尔滨工业大学（深圳） | Controller system and welding system for multi-mechanical arm cooperative control based on EtherCAT |
| CN114850971A (en) * | 2022-05-27 | 2022-08-05 | 清华大学 | Multi-robot array cooperative processing device and method for large-diameter thin-wall cylinder section part |
| CN114939762A (en) * | 2022-06-27 | 2022-08-26 | 中国航空制造技术研究院 | T-shaped joint welding tool and welding deformation control method |
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