CN113211435A - Multi-mechanical-arm welding robot - Google Patents
Multi-mechanical-arm welding robot Download PDFInfo
- Publication number
- CN113211435A CN113211435A CN202110478337.3A CN202110478337A CN113211435A CN 113211435 A CN113211435 A CN 113211435A CN 202110478337 A CN202110478337 A CN 202110478337A CN 113211435 A CN113211435 A CN 113211435A
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- welding
- module
- synchronization
- robot
- arm
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- 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
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- 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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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
Abstract
The invention discloses a multi-mechanical-arm welding robot, which comprises at least two welding mechanical arms, a main control module and a synchronization module, wherein each welding mechanical arm comprises a plurality of motors for driving the welding mechanical arms to move and controllers for controlling the motors; the synchronization module is used for generating a synchronization signal and sending the synchronization signal to the controllers of the at least two welding mechanical arms. According to the scheme of the invention, the synchronization precision among the multiple mechanical arms is improved through the cooperation of the synchronization module and the main control module, and the production efficiency can be effectively improved in the face of high-precision welding and complex conditions.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a multi-mechanical-arm welding robot.
Background
With the increasing input of welding robots into actual welding production, the quality and efficiency of production are improved to a great extent. For some complex welding structures, a single mechanical arm robot cannot finish welding at a time, singular points of the robot can be formed at positions, the mechanical arm cannot reach the welding position, an obstacle exists in a preset welding path, multiple welding points can be sequentially processed on one welding point or cannot be welded continuously when meeting a dead point, welding can be guaranteed to continue only by adopting external auxiliary facilities such as a positioner, and therefore the working efficiency is greatly influenced. At the moment, a plurality of mechanical arm welding robots are needed to complete welding operation, the plurality of mechanical arms are welded simultaneously, the stroke limitation of a single mechanical arm robot is avoided, the efficiency is improved to a great extent, and for a large number of welding operations, complex welding structures or high-precision small-scale welding conditions, synchronous control and accurate positioning among the plurality of mechanical arms become problems which need to be solved for effectively controlling the cooperation of the plurality of mechanical arms.
Disclosure of Invention
In order to solve the above problems, the invention provides a multi-arm welding robot, which comprises at least two welding arms 3, wherein each welding arm 3 comprises a plurality of motors 32 for driving the welding arms 3 to move and controllers 31 for controlling the motors 32, and further comprises a main control module 1 and a synchronization module 2, the main control module 1 is respectively connected with the controllers 31 of the at least two welding arms 3 and the synchronization module 2, and is used for controlling the synchronization module 2 to generate synchronization signals and sending control instructions to the controllers 31 of the at least two welding arms 3 to control the at least two welding arms 3 to work, wherein the control instructions comprise a triggering mode, a synchronization period and working instructions; the synchronization module 2 is connected to the controllers 31 of the at least two welded robot arms 3, and is configured to generate a synchronization signal with a synchronization period and send the synchronization signal to the controllers 31 of the at least two welded robot arms 3.
Further, the synchronization module 2 is a PWM (Pulse Width Modulation) module, and the synchronization signal is a PWM signal.
Further, the triggering mode is composed of an initial judgment and a preset time delay, and the initial judgment is the rising edge triggering of the PWM signal or the falling edge triggering of the PWM signal.
Further, the welding mechanical arm 3 further comprises an alarm 33 connected with the controller 31, and the alarm 33 is used for sending an alarm signal when the synchronous signal is abnormal and/or the control command is abnormal.
Further, the alarm 33 includes a timing module 331, where the timing module 331 is configured to detect a time interval that the controller 31 is triggered to be interrupted by the synchronization signal twice, compare the time interval with a preset period, and send an alarm signal to the main control module 1 through the controller 31 if a difference value is greater than a threshold value.
Further, the alarm 33 includes a counting module 332, where a preset value of the counting module 332 is N, and decreases by 1 every time a synchronization cycle passes, and when the preset value is 0, an alarm signal is sent, where the controller 31 resets the preset value to N every time the controller receives the control instruction, where N is a positive integer greater than 2.
Further, the welding auxiliary device comprises an auxiliary function module and an auxiliary controller, wherein the auxiliary controller is respectively connected with the main control module 1 and the synchronization module 2, and the auxiliary function module is used for completing auxiliary welding work under the control of the main control module 1 and the synchronization module 2.
Further, the welding auxiliary equipment is a wire feeding mechanism, a positioner or a clamp.
Further, the motors 32 of the welding robot arm 3 for driving the welding robot arm 3 to move are synchronously controlled based on adjacent cross coupling.
According to the scheme of the invention, the synchronization precision among the multiple mechanical arms is improved through the matching of the synchronization module 2 and the main control module 1, and the production efficiency can be effectively improved in the face of high-precision welding and complex conditions. Furthermore, the alarm 33 monitors the synchronous signals and the control commands in real time, so that the multi-mechanical arm welding robot can give an alarm in time when the synchronous state is abnormal, and the running stability of the multi-mechanical arm welding robot is ensured. And finally, the synchronous control of the welding mechanical arm is controlled through adjacent cross coupling, so that the control precision is ensured.
Drawings
FIG. 1 is a schematic structural diagram of a multi-arm welding robot according to an embodiment of the present invention;
FIG. 2 is a timing diagram illustrating a synchronous control sequence for a multi-welding robot according to an embodiment of the present invention;
FIG. 3 is a timing diagram illustrating a synchronous control sequence for another multi-welding robot according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of another multi-arm welding robot according to an embodiment of the present invention;
fig. 5 is a schematic diagram of the multi-motor adjacent cross coupling control disclosed in the embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
The invention provides a multi-mechanical-arm welding robot which comprises at least two welding mechanical arms 3, wherein each welding mechanical arm 3 comprises a plurality of motors 32 used for driving the welding mechanical arms 3 to move and controllers 31 used for controlling the motors 32, a main control module 1 and a synchronization module 2, the main control module 1 is respectively connected with the controllers 31 of the at least two welding mechanical arms 3 and the synchronization module 2 and used for controlling the synchronization module 2 to generate synchronization signals and sending control instructions to the controllers 31 of the at least two welding mechanical arms 3 to control the at least two welding mechanical arms 3 to work, and the control instructions comprise triggering modes, synchronization periods and working instructions; the synchronization module 2 is connected to the controllers 31 of the at least two welded robot arms 3, and is configured to generate a synchronization signal with a synchronization period and send the synchronization signal to the controllers 31 of the at least two welded robot arms 3.
In the first embodiment, as shown in fig. 1, in the present embodiment, the multi-arm welding robot includes three welding arms 3, each welding arm 3 includes three motors 32, the synchronization module 2 is a PWM module, and the synchronization signal is a PWM signal. The operation of the multi-arm welding robot will be described below. After the multi-arm welding robot is started, the main control module 1 performs initialization operation on the whole system, and then receives working data input by an input/output module (not shown in the figure), wherein the input/output module can be in signal connection with the main control module 1 in a wired or wireless manner, and can be integrally arranged with the multi-arm welding robot or independently arranged, without limitation. After receiving the working data, the main control module 1 generates a control instruction according to the working data, and controls the period and duty ratio of the PWM signal.
The following is exemplified by a synchronization period of 2 seconds, and three welding robots 3 all perform synchronous motion, and it can be understood that the synchronization period is a minimum operation period, and a motion instruction is issued once per period, so that the period can be set according to the requirement of operation precision. The PWM module generates a PWM signal having a period of 2 seconds and a duty ratio of 50% under the control of the main control module 1. The main control module 1 sends different control instructions to the respective controllers 31 of the three welding mechanical arms, where the main control module 1 can distinguish the three controllers 31 by IP addresses or distinguish the three controllers 31 by I/O ports, and the distinguishing mode and the connection mode are directly related. In this embodiment, a 485 serial interface (not shown in the figure) is used for wired connection, and IP addresses 192.168.1.10, 192.168.1.11, and 192.168.1.12 are respectively preset for the three controllers 31, so that the IP addresses 192.168.1.10 are respectively assigned; IP address 192.168.1.11; the control instruction sent by the IP address 192.168.1.12 includes a trigger mode, a synchronization cycle, and a work instruction, and specifically includes:
sequence number 1, send destination: IP 192.168.1.10, initial judgment: rising edge triggering, presetting time delay: 0ms, synchronization period: 2s, work order: corresponding to the movement track and the welding start and stop time of the welding mechanical arm 3;
sequence number 2, send destination: IP 192.168.1.11, initial judgment: rising edge triggering, presetting time delay: 0ms, synchronization period: 2s, work order: corresponding to the movement track and the welding start and stop time of the welding mechanical arm 3;
It can be understood that the triggering mode and the synchronization cycle of the three control commands are the same, and the working commands are different. As shown in fig. 2, after receiving the corresponding control instruction, the three controllers 31 trigger to interrupt and start to control the corresponding welding robot arm 3 to work according to the received work instruction when the rising edge occurs in the judgment of the received PWM signal.
For example, the three welding mechanical arms 3 move non-simultaneously with a synchronization period of 2 seconds, the PWM module generates a PWM signal with a period of 2 seconds and a duty ratio of 50% under the control of the main control module 1. The three controllers 31 preset IP addresses 192.168.1.13, 192.168.1.14 and 192.168.1.15 respectively, and then respectively respond to the IP address 192.168.1.13; an IP address 192.168.1.14; the control instruction sent by the IP address 192.168.1.15 includes a trigger mode, a synchronization cycle, and a work instruction, and specifically includes:
sequence number 1, send destination: IP 192.168.1.13, initial judgment: rising edge triggering, presetting time delay: 0ms, synchronization period: 2s, work order: corresponding to the movement track and the welding start and stop time of the welding mechanical arm 3;
sequence number 2, send destination: IP 192.168.1.14, initial judgment: rising edge triggering, presetting time delay: 500ms, synchronization period: 2s, work order: corresponding to the movement track and the welding start and stop time of the welding mechanical arm 3;
As shown in fig. 3, after receiving the corresponding control commands, the three controllers 31 start to control the corresponding welding robot arms to work according to the received work commands when receiving the PWM signals and determining the trigger interrupt according to the situation.
It will be appreciated that the required accuracy of operation is known since the welding regime has been previously generated before welding commences. In other embodiments, the synchronization period in the control command may be sent only for the first time after the initialization operation, and none of the control commands in the current welding includes the synchronization period thereafter. In the same way, the subsequent control instruction does not include a triggering mode, and the scheme of the invention improves the synchronization precision among multiple mechanical arms by matching the synchronization module 2 and the main control module 1, and can effectively improve the production efficiency in the face of high-precision welding and complex conditions.
In the second embodiment, on the basis of the first embodiment, since the accuracy of the multi-arm welding robot is high, when the multi-arm welding robot 3 is in synchronization abnormality, the welding robot 3 is likely to collide with each other, rub against each other, or cause a defect of a welding target, so that the synchronization abnormality needs to be monitored in real time. Based on this, as shown in fig. 4, in the present embodiment, taking three welding robots 3 as an example, the three welding robots 3 further include alarm devices 33 respectively connected to the controller 31, and the alarm devices 33 are configured to send an alarm signal when the synchronization signal is abnormal and/or the control command is abnormal.
The three welded mechanical arms 3 are basically the same, and any welded mechanical arm 3 is exemplified, the alarm 33 includes a timing module 331, where the timing module 331 is configured to detect a time interval between two consecutive times of triggering and interruption of the controller 31 by the synchronization signal, compare the time interval with a preset period, and send an alarm signal to the main control module 1 through the controller 31 if a difference value is greater than a threshold value. Specifically, after receiving the control signal, the controller 31 triggers interruption and starts working according to the PWM signal every time and transmits a signal to the timing module 331, the timing module 331 records a time interval every time and compares the time interval with a preset period, and when the difference is greater than a threshold, the controller 31 sends an alarm signal to the main control module 1, where the preset period is adjusted according to the triggering mode and the synchronization period, if the triggering mode is not changed, the preset period is equal to the synchronization period, and if the triggering mode is changed, the preset period adds/subtracts corresponding influences on the basis of the synchronization period according to the influence of the triggering mode.
The timing module 331 can determine that the synchronization module 2 or the line has a fault, if the three welding robots 3 alarm at the same time due to the synchronization period, the synchronization module 2 or the whole synchronization signal line has a fault, otherwise, the single welding robot 3 has a synchronization fault.
In this embodiment, if any welding robot arm 3 does not receive the control command, the welding robot arms 3 may collide with each other, rub against each other, or cause a defect of a welding target, so that the signal receiving state of the welding robot arm 3 needs to be monitored in real time. Specifically, the alarm 33 further includes a counting module 332, where a preset value of the counting module 332 is N, and is subtracted by 1 every time a synchronization cycle passes, and when the preset value is 0, an alarm signal is sent, where the controller 31 resets the preset value to N every time the controller receives the control instruction, where N is a positive integer greater than 2. The alarm signal may be a light, a sound, or an electronic message transmitted to the operator through a wired/wireless signal, which is not limited herein.
In the embodiment, the alarm 33 monitors the synchronous signal and the control command in real time, so that the multi-arm welding robot can give an alarm in time when the synchronous state is abnormal, and the running stability of the multi-arm welding robot is ensured.
In a third embodiment, in the present embodiment, the multi-arm welding robot further includes a welding auxiliary device, and in order to ensure welding accuracy, the welding auxiliary device, such as a fixture and the welding arm 3, is usually required to move synchronously, so that the welding auxiliary device includes an auxiliary function module and an auxiliary controller, the auxiliary controller is respectively connected to the main control module 1 and the synchronization module 2, and the auxiliary operation of welding is completed through the auxiliary function module under the control of the main control module 1 and the synchronization module 2. Wherein the welding auxiliary equipment is any one or combination of a wire feeding mechanism, a positioner and a clamp. It will be appreciated that the control and synchronization of the welding aids is substantially the same as for the welding robot 3 and will not be described in detail here.
Fourth embodiment, on the basis of the above embodiments, high-precision welding of a multi-robot welding robot is an indispensable part of the precise control of the welding robot 3 itself in addition to the synchronous control of the multi-welding robot 3. Based on this, each welding manipulator 3 of the present embodiment includes a plurality of motors 32 for driving the welding manipulator 3 to move, the number of the motors depends on the number of movable joints, and the number of the motors is different under different conditions, as shown in fig. 5, in the present embodiment, three motors 32 for driving the welding manipulator 3 to move are synchronously controlled based on adjacent cross coupling. The control of adjacent cross coupling for each joint takes into account the state of the adjacent two joints, i.e. the control output of each joint not only enables the following error of that joint to converge to zero, but also has to make the following errors of its adjacent joints equal, so as to maintain synchronization and eventually converge to zero. The method can simplify the complexity of control when the number of joints of the system is large, so that the control is easy to realize and the synchronous control performance is high. In this embodiment, in order to better determine the posture of the welding manipulator 3, the welding manipulator 3 is further provided with a plurality of magnetic switches.
In other embodiments, an adjacent cross-coupled synchronous motor control method based on the combination of the RBF neural network and the sliding mode control can also be adopted. Specifically, the sliding mode control can enable the system to move on a preset track through changing a control structure under different control conditions, and is a typical nonlinear control. The variable structure control is a structure in which two control structures exist in a system, and when a switching function reaches a set value, the system is switched to another state, and is a relatively typical one in discontinuous control. The RBF (Radial basis function) neural network is composed of three parts, namely an input layer, a hidden layer and an output layer, and constitutes an important part of the neural network because it can approximate any function. The conversion of the input layer to the hidden layer of the neural network is non-linear, but the change of the hidden layer of the neural network to the output layer is linear. The input layer of the neural network inputs vectors to each node of the hidden layer, the spatial nodes of the hidden layer are subjected to linear weighted summation to obtain output data of the neural network, and the control switching gain of the sliding mode controller is optimized by using the strong mapping capacity of the neural network, so that the data approaches the standard, the buffeting of the sliding mode controller is reduced, and the optimal control of the self-adaptive function is realized.
By adopting the scheme, the excellent robustness of sliding mode control is inherited on the control performance, the buffeting problem caused by the sliding mode control can be eliminated, and the performance of multi-motor synchronous control is effectively improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, as it will be apparent to those skilled in the art that various modifications, combinations and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (9)
1. A multi-mechanical arm welding robot comprises at least two welding mechanical arms, wherein each welding mechanical arm comprises a plurality of motors for driving the welding mechanical arms to move and controllers for controlling the motors, and the multi-mechanical arm welding robot is characterized by further comprising a main control module and a synchronization module, wherein the main control module is respectively connected with the controllers of the at least two welding mechanical arms and the synchronization module and is used for controlling the synchronization module to generate a synchronization signal and sending a control instruction to the controllers of the at least two welding mechanical arms to control the at least two welding mechanical arms to work, and the control instruction comprises a triggering mode, a synchronization period and a working instruction; the synchronous module is connected with the controllers of the at least two welding mechanical arms and used for generating synchronous signals with synchronous periods and sending the synchronous signals to the controllers of the at least two welding mechanical arms.
2. The multi-robot welding robot of claim 1, wherein the synchronization module is a PWM module and the synchronization signal is a PWM signal.
3. The multi-robot welding robot of claim 2, wherein the triggering manner is composed of an initial judgment and a predetermined time delay, and the initial judgment is a PWM signal rising edge trigger or a PWM signal falling edge trigger.
4. The multi-robot welding robot of claim 2, further comprising an alarm connected to the controller, the alarm being configured to send an alarm signal when the synchronization signal is abnormal and/or the control command is abnormal.
5. The multi-robot arm welding robot of claim 4, wherein the alarm comprises a timing module, wherein the timing module is configured to detect a time interval between two consecutive times of the controller being triggered and interrupted by the synchronization signal, compare the time interval with a preset period, and send an alarm signal to the main control module through the controller if the difference is greater than a threshold value.
6. The multi-robot welding robot of claim 4, wherein the alarm comprises a counting module, the counting module is preset to a value of N, the value is reduced by 1 every time a synchronization cycle passes, and an alarm signal is sent when the preset value is 0, wherein the controller resets the preset value to N every time the controller receives the control command, wherein N is a positive integer greater than 2.
7. The multi-robot arm welding robot of claim 1, further comprising a welding auxiliary device, wherein the welding auxiliary device comprises an auxiliary function module and an auxiliary controller, the auxiliary controller is respectively connected to the main control module and the synchronization module, and auxiliary work of welding is performed through the auxiliary function module under the control of the main control module and the synchronization module.
8. The multi-robot welding robot of claim 7, wherein the welding assistance device is a wire feeder, positioner, or clamp.
9. The multi-robot arm welding robot of any one of claims 1-8, wherein a plurality of motors of the welding robot arm for moving the welding robot arm are synchronously controlled based on adjacent cross-coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110478337.3A CN113211435A (en) | 2021-04-30 | 2021-04-30 | Multi-mechanical-arm welding robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110478337.3A CN113211435A (en) | 2021-04-30 | 2021-04-30 | Multi-mechanical-arm welding robot |
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| CN113211435A true CN113211435A (en) | 2021-08-06 |
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| CN202110478337.3A Withdrawn CN113211435A (en) | 2021-04-30 | 2021-04-30 | Multi-mechanical-arm welding robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114448293A (en) * | 2022-04-06 | 2022-05-06 | 中汽创智科技有限公司 | Motor synchronous control method, system, vehicle and storage medium |
| CN115008093A (en) * | 2022-06-14 | 2022-09-06 | 广东天太机器人有限公司 | Multi-welding-point welding robot control system and method based on template identification |
| CN116900538A (en) * | 2023-09-14 | 2023-10-20 | 天津大学 | Multi-robot task planning method based on deep reinforcement learning and region balance |
-
2021
- 2021-04-30 CN CN202110478337.3A patent/CN113211435A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114448293A (en) * | 2022-04-06 | 2022-05-06 | 中汽创智科技有限公司 | Motor synchronous control method, system, vehicle and storage medium |
| CN114448293B (en) * | 2022-04-06 | 2022-07-05 | 中汽创智科技有限公司 | Motor synchronous control method, system, vehicle and storage medium |
| CN115008093A (en) * | 2022-06-14 | 2022-09-06 | 广东天太机器人有限公司 | Multi-welding-point welding robot control system and method based on template identification |
| CN115008093B (en) * | 2022-06-14 | 2023-03-14 | 广东天太机器人有限公司 | Multi-welding-point welding robot control system and method based on template identification |
| CN116900538A (en) * | 2023-09-14 | 2023-10-20 | 天津大学 | Multi-robot task planning method based on deep reinforcement learning and region balance |
| CN116900538B (en) * | 2023-09-14 | 2024-01-09 | 天津大学 | Multi-robot task planning method based on deep reinforcement learning and region balance |
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Application publication date: 20210806 |