CN114406540A

CN114406540A - Automatic welding equipment for signal transmission line and use method of equipment

Info

Publication number: CN114406540A
Application number: CN202210096128.7A
Authority: CN
Inventors: 毕江海; 王继军; 秦俊飞; 王振文; 郑军; 陈浙泊; 董建林; 王蒙; 潘凌锋; 陈龙威; 李慧忠; 简浩; 曹英德; 邵园园
Original assignee: Research Institute of Zhejiang University Taizhou; China Railway Construction Electrification Bureau Group Co Ltd; Third Engineering Co Ltd of China Railway Construction Electrification Bureau Group Co Ltd
Current assignee: Research Institute of Zhejiang University Taizhou; China Railway Construction Electrification Bureau Group Co Ltd; Third Engineering Co Ltd of China Railway Construction Electrification Bureau Group Co Ltd
Priority date: 2022-01-26
Filing date: 2022-01-26
Publication date: 2022-04-29

Abstract

The invention discloses a mechanical arm zero returning device and a mechanical arm zero returning method for automatic welding equipment, wherein the mechanical arm zero returning device comprises a mechanical arm zero returning module, the mechanical arm zero returning module comprises a reset button and a reset control system, the reset control system is connected with the control system, the control system controls the mechanical arm to return to zero after the mechanical arm meets an emergency or stops in an emergency through the mechanical arm zero returning module, the reset control system stores moving path information between each path and an avoidance point, the automatic welding equipment comprises a wire taking arm and a welding arm, and the wire taking arm and the welding arm form a mechanical arm.

Description

Automatic welding equipment for signal transmission line and use method of equipment

Technical Field

The invention belongs to the field of automation, and relates to automatic welding equipment for a signal transmission line and a using method of the equipment.

Background

The signal machine room is used as the heart of the signal system and has extremely important significance in the whole signal network. In a signal network, signals are usually connected through signal transmission lines, so that a large number of wiring cabinets and wirings exist in a signal machine room, in the process of building the traditional signal machine room, the operations of wire cutting, wire stripping and welding of signal transmission line terminals are mostly realized in a manual mode, although tools such as wire strippers are used for assisting at present, a large number of repeated actions are very dull and easy to make mistakes, on the other hand, the welding of the signal transmission lines is difficult to set a uniform standard, so that the connection stability of different wirings is different, and faults are easy to occur.

Disclosure of Invention

The invention provides automatic welding equipment for signal transmission lines and a using method of the equipment, aiming at overcoming the defects of the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a signal transmission line's automatic weld equipment which characterized in that: the wire taking device comprises a base, a welding device, a wire taking device, a wire preprocessing device and a control system, the control system controls the base, the welding device, the wire taking device and the wire preprocessing device to run, the wire taking device comprises a wire taking arm, the welding device comprises a welding arm, the wire taking device takes a signal transmission line to be processed from a wiring cabinet to the wire preprocessing device through the wire taking arm to perform preprocessing, the wire taking device enables the signal transmission line to be preprocessed to the welding device through the wire taking arm, and the welding device enables the signal transmission line to be preprocessed to move to a welding terminal of the wiring cabinet through the welding arm and to be welded.

Further, the method comprises the following steps of; the base passes through the AGV drive, and the base passes through the AGV and moves to standby position, and the wiring cabinet is provided with a plurality of line boards, and arbitrary line board has set firmly a plurality of line board holes, and horizontal or vertical distribution is followed to a plurality of line board holes, and the downthehole hanging of line board is equipped with the signal transmission line who remains to handle, and wiring cabinet opposite side is provided with the welding plate that is used for the bonding wire, and welding terminal is located the welding plate.

Further, the method comprises the following steps of; the thread taking device comprises a thread taking assembly, a thread taking transverse moving assembly and a thread taking longitudinal moving assembly, wherein the thread taking longitudinal moving assembly is fixedly arranged on a base along the vertical direction, the thread taking longitudinal moving assembly comprises a thread taking longitudinal moving drag chain, one end of the thread taking longitudinal moving drag chain is fixed, the other end of the thread taking longitudinal moving drag chain is connected with a thread taking longitudinal moving slide block on the thread taking longitudinal moving assembly, the thread taking longitudinal moving assembly drives the thread taking longitudinal moving slide block to move so as to drive the thread taking longitudinal moving drag chain to move along the vertical direction, the thread taking longitudinal moving drag chain can protect pipelines and limit the moving range of the thread taking device, the thread taking transverse moving assembly comprises a thread taking transverse moving drag chain, one end of the thread taking transverse moving drag chain is fixed with the thread taking transverse moving assembly, the other end of the thread taking transverse moving slide block on the thread taking transverse moving assembly is connected, the thread taking transverse moving assembly drives the thread taking transverse drag chain to move along the horizontal direction by driving the thread taking slide block, the thread taking transverse moving drag chain can protect the pipelines, meanwhile, the moving range of the wire taking device is limited, the wire taking traverse sliding block is fixedly connected with the wire taking arm, the combined action of the wire taking traverse sliding component and the wire taking longitudinal moving component controls the position of the wire taking arm to move in the space, the wire taking arm is formed by connecting multiple sections of arms, a cylinder group is arranged in the wire taking arm and moves in the space, one end of the wire taking arm is fixedly connected with the wire taking traverse sliding block, the other end of the wire taking arm is fixedly connected with the wire taking component, the wire taking arm drives the wire taking component to move in the space, and the adjustment of the small position range is controlled.

Further, the method comprises the following steps of; the wire taking assembly comprises a wire taking fixing plate, a wire taking connecting plate, a first wire taking mechanism and a second wire taking mechanism are fixedly arranged on the wire taking fixing plate and are fixedly connected with a wire taking arm, the first wire taking mechanism comprises a first wire taking cylinder, a first wire taking plate and a second wire taking plate, the first wire taking cylinder is respectively connected with the first wire taking plate and the second wire taking plate and controls the first wire taking plate and the second wire taking plate to synchronously move relative to or oppositely move for taking and paying off, the first wire taking plate and the second wire taking plate are identical in structure and are symmetrically distributed, the first wire taking plate comprises a first plate, a second plate and a third plate, the first plate, the second plate and the third plate are sequentially and fixedly connected to form a Z-shaped structure, the first plate is connected with the first wire taking cylinder, the first wire taking groove and the second wire taking groove are respectively fixedly arranged on the opposite surfaces of the first wire taking plate and the second wire taking plate, and the first wire taking groove and the second wire taking groove are preferably of semicircular structures, the first wire taking cylinder controls the first wire taking plate and the second wire taking plate to synchronously move relatively, so that the first wire taking plate is contacted with the second wire taking plate, and the signal transmission line is limited in a wire taking groove formed by the first wire taking groove and the second wire taking groove.

Further, the method comprises the following steps of; the second wire taking mechanism comprises a second wire taking cylinder, a third wire taking plate and a fourth wire taking plate, the second wire taking cylinder is respectively connected with the third wire taking plate and the fourth wire taking plate, and controlling a third wire taking plate and a fourth wire taking plate to synchronously move oppositely or oppositely to carry out wire taking and paying off operations, wherein the third wire taking plate and the fourth wire taking plate are in the same structure and are symmetrically distributed, the third wire taking plate comprises a fourth plate, a fifth plate and a sixth plate, the fourth plate, the fifth plate and the sixth plate are sequentially fixedly connected to form a Z-shaped structure, the fourth plate is connected with a second wire taking cylinder, a third wire taking groove and a fourth wire taking groove are respectively fixedly arranged on the opposite surfaces of the third wire taking plate and the sixth plate of the fourth wire taking plate, the third wire taking groove and the fourth wire taking groove are preferably semicircular structures, the second wire taking cylinder controls the third wire taking plate and the fourth wire taking plate to synchronously move oppositely, the third wire taking plate and the fourth wire taking plate are in contact, and a signal transmission line is limited in the wire taking groove formed by the third wire taking groove and the fourth wire taking groove to carry out the wire taking operation.

Further, the method comprises the following steps of; the wire pretreatment device comprises a wire pretreatment mechanism, a wire pretreatment transverse moving assembly and a wire pretreatment longitudinal moving assembly, wherein the wire pretreatment longitudinal moving assembly is fixedly arranged on a base along the vertical direction, the wire pretreatment longitudinal moving assembly comprises a wire pretreatment longitudinal moving drag chain, one end of the wire pretreatment longitudinal moving drag chain is fixed, the other end of the wire pretreatment longitudinal moving drag chain is connected with a wire pretreatment longitudinal moving slide block on the wire pretreatment longitudinal moving assembly, the wire pretreatment longitudinal moving assembly drives the wire pretreatment longitudinal moving drag chain to move along the vertical direction through a driving wire pretreatment longitudinal moving slide block, the wire pretreatment longitudinal moving drag chain can protect a pipeline and limit the moving range of the wire pretreatment device, the wire pretreatment mechanism at least comprises a wire twisting assembly, a wire shearing assembly, a wire conveying assembly, a wire tightening detection assembly and a wire pretreatment platform, the wire twisting assembly, the wire shearing assembly, the wire stripping assembly, the wire conveying assembly and the wire tightening detection assembly are arranged on the wire pretreatment platform, the wire preprocessing platform is connected with the wire preprocessing transverse moving assembly, the wire conveying assembly moves relative to the wire twisting assembly, the wire shearing assembly and the wire stripping assembly, the wire conveying assembly is in butt joint with the wire twisting assembly, the wire conveying assembly is in butt joint with the wire shearing assembly and the wire stripping assembly, and the wire preprocessing device conducts wire shearing, wire stripping, wire twisting and detection operations on the signal transmission wire through the wire twisting assembly, the wire shearing assembly, the wire stripping assembly, the wire conveying assembly and the wire tightening detection assembly.

Further, the method comprises the following steps of; the welding device comprises a welding assembly, a welding transverse moving assembly and a welding longitudinal moving assembly, wherein the welding longitudinal moving assembly is fixedly arranged on a base in the vertical direction and is driven by a lead screw, the welding longitudinal moving assembly comprises a welding longitudinal moving drag chain, one end of the welding longitudinal moving drag chain is fixed, the other end of the welding longitudinal moving drag chain is connected with a welding longitudinal moving slide block on the welding longitudinal moving assembly, the welding longitudinal moving assembly drives the welding longitudinal moving slide block to move so as to drive the welding longitudinal moving drag chain to move in the vertical direction, the welding longitudinal moving drag chain can protect a pipeline and limit the moving range of the welding device, the welding transverse moving assembly comprises a welding transverse moving drag chain, one end of the welding transverse moving drag chain is fixed with the welding transverse moving assembly, the other end of the welding transverse moving drag chain is connected with the welding transverse moving slide block on the welding transverse moving assembly, and the welding transverse moving assembly drives the welding transverse moving drag chain to move in the horizontal direction by driving the welding transverse moving slide block, the welding transverse moving drag chain can protect the pipeline and limit the moving range of the welding device, and the welding transverse moving sliding block is fixedly connected with the welding arm.

Further, the method comprises the following steps of; the welding arm is formed by connecting a plurality of sections of arms, a cylinder group is arranged in the welding arm, the welding arm moves in a space range, one end of the welding arm is fixedly connected with a welding transverse sliding block, the other end of the welding arm is fixedly connected with a welding assembly, the welding arm drives the welding assembly to move in the space range, the adjustment of the position in a small range is controlled, the welding assembly comprises a welding fixing mechanism, a welding conveying mechanism and a welding clamping mechanism, the welding mechanism and the welding conveying mechanism are respectively fixed on the welding fixing mechanism, the welding conveying mechanism receives a formed line conveyed by the line taking device and moves the formed line to a welding position, the welding mechanism welds a signal transmission line, the welding fixing mechanism comprises a first welding fixing plate and a second welding fixing plate, the first welding fixing plate and the second welding fixing plate are vertically connected, and the second welding fixing plate is fixedly provided with a welding connecting plate fixedly connected with the welding arm, welding mechanism sets firmly at welding fixed plate one through the welding board, welding mechanism includes a welding piece, a welding fixed plate, the pressure welding motor and a welding connecting plate, the pressure welding motor is fixed at the welding board and is connected with a welding connecting plate, the pressure welding motor can drive a welding connecting plate and remove, a welding fixed plate sets firmly at a welding connecting plate, the welding piece is installed at a welding connecting plate, the removal of a welding fixed plate is controlled to pressure welding motor accessible welding connecting plate, the position of adjustment welding, the line that will wear out is pressed flat.

The use method of the automatic welding equipment for the signal transmission line is characterized by comprising the following steps: the method is used for the automatic welding equipment and specifically comprises the following steps:

step B1: preprocessing automatic welding equipment;

step B2: starting and preparing automatic welding equipment;

step B3: judging the number sequence of the welding wires;

step B4: the control system controls the AGV to run to a destination station corresponding to the current welding wire sequence;

step B5: starting the automatic welding equipment, initializing the second confirmation equipment by the control system to ensure that the communication of the equipment is normal, starting the welding arm and starting the wire taking arm.

Step B6: judging the number sequence of the line plates;

step B7: the welding device, the wire taking device and the wire preprocessing device are operated to a position to be executed for taking a bonding wire of a certain wire plate in the wire plate array;

step B8: judging the number sequence of inner holes of the line board;

step B9: the control system sends the coordinates of the current line taking point to the line taking arm; the wire taking arm controls the wire taking assembly to take the wire from the wire taking point, and the wire taking and pulling operations are completed;

step B10: the wire taking arm controls the wire taking assembly to carry out wire cutting, wire stripping and wire twisting operations on the signal transmission line operating wire preprocessing mechanism;

step B11: the wire taking arm controls the wire taking assembly to transfer a wire to the welding assembly; the welding assembly moves the wire to the welding point coordinate to complete the wire welding operation;

step B12: accumulating the line board inner hole number sequence, judging whether the line board inner hole number sequence is executed completely, if so, executing the step B13, otherwise, executing the step B8;

step B13: accumulating the line board number sequence, judging whether the line board number sequence is executed completely, if so, executing the step B14, otherwise, executing the step B6;

step B14: when the execution of the line board array of the destination station is finished, the line taking arm and the wire welding arm are shut down, and the system is powered off;

step B15: judging whether the welding sequence is finished, if so, executing the step B16, otherwise, executing the step B3;

step B16: and the control system controls the AGV to run to the standby station, and the multi-cabinet wire welding program is executed.

Further, the method comprises the following steps of; the automatic welding equipment starting preparation in the step B2 comprises the following steps:

step B2.1: the PC issues a welding number series execution list to the control system;

step B2.2: starting the AGV and confirming that the AGV communicates normally;

step B2.3: the control system controls the AGV7 to run to the standby station;

step B2.4: the control system reads the serial execution list.

In conclusion, the invention has the advantages that:

1) the invention positions the wire taking point and the welding point through the positioning system, is convenient for the wire taking operation of the wire taking device and the welding operation of the welding device, realizes the functions of automatic wire taking and automatic welding, avoids a large amount of manual and repeated work, and improves the efficiency of wire taking and welding and the stability of wire taking and welding.

2) The thread taking device realizes thread taking operation through the thread taking device, the thread taking transverse moving assembly and the thread taking longitudinal moving assembly realize the spatial position movement of the thread taking device under the combined action, the thread taking arm drives the thread taking assembly to move in the spatial range, the small-range adjustment of the position is controlled, and the accurate control of each position of the thread taking device is realized.

3) The welding device realizes welding operation through the welding device, the welding transverse moving assembly and the welding longitudinal moving assembly realize the spatial position movement of the welding device under the combined action, the welding arm drives the welding assembly to move in the spatial range, the small-range adjustment of the position is controlled, and the accurate control of the welding position of the welding device is realized.

4) The invention controls the position of the base, the wire taking device, the welding device and the positioning system through the control system, the welding number sequence execution list is input into the control system through the PC, and the control system reads the welding number sequence to realize automatic and uninterrupted wire taking welding operation.

5) The invention controls the automatic zero return of the mechanical arm through the mechanical arm zero return module, the reset control system stores the different set path information from the movement path information between each path point and the avoidance point according to the different stop positions before emergency or emergency stop, the operation path of the mechanical arm is set to be in one-way operation circulation from the avoidance point to the avoidance point along each path point under the normal state, and if the stop position of the mechanical arm before emergency or emergency stop is each path point, the reset control system controls the mechanical arm to move from the path point to the avoidance point; if the stopping position of the mechanical arm before emergency or emergency stop is a midway point between different waypoints, the mechanical arm passes through the previous waypoint or the avoidance point, and the mechanical arm moves from the previous waypoint to the avoidance point, so that intermediate links and time are reduced, and the zero returning efficiency of the mechanical arm is improved.

Drawings

Fig. 1 is a schematic view of the assembly of the connection cabinet and the base of the present invention.

FIG. 2 is a schematic view of a susceptor apparatus according to the present invention.

Fig. 3 is an isometric view of the wire-retrieving device of the present invention.

Fig. 4 is a front view of the thread take-off device of the present invention.

FIG. 5 is a schematic view of a wire pretreatment apparatus of the present invention.

Fig. 6 is a first schematic view of a welding device according to the present invention.

Fig. 7 is a second schematic view of the welding apparatus of the present invention.

FIG. 8 is a top view of the welding device and positioning system assembly of the present invention.

Fig. 9 is a schematic sectional view of a-a in fig. 8.

Fig. 10 is a first flow chart of the robot arm zeroing according to the present invention.

FIG. 11 is a second flowchart illustrating the zeroing of the robot arm according to the present invention.

Figure 12 is a schematic diagram of a reference line plate and line plate of the present invention.

FIG. 13 is a flowchart of the AGV movement in step B1.0 of the present invention.

FIG. 14 is a first flowchart of the process of establishing the coordinate system of the welding arm in step B1.0.

FIG. 15 is a second flowchart of the process of establishing the coordinate system of the welding arm in step B1.0.

Fig. 16 is an automatic welding flow chart of the present invention.

FIG. 17 is a flow chart illustrating AGV communication determination according to the present invention.

FIG. 18 is a flow chart of control system initialization according to the present invention.

Fig. 19 is a flow chart of the present invention for establishing coordinates of a wire plate and a welding arm.

Figure 20 is a flow chart of the present invention for creating a line board vision alignment template.

FIG. 21 is a flow chart of the present invention for establishing weld plate and weld arm coordinates.

FIG. 22 is a flow chart of the present invention for creating a visual alignment template for a weld plate.

Fig. 23 is a flow chart of pre-editing the operation of the robot arm according to the present invention.

FIG. 24 is a flow chart of wire pick and welding of the present invention.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, number and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

All directional indicators (such as up, down, left, right, front, rear, lateral, longitudinal … …) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the movement, etc. in a particular posture, and if the particular posture is changed, the directional indicator is changed accordingly.

The first embodiment is as follows:

as shown in figures 1-9, an automatic welding device for signal transmission lines comprises a base 1, a welding device 2, a wire taking device 3, a wire preprocessing device 4, a positioning system 6 and a control system, wherein the control system is respectively connected with the base 1, the welding device 2, the wire taking device 3, the wire preprocessing device 4 and the positioning system 6, the control system controls the operation of the base 1, the welding device 2, the wire taking device 3, the wire preprocessing device 4 and the positioning system 6, the welding device 2 comprises a welding traverse module 23 and a welding longitudinal moving module 24, the wire taking device 3 comprises a wire taking traverse module 33 and a wire taking longitudinal moving module 34, the wire preprocessing device 4 comprises a wire preprocessing traverse module 43 and a wire preprocessing longitudinal moving module 44, the welding longitudinal moving module 24, the wire taking longitudinal moving module 34 and the wire preprocessing longitudinal moving module 44 are fixedly arranged on the base 1, and the welding traverse module 23, the welding device 2, the wire taking device 3 and the wire preprocessing longitudinal moving module 44 are fixedly arranged on the base 1, The thread taking transverse moving assembly 33 and the thread preprocessing transverse moving assembly 43 are respectively arranged on the welding longitudinal moving assembly 24, the thread taking longitudinal moving assembly 34 and the thread preprocessing longitudinal moving assembly 44, the welding transverse moving assembly 23 and the welding longitudinal moving assembly 24 control the position of the welding device 2, the thread taking transverse moving assembly 33 and the thread taking longitudinal moving assembly 34 control the position of the thread taking device 3, and the thread preprocessing transverse moving assembly 43 and the thread preprocessing longitudinal moving assembly 44 control the position of the thread preprocessing device 4.

The automatic welding equipment further comprises a power supply device (not shown), the power supply device comprises power electricity and control electricity, the power electricity is used for supplying power to the execution equipment, the control electricity is used for supplying power to the control system, the power electricity supplements the power supply through an electric cylinder, as shown in figure 1, the wiring cabinet 5 is provided with a charging interface 81, the base 1 is provided with a charging device, the control electricity supplements the power supply through a backup battery, under the condition that the power is sufficient, the power electricity supplements the power supply to the control electricity through the backup battery, under the condition that the power electricity is disconnected, the execution equipment is powered off, and the control electricity guarantees the power of the control system through the backup battery supplementing power supply.

Base 1 passes through AGV7 drive, base 1 moves to waiting to stand by machine position through AGV7, generally speaking, base 1 is relative with 5 positions of wiring cabinet, wiring cabinet 5 is provided with a plurality of line boards, arbitrary line board has set firmly a plurality of line board holes, horizontal or vertical distribution is followed to a plurality of line board holes, it remains the signal transmission line of handling to hang in the line board hole, 5 opposite sides of wiring cabinet are provided with the welding plate that is used for the wiring, be provided with a plurality of welding terminals on the welding plate, wire taking device 3 gets the signal transmission line that waits to handle and carries out the preliminary treatment to line preprocessing device 4, wire taking device 3 gets signal transmission line after the preliminary treatment to welding set 2, welding set 2 will remove to welding terminal and welding through the signal transmission line after the preliminary treatment.

The wire taking device 3 comprises a wire taking arm 31, a wire taking assembly 32, a wire taking transverse moving assembly 33 and a wire taking longitudinal moving assembly 34, the wire taking longitudinal moving assembly 34 is fixedly arranged on the base 1 along the vertical direction, the wire taking longitudinal moving assembly 34 adopts screw transmission, the wire taking longitudinal moving assembly 34 comprises a wire taking longitudinal moving drag chain (not shown in the figure), one end of the wire taking longitudinal moving drag chain is fixed, the other end of the wire taking longitudinal moving drag chain is connected with a wire taking longitudinal moving sliding block on the wire taking longitudinal moving assembly 34, the wire taking longitudinal moving assembly 34 drives the wire taking longitudinal moving drag chain to move along the vertical direction by driving the wire taking longitudinal moving sliding block to move, the wire taking longitudinal moving drag chain can protect pipelines, and meanwhile, the moving range of the wire taking device 3 is limited.

The wire taking transverse moving assembly 33 is driven by a lead screw, the wire taking transverse moving assembly 33 comprises a wire taking transverse moving drag chain (not shown in the figure), one end of the wire taking transverse moving drag chain is fixed with the wire taking transverse moving assembly 33, the other end of the wire taking transverse moving drag chain is connected with a wire taking transverse moving slide block on the wire taking transverse moving assembly 33, the wire taking transverse moving assembly 33 drives the wire taking transverse moving drag chain to move along the horizontal direction by driving the wire taking transverse moving slide block to move, the wire taking transverse moving drag chain can protect pipelines and limit the moving range of the wire taking device 3, the wire taking transverse moving slide block is fixedly connected with the wire taking arm 31, and the position of the wire taking device 3 in space is moved by the combined action of the wire taking transverse moving assembly 33 and the wire taking longitudinal moving assembly 34.

The wire taking arm 31 is formed by connecting a plurality of sections of arms with each other, a cylinder group is arranged in the wire taking arm, the wire taking arm can move in a space range, one end of the wire taking arm 31 is fixedly connected with the wire taking transverse sliding block, the other end of the wire taking arm 31 is fixedly connected with the wire taking assembly 32, the wire taking arm 31 drives the wire taking assembly 32 to move in the space range, the adjustment of the position in a small range is controlled, and the accurate control of each position of the wire taking device is realized.

The wire taking assembly 32 comprises a wire taking fixing plate 322, a wire taking connecting plate 321, a first wire taking mechanism and a second wire taking mechanism which are fixedly connected with the wire taking arm 31 are fixedly arranged on the wire taking fixing plate 322, the first wire taking mechanism comprises a first wire taking cylinder 3231, a first wire taking plate 3232 and a second wire taking plate 3233, the first wire taking cylinder 3231 is respectively connected with the first wire taking plate 3232 and the second wire taking plate 3233, and the first wire taking cylinder 3232 and the second wire taking plate 3233 are controlled to synchronously move relative to each other or back to each other, so that wire taking and paying off operations are realized.

The first wire taking plate 3232 and the second wire taking plate 3233 are identical in structure and symmetrically distributed, the first wire taking plate 3232 is taken as an example for explanation, the first wire taking plate 3232 comprises a first plate, a second plate and a third plate, the first plate, the second plate and the third plate are sequentially and fixedly connected to form a Z-shaped structure, the first plate is connected with a first wire taking cylinder 3231, the opposite surfaces of the first wire taking plate 3232 and the third plate of the second wire taking plate 3233 are respectively and fixedly provided with a first wire taking groove 3234 and a second wire taking groove 3235, the first wire taking groove 3234 and the second wire taking groove 3235 are preferably semicircular in structure, the first wire taking cylinder 3231 controls the first wire taking plate 3232 and the second wire taking plate 3233 to synchronously move relatively, the first wire taking plate 3232 is in contact with the second wire taking plate 3233, and a signal transmission line is limited in the wire taking groove formed by the first wire taking groove 3234 and the second wire taking groove 3235, so that wire taking operation is realized.

The second wire taking mechanism comprises a second wire taking cylinder 3241, a third wire taking plate 3242 and a fourth wire taking plate 3243, wherein the second wire taking cylinder 3241 is respectively connected with the third wire taking plate 3242 and the fourth wire taking plate 3243, and controls the third wire taking plate 3242 and the fourth wire taking plate 3243 to synchronously move relatively or reversely, so that wire taking and paying off operations are realized.

The third wire taking plate 3242 and the fourth wire taking plate 3243 are the same in structure and are symmetrically distributed, the third wire taking plate 3242 is taken as an example, the third wire taking plate 3242 comprises a fourth plate, a fifth plate and a sixth plate, the fourth plate, the fifth plate and the sixth plate are sequentially and fixedly connected to form a Z-shaped structure, the fourth plate is connected with a second wire taking cylinder 3241, the opposite surfaces of the third wire taking plate 3242 and the fourth wire taking plate 3243 are respectively and fixedly provided with a third wire taking groove 3244 and a fourth wire taking groove 3245, the third wire taking groove 3244 and the fourth wire taking groove 3245 are preferably semicircular in structure, the second wire taking cylinder 3241 controls the third wire taking plate 3242 and the fourth wire taking plate 3243 to synchronously move relatively, the third wire taking plate 3242 is in contact with the fourth wire taking plate 3243, and a signal transmission line is limited in the wire taking groove formed by the third wire taking groove 3244 and the fourth wire taking groove 3245, so that wire taking operation is realized.

As shown in fig. 3, the first wire taking mechanism and the second wire taking mechanism are distributed along the horizontal direction, the second wire taking mechanism further includes a wire taking driving mechanism 3246, the wire taking driving mechanism 3246 adopts a cylinder structure, the wire taking driving mechanism 3246 is connected with the second wire taking mechanism, and controls the movement of the second wire taking mechanism in the horizontal direction, and further controls the distance between the first wire taking mechanism and the second wire taking mechanism in the horizontal direction, so as to realize the wire pulling operation, in this embodiment, the operation process of the wire taking device 3 is specifically that the wire taking traverse module 33 and the wire taking longitudinal moving module 34 control the wire taking module 32 to move to the wiring cabinet 5, the wire taking arm 31 control the wire taking module 32 to move to the wire taking point, the first wire taking mechanism takes the wire head of the signal transmission wire, the second wire taking mechanism fixes the wire head to the backward position, so that the signal transmission wire between the first wire taking mechanism and the second wire taking mechanism keeps a linear type or a similar linear type, on the one hand, the stability of the wire taking is ensured, and on the other hand, the transmission of the signal transmission line between the wire taking device 3 and the welding device 2 and the wire preprocessing device 4 is facilitated.

The line preprocessing device 4 of the embodiment adopts the existing equipment, the line preprocessing device 4 comprises a line preprocessing mechanism 42, a line preprocessing transverse moving component 43 and a line preprocessing longitudinal moving component 44, the line preprocessing longitudinal moving component 44 is fixedly arranged on the base 1 along the vertical direction, the line preprocessing longitudinal moving component 44 adopts screw transmission, the line preprocessing longitudinal moving component 44 comprises a line preprocessing longitudinal moving drag chain (not shown), one end of the line preprocessing longitudinal moving drag chain is fixed, the other end of the line preprocessing longitudinal moving drag chain is connected with a line preprocessing longitudinal moving slide block on the line preprocessing longitudinal moving component 44, the line preprocessing longitudinal moving component 44 drives the line preprocessing longitudinal moving drag chain to move along the vertical direction through a driving line preprocessing longitudinal moving slide block, the line preprocessing longitudinal moving drag chain can protect the pipeline, and the moving range of the line preprocessing device 4 is limited at the same time.

The wire preprocessing mechanism 42 at least comprises a twisting component 421, a wire shearing component 422, a wire stripping component 423, a wire conveying component 424, a wire tightening detection component and a wire preprocessing platform, wherein the twisting component 421, the wire shearing component 422, the wire stripping component 423, the wire conveying component 424 and the wire tightening detection component are installed on the wire preprocessing platform, the wire preprocessing platform is connected with the wire preprocessing traversing component 43, the wire conveying component 424 can move relative to the twisting component 421, the wire shearing component 422 and the wire stripping component 423 to realize butt joint of the wire conveying component 424 and the twisting component 421, the wire conveying component 424 is butt joint with the wire shearing component 422 and the wire stripping component 423, and the wire preprocessing device 4 realizes wire shearing, wire stripping, wire twisting and detection operations of a signal transmission wire through the twisting component 421, the wire shearing component 422, the wire stripping component 423, the wire conveying component 424 and the wire tightening detection component.

In this embodiment, the wire preprocessing device 4 is in butt joint with the wire taking device 3, the wire taking device 3 moves the signal transmission line from the wiring cabinet 5 to the wire conveying assembly 424 of the wire preprocessing device 4, the signal transmission line is preprocessed through the wire preprocessing device 4, the signal transmission line is subjected to wire cutting, wire stripping and wire twisting, the processed signal transmission line moves to the welding device 2 through the wire preprocessing device 4, and the signal transmission line is welded through the welding device 2.

Welding set 2 includes welding arm 21, welding subassembly 22, welding sideslip subassembly 23 and welding move the subassembly 24 from north to south, the welding moves the subassembly 24 from north to south and sets firmly on base 1 along vertical direction, the welding moves the subassembly 24 from north to south and adopts screw drive, the welding moves the subassembly 24 from north to south and includes that the welding moves the tow chain (not sign in the figure) from north to south, welding moves tow chain one end fixedly from north to south, the other end moves the slider with welding on the welding moves the subassembly 24 from north to south and is connected, the welding moves the subassembly 24 from north to south and moves the slider through the drive welding and removes and then drives the welding and move the tow chain from north to south and remove along vertical direction, the welding moves the tow chain from north to south and not only can protect the pipeline, welding set 2's moving range has been restricted simultaneously.

Welding sideslip subassembly 23 adopts screw drive, welding sideslip subassembly 23 includes the welding sideslip tow chain (not sign in the figure), welding sideslip tow chain one end is fixed with welding sideslip subassembly 23, the other end is connected with the welding sideslip slider on the welding sideslip subassembly 23, welding sideslip subassembly 23 removes and then drives the welding sideslip tow chain and remove along the horizontal direction through the drive welding sideslip slider, the welding sideslip tow chain not only can protect the pipeline, the range of movement of welding set 2 has been restricted simultaneously, the welding sideslip slider sets firmly with welding arm 21 and is connected, this embodiment realizes the position removal in the space of welding set 2 through the combined action of welding sideslip subassembly 23 and welding vertical movement subassembly 24.

The welding arm 21 is formed by connecting a plurality of sections of arms, a cylinder group is arranged in the welding arm 21, the welding arm can move in a space range, one end of the welding arm 21 is fixedly connected with the welding transverse sliding block, the other end of the welding arm 21 is fixedly connected with the welding assembly 22, the welding arm 21 drives the welding assembly 22 to move in the space range, the position is controlled to be adjusted in a small range, and accurate control over the welding position of the welding device 2 is achieved.

The welding assembly 22 comprises a welding fixing mechanism, a welding conveying mechanism and a welding clamping mechanism, the welding mechanism and the welding conveying mechanism are respectively fixed on the welding fixing mechanism, the welding conveying mechanism receives the formed lines conveyed by the line taking device 3 and moves the formed lines to a welding position, and the welding mechanism welds the signal transmission lines.

The welding fixing mechanism comprises a first welding fixing plate 2201 and a second welding fixing plate 2203, the first welding fixing plate 2201 is vertically connected with the second welding fixing plate 2203, a welding connecting plate 2202 used for being fixedly connected with the welding arm 21 is fixedly arranged on the second welding fixing plate 2203, and the welding mechanism is fixedly arranged on the first welding fixing plate 2201 through a welding plate 2213.

The welding mechanism comprises a welding piece 2210, a welding piece fixing plate 2211, a pressure welding motor 2212 and a welding piece connecting plate 2214, the pressure welding motor 2212 is fixed on the welding plate 2213 and connected with the welding piece connecting plate 2214, the pressure welding motor 2212 can drive the welding piece connecting plate 2214 to move, the welding piece fixing plate 2211 is fixedly arranged on the welding piece connecting plate 2214, the welding piece 2210 is installed on the welding piece connecting plate 2214, the pressure welding motor 2212 can control the movement of the welding piece fixing plate 2211 through the welding piece connecting plate 2214, the position of the welding piece 2210 is further adjusted, the welding accuracy is guaranteed, meanwhile, a penetrated line can be flattened, and welding is facilitated.

Welding clamping mechanism includes die clamping cylinder 2221 and clamp plate 2222, and clamp plate 2222 is provided with two sets ofly, and horizontal symmetry installs at clamp cylinder 2221, and clamp cylinder 2221 controls two sets of clamp plates 2222 and move relatively or back to back in step, realizes the clamp or loosen welding terminal to the clamp of line, convenient welding, is provided with signal transmission line's through-hole between two sets of clamp plates 2222.

The welding conveying mechanism comprises an upper component and a lower component, a line is placed between the upper component and the lower component through the line taking device 3, specifically, the upper component comprises two groups of upper plates 2232, the two groups of upper plates 2232 are horizontally and symmetrically arranged on the lower end surface of the clamping cylinder 2221, the side surfaces of the two groups of upper plates 2232 are fixedly provided with upper side plates 2233, the lower end surfaces of the upper side plates 2233, the two groups of upper plates 2232 and the clamping cylinder 2221 form an upper mounting cavity with a downward opening, and as shown in fig. 8, an upper traction wheel 2234 and an upper guide wheel 2235 are rotationally arranged in the upper mounting cavity.

The lower component comprises a lower air cylinder 2245, the lower air cylinder 2245 is fixedly arranged on a second welding fixing plate 2203, a lower push block 2244 is fixedly arranged on the lower air cylinder 2245, the lower air cylinder 2245 controls the lower push block 2244 to move in the vertical direction, two groups of horizontally symmetrical lower plates 2242 are fixedly arranged on the lower push block 2244, lower side plates 2243 are fixedly arranged on the side surfaces and the bottom surfaces of the two groups of horizontally symmetrical lower plates 2242, the two groups of lower plates 2242 and the lower side plates 2243 form a lower installation cavity with an upward opening, the lower installation cavity is opposite to the upper installation cavity in position, a transmission wheel 2246 and a lower guide wheel 2247 are rotatably arranged in the lower installation cavity, the lower guide wheel 2247 is opposite to the upper guide wheel 2235 in position, grooves are respectively fixedly arranged on the lower guide wheel 2247 and the upper guide wheel 2235 in line, the transmission of a signal threading transmission line is guided, a plurality of transmission wheels 2246 are arranged on the transmission wheel 2246, wherein a group of the transmission wheel 2246 is controlled to rotate through a motor 2240, a tooth shape is arranged outside the driving wheel 2246, and the upper traction wheel 2234 is opposite to the group of driving wheels 2246;

welding conveying mechanism still includes the clamping jaw, the clamping jaw includes last clamping jaw 2231 and lower clamping jaw 2241, last clamping jaw 2231 sets firmly at last curb plate 2233, lower clamping jaw 2241 sets firmly at lower curb plate 2243, the lower terminal surface of last clamping jaw 2231 and the up end of lower clamping jaw 2241 are provided with the cambered surface, and the lower terminal surface of last clamping jaw 2231 and the up end of lower clamping jaw 2241 set firmly the inner groovy, form the transport chamber 225 that is used for the signal transmission line to carry after last clamping jaw 2231 and lower clamping jaw 2241 offset, the signal transmission line of carrying through lower leading wheel 2247 and last leading wheel 2235 direction conveys to between last traction wheel 2234 and the drive wheel 2246, and carry signal transmission line to transport chamber 225 through the tooth form effect of drive wheel 2246, and run through the through hole along the line head of carrying chamber 225 signal transmission line.

In this embodiment, the operation of the welding device 2 is as follows, the lower cylinder 2245 controls the lower member to move downward relative to the upper member, so that the upper member and the lower member are separated from the connection state, the wire taking device 3 moves a pre-processed signal transmission line between the upper member and the lower member, the lower cylinder 2245 is started to control the lower member to move upward relative to the upper member, so that the upper member and the lower member are connected, the signal transmission line is positioned between the lower guide wheel 2247 and the upper guide wheel 2235 and between the upper traction wheel 2234 and the driving wheel 2246, the threading motor 2240 is started to convey the signal transmission line along the conveying cavity 225 and penetrate through the through hole, the welding clamping mechanism clamps the welding terminal, so as to conveniently position and clamp the signal transmission line, ensure the stability of the signal transmission line in the moving and welding processes, and the 2210 welding part is started to weld the signal transmission line to the connection cabinet 5.

The automatic welding equipment of signal transmission line still includes the arm module of returning to zero, and the arm module setting of returning to zero includes reset button and reset control system, and reset control system is connected with control system respectively, and control system returns to zero through the arm and mechanical arm after module control arm that returns to zero meets urgent or emergent stopping returns to zero, and reset control system saves each route and avoids the removal route information between the point, and the arm includes welding arm 21 and gets line arm 31, automatic welding equipment's power supply unit is connected with power equipment, returns to zero module power supply for the arm.

As shown in fig. 10-11, the method for returning to zero of the mechanical arm of the automatic welding equipment of the signal transmission line, which adopts the device, is used for returning to zero of the wire taking arm and the welding arm, and comprises the following steps:

step 1: switching on the power equipment;

step 2: clicking a reset button, and sequentially starting, unlocking and enabling the mechanical arm;

and step 3: the mechanical arm returns to zero manually or automatically.

And 3, manually returning to zero by the mechanical arm, which comprises the following steps:

3.1.1 manually triggering the mechanical arm to freely drive;

step 3.1.2, manually correcting the mechanical arm to be close to the avoidance point;

step 3.1.3, the control system issues an instruction for moving the mechanical arm to an avoidance point;

3.1.4, the reset control system receives the instruction, and the mechanical arm moves to the avoidance point;

step 3.1.5, judging whether the mechanical arm is positioned at the avoidance point, if not, waiting for the mechanical arm to return to the avoidance point, and if so, entering step 3.1.6;

and 3.1.6, ending the resetting of the mechanical arm.

The automatic zero returning of the mechanical arm in the step 3 comprises the following steps:

3.2.1, the control system issues an automatic reset instruction to the reset control system, and the mechanical arm receives the instruction to prepare for resetting;

step 3.2.2, the control system sends the information of the previous waypoint before emergency or emergency stop to the reset control system;

step 3.2.3, the mechanical arm receives the information of the previous waypoint, and the mechanical arm moves to the previous waypoint;

step 3.2.4 the reset control system controls the mechanical arm to move to the avoidance point through the set path information;

step 3.2.5, judging whether the mechanical arm is at the avoidance point, if not, waiting for the mechanical arm to return to the avoidance point, if yes, entering step 3.2.6;

and 3.2.6, ending the resetting of the mechanical arm.

The reset control system stores different path information of the movement between each waypoint and the avoidance point, wherein the path information of the movement to the avoidance point is set according to different stop positions before emergency or emergency stop, specifically, as shown in fig. 11, a path marked by a thick solid line is a running path of the mechanical arm in a normal state, the mechanical arm runs along each waypoint in a one-way mode from the avoidance point and returns to the avoidance point, if the stop position of the mechanical arm before emergency or emergency stop is each waypoint, the previous waypoint in the step 3.2.3 is the waypoint, and the reset control system controls the mechanical arm to move from the waypoint to the avoidance point; if the stopping position of the mechanical arm before the mechanical arm meets an emergency or stops in an emergency is a midway point between different waypoints, the last waypoint in the step 3.2.2 is the last waypoint or the avoidance point passed by the midway point, and the mechanical arm moves to the avoidance point according to the steps 3.2.3-3.2.4.

In this embodiment, the avoidance point of the robot arm is the reference position of the welding plate of the welding arm and the position of the wire taking arm corresponding to the reference position of the wire taking plate of the welding arm, as shown in fig. 18-21 and 14-15, the coordinate system of the welding arm and the wire taking arm is established, the coordinate system between the wire plate and the welding arm is established, the coordinate system between the welding plate and the welding arm is established, and the avoidance point of the robot arm is further obtained, and the establishment of each coordinate system is shown in each figure and will not be described herein.

The invention provides a high-precision positioning method, which is used for positioning and welding a signal transmission line between welding equipment and a wiring cabinet 5, and comprises a positioning system 6, wherein the welding equipment comprises a base 1, a welding device 2, a wire taking device 3, a wire preprocessing device 4 and a control system, the positioning system 6 is connected with the control system, the positioning system 6 comprises a positioning distance measuring sensor 60, a positioning camera 61, a reference wire board and a reference welding board, and the method is used for positioning a wire taking point on the wire board and a welding point on the welding board through the positioning system 6 so as to facilitate the wire taking of the wire taking device 3 and the welding of the welding device 2.

The positioning camera 61 is installed at the welding assembly 22 of the welding device 2, the welding arm 21 of the welding device 2 controls the moving position of the positioning camera 61, the positioning system 6 can respectively position a line taking point of a line board and a welding point of a welding board through a reference line board and a reference welding board, the positioning ranging sensor 60 is installed on a line preprocessing platform of the line preprocessing device 4, and the control system controls the positioning ranging sensor 60 to move in a plane along with the line preprocessing platform.

The method for positioning the wire fetching point of the wire board and the welding point of the welding board by using the positioning system 6 comprises the following steps:

step A1, calibrating a wire board and a welding board;

step A1.1, establishing a coordinate system alpha of a wire plate and a welding arm 21;

step A1.1.1 the welding arm 21 makes a tool coordinate system for the wire plate;

step A1.1.2, the welding arm 21 controls the positioning camera 61 to move to the line board shooting position;

a1.1.3, positioning the camera 61 to shoot and selecting feature points;

step A1.1.4 recording the translation position information and the feature point position information of the welding arm 21;

step A1.1.5 determining whether there are nine groups of feature points, if not, executing according to step A1.1.4, if not, executing according to step A1.1.6;

step A1.1.6, establishing a coordinate system alpha of the wire plate and the welding arm 21 according to the nine groups of feature point information;

step A1.2, establishing a coordinate system beta of a welding plate and a welding arm 21; the establishing mode of the coordinate system beta is the same as the establishing step of the coordinate system alpha in the step A1.1, and the description is omitted;

step A2, establishing visual positioning templates of a line board and a welding board;

step A2.1, establishing a visual positioning template of a line board;

step A2.1.1, the welding arm 21 controls the positioning camera 61 to move to the line board to take pictures;

step A2.1.2 is to select the feature point Q of the picture in step A2.1.1, and the information of the feature point Q is output with the offset X through the coordinate system alpha₁，Y₁Will deviate by an amount X₁，Y₁As the first position coordinates of the welding arm 21;

step A2.1.3 coordinates (X) the first position of the welding arm 21₁，Y₁) Offset (-X)₁，-Y₁) Taking the position of the welding arm 21 after the deviation as the second position of the welding arm 21, moving the positioning camera 61 along with the welding arm 21, and taking a picture;

step A2.1.4 selecting characteristics of the picture in step A2.1.3Point Q, characteristic point Q information outputs offset X through coordinate system₂，Y₂Determining the offset X₂，Y₂If it is zero or close to zero, if so, go to step A2.1.5; if not, judging whether the characteristic point Q is correct, if not, executing a step A2.1.2, and if so, calibrating the coordinate system alpha of the welding arm and the wire board again by nine points;

step A2.1.5, setting the second position of the welding arm 21 as the reference position of the shooting wire board of the welding arm 21;

step A2.1.6, setting the first line-taking point on the line board as the line-taking template point;

step A2.1.7, completing a visual positioning template of the line board;

step A2.2, establishing a visual positioning template of the welding plate; the step of establishing the visual positioning template of the welding plate is the same as the step of establishing the visual positioning template of the line plate in the step A2.1, and the description is omitted;

step A3 line board coarse positioning;

step A3.1, setting the reference of a reference line board;

in this embodiment, as shown in fig. 1, the left-right direction of the reference line board is set as the X direction, the left direction of the X is set as the positive direction, the up-down direction of the reference line board is set as the Y direction, the upward direction of the Y is set as the positive direction, the inside-outside direction of the reference line board is set as the Z direction, and the inward direction of the Z is set as the positive direction, the clockwise rotation direction, that is, the arrow direction, is set as the rotation positive direction, the line taking device 3 takes lines one by one in the positive direction of the Y, and after taking a line in any one column, the line taking device moves to an adjacent column in the positive direction of the X to take a line.

In other embodiments, the line taking device 3 may also line by line along the negative direction of Y, and any row of lines after taking lines moves to the adjacent row along the negative direction of X to take lines, and the line taking direction of the line taking device 3 is not limited.

The reference line taking point on the reference line board is set as A_0PMN0P denotes a reference line board, M denotes a number of columns, N denotes a number of rows, A_0PMNThe reference line-taking points (M is more than or equal to 1 and less than or equal to 3, N is more than or equal to 1 and less than or equal to 18) in the M-th row and N-th row on the reference line board are referred to, and the adjacent reference line-taking points A_0PMNIs set to L_YAAThe transverse spacing is set to L_XAAIn this embodiment, each row of the reference line board is longitudinally provided with 18 groups of reference line taking points, that is, 18 rows and 3 rows are provided in total;

the positioning mark point of the welding arm 21 on the reference line plate obtained by shooting the reference position of the line plate is set as a reference positioning point B_Op0P denotes a reference line board, B detected by the positioning and ranging sensor 60_OpThe coordinate in the Z direction is set to 0, and the reference line taking point A_0P11Is set to [0, 0 ]]，B_OpThe coordinates of the point for reference positioning are known, and L is obtained_AB、L_XAB、L_YABAnd theta_AB，L_ABFinger B_OpAnd A_0P11Linear distance of (L)_XABFinger B_OpRelative to A_0P11Distance in X direction, L_YABFinger B_0pRelative to A_0P11Distance in Y direction, θ_ABFinger B_0pRelative to A_0P11An angular offset in the X direction;

the reference coarse positioning distance measurement fixed point on the reference line board is set as D_0P；D_0PCan be arranged in a central or non-central position on the reference line plate, D_0PAnd B_0pIs known, to obtain L_XDB、L_YDB、L_DBAnd theta_DB，L_XDBFinger D_0PRelative to B_0pDistance in X direction, L_YDBFinger D_0PRelative to B_0pDistance in Y direction, L_DBFinger D_0PRelative to B_0pLinear distance of (e), theta_DBFinger D_0PRelative to B_0pAn angular offset in the X direction;

step A3.2, setting a line board;

the wire-taking point on the wire board is set as A_1PMN1P line board, M row number, N row number, A_1PMNThe line taking points in the M-th row and the N-th row on the line indicating plate (M is more than or equal to 1 and less than or equal to 3, and N is more than or equal to 1 and less than or equal to 18) are longitudinally arranged in each row of the line indicating plate, namely 18 rows and 3 rows are totally arranged; the point for positioning on the line board is set as B_1PSetting the coarse positioning distance-measuring fixed point as D_1P，A_0HMNAnd A_1HMN、D_0PAnd D_1P、B_0PAnd B_1PThe number corresponds to the position one;

longitudinal spacing and transverse spacing of adjacent line taking points and L_YAAAnd L_XAAThe same;

step A3.3, positioning the offset of the camera 61 feedback line board;

the control system controls the wire welding arm 21 to move to the reference position of the shooting wire board, and the positioning camera 61 is used for positioning the point B_1PPoint B for reference positioning_0pOffset of (2), i.e. offset X of line board relative to reference line board_1P0、Y_1P0And theta_1P0Feeding back to the control system; offset X_1P0Finger B_1PRelative to B_0PAmount of deviation in X direction, Y_1P0Finger B_1PRelative to B_0PAmount of deviation in Y direction of (e), theta_1P0The finger board is rotated clockwise by an offset amount with respect to the reference line board.

Step A4 ranging line board;

step A4.1, setting a coarse positioning and ranging position of a line board;

step A3.1 feedback line board offset [ X ]_1P0、Y_1P0、θ_1P0]Get D on the line board_1PRelative reference line board D_0POffset X between_1′P0、Y_1′P0，

X_1′P0＝X_1P0+L_DB×cos(θ_DB+θ_1P0)-L_XDB；

Y_1′P0＝Y_1P0+L_DB×sin(θ_DB+θ_1P0)-L_YDB；

The control system controls the positioning and ranging sensor 60 to perform on-line preprocessing according to the offset [ X ]_1′P0、Y_1′P0]Moving to obtain a coarse positioning ranging position of the line board;

step A4.2, the positioning distance measuring sensor 60 measures distance;

the positioning and ranging sensor 60 is located at the coarse positioning and ranging position pair D of the line board_1PRanging to obtain D_1PRelative to D_0POffset Z in Z direction_1P0And feeds back to the control system;

step A4.3, setting the actual shooting line board position of the positioning camera;

the positioning and ranging sensor 60 is reset, and the control system controls the welding arm 21 of the welding device 2 to drive the positioning camera 61 to move according to the offset Z_1P0The actual shooting line plate position of the positioning camera 61 is obtained by moving along the Z direction, and the influence of depth deviation on vision can be avoided.

Step A5 line board fetching point fine positioning;

step A5.1, obtaining the offset of a line board;

the control system controls the welding arm 21 of the welding device 2 to drive the positioning camera 61 to the actual line board shooting position, and the positioning camera 61 shoots the offset X of the line board relative to the reference line board at the actual line board shooting position_1P、Y_1PAnd theta_1PFeeding back to the control system;

step A5.2, acquiring Z-direction offset of the line board;

step A5.2.1, setting a reference distance measurement fixed point of the reference line board;

the reference distance measurement fixed point on the reference line board is set as C_0Pa0P refers to a reference line board, a refers to the number of reference ranging fixed points, a: 1, 2, 3.. n; in this embodiment, the reference line board is provided with three groups of reference ranging fixed points as C_0PaAre each C_0P1、C_0P2And C_0P3，C_0P1At A_0P11Right below, C_0P2At A_0P18Just above, C_0P3At A_0P31Just below, the reference distance measurement fixed point C_0PaWith adjacent reference line-taking point A_0PMNThe distance therebetween is set to L_AC；

Step A5.2.2, setting the distance measurement fixed point of the line board;

the distance measurement fixed point on the line board is set as C_1PaThe 1P line indicating plate, a indicates the number of distance measuring fixed points, a: 1, 2, 3.. n; in this embodiment, the line board is provided with three groups of ranging fixed points as C_1PaAre each C_1P1、C_1P2And C_1P3，C_1P1At A_1P11Right below, C_1P2At A_1P18Right above, C_1P3At A_1P31Just below, measure distance and fix pointC_1PaAdjacent to the line taking point A_1PMNA distance therebetween and L_AC，C_0PaAnd C_1PaThe number and the positions are in one-to-one correspondence;

step A5.2.3, the positioning distance measuring sensor 60 detects the offset of the line board in the Z direction;

reference ranging fixed point C on reference line board detected by positioning ranging sensor 60_0PaAnd distance measuring fixed point C on line board_1PaOffset value Z of Z direction_Pa，Z_P1Finger C_1P1Relative to C_0P1Offset value in Z direction, Z_P2Finger C_1P2Relative to C_0P2Offset value in Z direction, Z_P3Finger C_1P3Relative to C_0P3An offset value in the Z direction;

step A5.2.4 is to obtain the line-drawing point A of the line board_1P11Coordinate of (A) [ X ]_1P11，Y_1P11，Z_1P11]；

X_1P11＝X_1P-L_XAB+L_AB×cos(θ_AB+θ_1P)；

Y_1P11＝Y_1P-L_YAB+L_AB×sin(θ_AB+θ_1P)；

Z_1P11＝(Z_P2-Z_P1)/(17×L_YAA+2×L_AC)×L_AC+Z_P1；

Step A5.2.5 is to obtain the first row of arbitrary line-taking points A of the line board_1P1NCoordinate of (A) [ X ]_1P1N，Y_1P1N，Z_1P1N]；

X_1P1N＝X_1P11-(N-1)×L_YAB×sinθ_1P；

Y_1P1N＝Y_1P11+(N-1)×L_YAB×cos θ_1P；

Z_1P1N＝(Z_P2-Z_P1)/(17×L_YAA+2×L_AC)×(L_AC+(N-1)×L_YAA)+Z_P1；

Step A5.2.6 is to obtain the arbitrary line-taking point A of the line board_1PMNCoordinate of (A) [ X ]_1PMN，Y1_PMN，Z_1PMN]；

X_1PMN＝X_1P11+(M-1)×L_XAA×cos θ_1P-(N-1)×L_YAA×sin θ_1P；

Y_1PMN＝Y_1P11+(M-1)×L_XAA×sin θ_1P+(N-1)×L_YAA×cosθ_1P；

Z_1PMN＝(Z_P2-Z_P1)/(17×L_YAA+2×L_AC)×(L_AC+(N-1)×L_YAA)+(Z_P3-Z_P1)× (M-1)/2+Z_P1

Step A6, roughly positioning a welding plate;

in this embodiment, the left-right direction of the reference solder plate is set as the X direction, the left direction of the X is set as the positive direction, the up-down direction of the reference solder plate is set as the Y direction, the upward direction of the Y is set as the positive direction, the inside-outside direction of the reference solder plate is set as the Z direction, and the inward direction of the Z is set as the positive direction; the welding apparatus 2 performs the welding in the positive Y direction row by row, and moves to the adjacent row in the positive X direction after welding in any one row, but the invention is not limited thereto.

The reference welding point on the reference welding plate is set as A_0HMNOH denotes a reference solder plate, M denotes the number of columns, N denotes the number of rows, A_0HMNThe reference welding points in the M-th row and the N-th row on the reference welding plate (M is more than or equal to 1 and less than or equal to 3, N is more than or equal to 1 and less than or equal to 18) are pointed, and the reference distance measuring fixed point on the reference welding plate is set as C_0HaA indicates the number of reference ranging points, a: 1. n; the welding point on the welding plate is set as A_1HMN1H denotes a solder plate, M denotes the number of rows, N denotes the number of rows, A_1HMNThe welding points (M is more than or equal to 1 and less than or equal to 3, N is more than or equal to 1 and less than or equal to 18) in the M-th row and N-th row on the finger welding plate, and the distance measuring fixed point on the finger welding plate is set as C_1HaA indicates the number of ranging points, a: 1. n; a. the_0HMNAnd A_1HMN、C_0HaAnd C_1HaThe number and the positions are in one-to-one correspondence;

the reference coarse positioning distance measurement fixed point on the reference welding plate is set as D_0H；D_0HCan be arranged in the center or in the non-center of the reference weld plate, D_0HAnd B_0HIs known, to obtain L_X′DB、L_Y′DB、L_′DBAnd theta_′DB，L′_XDBFinger D_0HRelative to B_0HDistance in X direction, L_Y′DBFinger D_0HRelative to B_0HDistance in Y direction, L_′DBFinger D_0HRelative to B_0HOf linear distance of θ'_DBFinger D_0HRelative to B_0HAn angular offset in the X direction; setting the coarse positioning distance-measuring fixed point on the welding plate as D_1HThe welding plate is provided with a B_1HIs a point for positioning; b is_0HAnd B_1H、D_0HAnd D_1HThe number and the positions are in one-to-one correspondence;

the control system controls the wire bonding arm 21 to move to the reference position of the photographed welding plate, and the positioning camera 61 positions the offset X of the welding plate relative to the reference welding plate_1H0、 Y_1H0And theta_1H0Feeding back to the control system; offset X of welding plate relative to reference welding plate_1H0Finger B_1HRelative to B_0HAmount of deviation in X direction, Y_1H0Finger B_1HRelative to B_0HAmount of deviation in Y direction of (e), theta_1H0The amount of rotational offset of the finger solder plate relative to the reference solder plate.

Step A7 welding plate distance measurement;

the control system controls the positioning and ranging sensor 60 to perform on-line preprocessing according to the offset [ X ]_1′H0、Y_1′H0]Movement, X_1′H0、Y_1′H0Is calculated by the method of (1) and_1′P0、Y_1′P0the calculation method is the same, the coarse positioning and ranging position of the welding plate is obtained, and the positioning and ranging sensor 60 is positioned in the pair D of the coarse positioning and ranging positions of the welding plate_1HRanging to obtain D_1HRelative to D_0HOffset Z in Z direction_1H0And feeds back to the control system, which controls the welding arm 21 of the welding device 2 to drive the positioning camera 61 according to the offset Z_1H0Moving along the Z direction to obtain the actual shooting welding plate position of the positioning camera 61;

step A8 welding point fine positioning of the welding plate;

the positioning camera 61 shoots the offset X of the welding plate relative to the reference welding plate at the actual position of the welding plate_1H、Y1_HAnd theta_1HFeeding back to the control system for positioning and rangingSensor 60 detects a reference distance measurement set point C on a reference weld plate_0HaAnd a distance measuring and positioning point C on the welding plate_1HaOffset value Z of Z direction_Ha， Z_H1Finger C_1H1Relative to C_0H1Offset value in Z direction, Z_H2Finger C_1H2Relative to C_0H2Offset value in Z direction, Z_H3Finger C_1H3Relative to C_0H3Offset value in Z direction according to offset value X_1H、Y_1H、θ_1HAnd offset value Z in Z direction_HaTo obtain a welding point A_1HMNCoordinate of (A) [ X ]_1HMN，Y_1HMN， Z_1HMN](ii) a Welding point A_1HMNCoordinate calculation method and line taking point A_1PMNThe calculation method of the coordinates is similar and will not be described herein.

Step A9 resetting the mechanical arm;

the arm includes welding arm and gets the line arm, and welding arm and get the line arm and reset and realize through foretell machine arm zero-returning module.

In this embodiment, before the step of calibrating the line board and the welding board in step a1, repositioning the base 1 may be further included, and the AGV7 drives the base 1 to move to a target station and then reposition the base, so as to keep the base 1 parallel to the wiring cabinet 5, which is the same as the step of repositioning the base 1 by the AGV7 in step B2.5, and is not described herein again.

In this embodiment, the control system controls the wire taking arm 31 of the wire taking device 3 to move to the position of the wire taking point to take the wire through the position of the wire taking point on the wire board and the coordinate system α.

In other embodiments, the fine positioning step of line fetching point of line board in step a5 can be omitted, and the rough positioning offset value [ X ] of line board can be obtained_1P0、Y_1P0、θ_1P0]Feeding back to the control system to obtain a line taking point A_1PMNCoordinates of (2), each line taking point A_1PMNThe coordinate in the Z direction may be approximately equal to the offset value Z_1P0；

In other embodiments, the number of reference ranging fixes for the reference line board in step A5.2.1 and the number of ranging fixes for the line board in step A5.2.2 may be set as a group, each taking point A_1PMNThe amount of offset in the Z direction may be approximately equal.

In this embodiment, a plurality of line boards in the same row are used as a group of line board number series, which can be set to 1000000111111111, the station number 0x0010 is used as a destination station, the AGV7 drives the base 1 to the destination station so that the base 1 is opposite to the group of line board number series, after the welding operation is completed, the AGV7 with the station number 0xZZZZ continues to drive the destination station where the base 1 is opposite to another group of line board number series, preferably, one group of line board number series corresponds to 9 groups of line boards, any line board is provided with three line board inner hole number series, such as a line, a line and a line, which are respectively recorded as a line, a line and a line, which can be set to 00000000000000111111111111111111; the B number column may be set to 00000000000000111111111111111111; the C-column number may be set to 00000000000000111111111111111111; the number sequence of inner holes of the wire plate formed by a plurality of groups of wire plate number sequences forms a welding number sequence execution list, which is shown in table 1; the welding number series execution list is input into the control system through the PC, and the control system reads the welding number series to realize uninterrupted wire-taking welding operation.

TABLE 1

In the nth row of line plate number sequence YEEE EEEX XXXXXX XXXX in the table 1, Y indicates left side taking welding or right side taking welding, for example, 1 represents the right side of the wiring cabinet 5, X XXXX XXXX indicates the line plate number sequence, E does not indicate;

as shown in fig. 1 to 23, the present embodiment also provides a method for using an automatic welding apparatus for signal transmission lines, which welds a signal transmission line to a junction box 5 using the automatic welding apparatus, the automatic welding apparatus including the above-mentioned base 1, a welding device 2, a line taking device 3, a line preprocessing device 4, a positioning system 6, and a control system, the line taking device 3 including a line taking arm 31, a line taking assembly 32, a line taking traverse assembly 33, and a line taking traverse assembly 34, the line preprocessing device 4 including a line preprocessing mechanism 42, a line preprocessing traverse assembly 43, and a line preprocessing traverse assembly 44, the welding device 2 including a welding arm 21, a welding assembly 22, a welding traverse assembly 23, and a welding traverse assembly 24, the base 1 being driven by an AGV7, the control system controlling the operations of the welding device 2, the line taking device 3, the line preprocessing device 4, the positioning system 6, and an AGV7, the method specifically comprises the following steps:

step B1: preprocessing automatic welding equipment;

step B1.0: the AGV7 drives the base 1 to move to a destination station, so that the base 1 and the wiring cabinet 5 are kept parallel or approximately parallel, and a coordinate system of the mechanical arm is established;

step B1.1: calibrating a wire board and a welding board;

step B1.2: establishing a visual positioning template of a line board and a welding board;

step B1.3: pre-editing the actions of the mechanical arm;

step B2: starting and preparing automatic welding equipment;

step B2.2: starting the AGV and confirming that the AGV communicates normally;

step B2.3: the control system controls the AGV7 to run to the standby station;

step B2.4: the control system reads the number receiving sequence execution list;

step B3: judging the number sequence of the welding wires;

Step B6: judging the number sequence of the line plates;

step B7: the welding device 2, the wire taking device 3 and the wire preprocessing device 4 are operated to a position to be executed for taking a bonding wire of a certain wire plate in the wire plate array;

step B8: judging the number sequence of inner holes of the line board;

step B9: the control system sends the coordinates [ X ] of the current line taking point_1PMN，Y_1PMN，Z_1PMN]To the thread take-up arm 31; the wire taking arm 31 controls the takingThe thread component 32 takes the thread from the thread taking point to complete the thread taking and thread pulling operation;

step B10: the wire taking arm 31 controls the wire taking assembly 32 to operate the signal transmission wire to the wire preprocessing mechanism 42 of the wire preprocessing device 4 to perform wire cutting, wire stripping and wire twisting operations;

step B11: the wire taking arm 31 controls the wire taking assembly 32 to transfer the wire to the welding assembly 22; the weld stack 22 moves the wire to the weld point coordinate [ X ]_1HMN，Y_1HMN，Z_1HMN]Completing the wire-forming welding operation;

step B14: when the line board array of the destination station is executed, the line taking arm 31 and the wire welding arm 21 are shut down, and the system is powered off;

step B16: the control system controls the AGV7 to move to the standby station, and the multi-cabinet wire bonding procedure is completed.

B1.0, the mechanical arm comprises a welding arm and a wire taking arm, and the step of establishing a coordinate system of the welding arm per se comprises the following steps;

step B1.0.1 setting a fixed center;

b1.0.2 moving the welding arm to make the top of the clamping head of the welding arm contact with the top of the tip, and recording the position 1;

step B1.0.3, changing the posture of the welding arm, contacting the top point of the clamping head with the top point of the tip, and recording the position 2;

step B1.0.4, changing the posture of the welding arm, contacting the top point of the clamping head with the top point of the tip, and recording the position 3;

step B1.0.5 confirming the position of the chuck, generating tool points;

step B1.0.6, placing the chuck of the welding arm at a certain position of the welding plate, such as the upper right corner as the origin;

step B1.0.7 placing the chuck of the welding arm at another position on the welding plate, such as the upper left corner to determine the x-axis direction;

step B1.0.8 placing the chuck of the welding arm at another position on the welding plate, such as the lower right corner to determine the y-axis direction;

step B1.0.9 generating the coordinate system of the welding arm;

the step of establishing the coordinate system of the wire-taking arm in the step B1.0 is similar to the step of establishing the coordinate system of the welding arm, and is not described herein again;

step B1.1, calibrating the central line board and the welding board as follows;

step B1.1.1, establishing a coordinate system alpha of the wire plate and the welding arm 21;

step B1.1.1.1 the welding arm 21 makes a tool coordinate system for the wire plate;

step B1.1.1.2, the welding arm 21 controls the positioning camera 61 to move to the line board shooting position;

b1.1.1.3, positioning the camera 61 to shoot, and selecting a feature point, wherein the feature point is preferably selected from the center of the hole position at the top right corner of the line board;

step B1.1.1.4 recording the position information of the translation of the welding arm 21 and the position information of the feature point;

step B1.1.1.5, determining whether there are nine groups of image feature points and weld arm position information, if not, executing according to step B1.1.1.4, and if not, executing according to step B1.1.1.6;

step B1.1.1.6, establishing a coordinate system alpha of the wire plate and the welding arm 21 according to the nine groups of feature point information;

step B1.1.2, establishing a coordinate system beta of the welding plate and the welding arm 21; the establishing mode of the coordinate system beta is the same as the establishing mode and the step of the coordinate system alpha in the step B1.1.1, and the description is omitted;

b1.2, establishing visual positioning templates of the wire plates and the welding plates as follows;

step B1.2.1, establishing a visual positioning template of the line board;

step B1.2.1.1, the welding arm 21 controls the positioning camera 61 to move to the line board to take pictures;

step B1.2.1.2 selecting characteristics of the picture in step B1.2.1.1Point Q, characteristic point Q information outputs offset X through coordinate system alpha₁，Y₁Will deviate by an amount X₁，Y₁As the first position coordinates of the welding arm 21;

step B1.2.1.3 coordinates (X) the first position of the welding arm 21₁，Y₁) Offset (-X)₁，-Y₁) Taking the position of the welding arm 21 after the deviation as the second position of the welding arm 21, moving the positioning camera 61 along with the welding arm 21, and taking a picture;

step B1.2.1.4 is to select the feature point Q of the picture in step B1.2.1.3, and the information of the feature point Q is output with the offset X through the coordinate system₂，Y₂Determining the offset X₂，Y₂If it is zero or close to zero, if so, go to step B1.2.1.5; if not, judging whether the characteristic point Q is correct, if not, executing a step B1.2.1.2, and if so, calibrating the coordinate system alpha of the welding arm and the wire board again by nine points;

step B1.2.1.5, setting the second position of the welding arm 21 as the reference position of the shooting wire board of the welding arm 21;

step B1.2.1.6 sets the first line-taking point A on the line board_1P11Is a line-taking template point;

step B1.2.1.7, completing a visual positioning template of the line board;

step B1.2.2, establishing a visual positioning template of the welding plate; the step of establishing the visual positioning template of the welding plate is the same as the step of establishing the visual positioning template of the line plate in the step B1.2.1, and the steps are not described again;

the pre-editing of the motion of the mechanical arm in the step B1.3 comprises the following steps;

step B1.3.1 sets the avoidance point and the avoidance path of the welding arm 21 and the wire-taking arm 31; when avoiding points, the welding arm 21 and the wire taking arm 31 do not collide with related equipment, and the automatic zero returning function of the mechanical arm is realized by adopting the mechanical arm zero returning module;

b1.3.2 moving the avoiding point to the line-taking point for taking line according to the line-taking point coordinate on the line board by the line-taking arm 31;

step B1.3.3, the wire taking device 3 straightens the signal transmission wire through the wire taking driving mechanism 3246 of the wire pre-processing mechanism 42;

step B1.3.4 the pick-up arm 31 moves the signal transmission line to the line pre-processing stage of the line pre-processing mechanism 42;

step B1.3.5 the pick-up arm 31 releases the signal transmission line from the line pre-processing platform of the line pre-processing mechanism 42;

b1.3.6 the wire-taking arm 31 enters the wire pre-treatment platform to clamp the treated wire;

step B1.3.7 take the wire from the wire pre-treatment platform by the wire arm 31;

step B1.3.8 the thread take-up arm 31 moves the thread to a ready arm change position;

step B1.3.9 moving the welding arm 21 from the avoidance point to the arm replacement preparation position;

step B1.3.10 the pick-up arm 31 feeds the wire into the weld feed mechanism of the weld stack 22;

step B1.3.11, the wire-taking arm 31 is reset to the avoidance point;

step B1.3.12 moving the welding arm 21 to the weld point according to the weld point coordinate strip line;

b1.3.13 translating the wire bonding arm in the z-direction (i.e., the cabinet direction) to wait for the solder clamping mechanism of the solder pack 22 to clamp the solder terminals;

b1.3.14 translating the wire welding arm to the z direction to wait for threading and welding wires;

step B1.3.15 resets the wire arm to the avoidance point.

Starting the AGV in the step B2.2, confirming the normal communication process of the AGV: the control system starts initialization, sends an AGV7 communication command, judges that the AGV7 is normal when receiving the return of AGV7 communication, and executes step B2.3, if not, the control system receives a prompt for checking AGV7 communication connection, finishes initialization, adjusts AGV7 communication connection, and executes step B2.2 again until AGV7 communication connection is normal.

Step B4 may further include an AGV7 repositioning base 1, wherein repositioning distance measuring sensors 70 are respectively fixedly arranged at two sides of the bottom of the base 1, and the method specifically includes the following steps:

step B4.1: the repositioning distance measuring sensor 70 detects the distance between the base 1 and the wiring cabinet 5;

the two groups of repositioning distance measuring sensors 70 respectively measure the distance between the base 1 and the wiring cabinet 5 to obtain the average value H of the distance between the base 1 and the wiring cabinet 5_a，H_aComparing the distance H between the wiring cabinet 5 and the corresponding destination station stored in the control system, wherein H is_h＝|H_a-H|，H_hEqual to zero or close to zero or within an allowable error range, according to step B4.3, Hh is not within an allowable error range, according to step B4.2;

step B4.2: the distance between the repositioning pedestal 1 and the wiring cabinet 5;

the AGV controls the base 1 to move again until the average distance between the base 1 and the wiring cabinet 5 is kept at H or approximately H, and the base 1 is ensured to be located at a destination station corresponding to the wiring cabinet 5;

step B4.3: detecting the angle deviation value of the base 1 relative to the wiring cabinet 5;

the two groups of repositioning distance measuring sensors 70 measure the distance between the base 1 and the wiring cabinet 5, and the angle deviation value theta between the base 1 and the wiring cabinet 5 is obtained according to the distance difference measured by the two groups of repositioning distance measuring sensors 70_a，θ_aComparing the allowable angular offset value theta of the base 1 and the wiring cabinet 5 stored and set by the control system_h＝|θ_a-theta |, if theta_aEqual to zero or approximate to zero or within an allowable error range, the current base 1 and the wiring cabinet 5 can be judged to be parallel or approximately parallel, if theta_aOut of the allowable error range, executing according to step B4.4;

step B4.4: repositioning the angular offset of the base 1 with respect to the cabinet 5;

the control system controls the AGV to drive the base 1 to rotate theta_hThe angular offset of the base 1 from the cabinet 5 is maintained at or near θ, ensuring that the base 1 is parallel or near parallel to the cabinet 5.

In practice, AGV7 operates normally to move foundation 1 directly to the corresponding destination, so in other embodiments, the repositioning step for foundation 1 may be eliminated.

The control system initialization in step B5 includes the following steps:

step B5.1, controlling the system to initialize for the second time;

step B5.2, equipment communication inspection;

the control system sends a device communication command, if the device communication return is received, the step B5.3 is executed, if the device communication return is not received, the control system receives the prompt of checking the device communication connection, the control system initializes the second time, the device communication connection is adjusted, and the step B5.1 is executed again until the device communication connection is normal;

step B5.3, communication inspection of a positioning system;

the control system sends a communication command of the positioning system, if the communication return of the positioning system is received, the step B5.4 is executed, if not, the control system receives the prompt of checking the communication connection of the positioning system, the initialization of the control system is finished, the communication connection of the positioning system is adjusted, and the step B5.1 is executed again until the communication connection of the positioning system is normal;

step B5.4, judging whether the system is in a zero position, if so, executing the step B5.5, and if not, resetting all devices to zero according to a path;

step B5.5, controlling the system to read the power-down storage variable;

and step B5.6, controlling the system to initialize II and end.

The steps B6 to B7 may further include a method for positioning coordinates of the wire-drawing point and the welding point, specifically including the steps of:

c1 locating the coordinates of the line points;

and positioning the coordinates of the line taking points by using the line taking device 3 with high-precision positioning.

C2 positioning coordinates of welding points;

and positioning the coordinates of the welding point by using the welding device 2 with high-precision positioning.

C3 resetting the mechanical arm;

Step C1 is to locate the coordinates of the line-taking points as follows:

step C1.1, roughly positioning a line board;

step C1.1.1 setting the reference of the reference line board;

in this embodiment, as shown in fig. 1, the left-right direction of the reference line board is set as the X direction, the left direction of the X is set as the positive direction, the up-down direction of the reference line board is set as the Y direction, the upward direction of the Y is set as the positive direction, the inside-outside direction of the reference line board is set as the Z direction, and the inward direction of the Z is set as the positive direction, the thread taking device 3 takes threads along the positive direction of the Y row by row, and after a thread is taken in any row, the thread taking device moves to an adjacent row along the positive direction of the X to take threads.

the positioning mark point of the welding arm 21 on the reference line plate obtained by shooting the reference position of the line plate is set as a reference positioning point B_0p0P denotes a reference line board, B detected by the positioning and ranging sensor 60_0pThe coordinate in the Z direction is set to 0, and the reference line taking point A_0P11Is set to [0, 0 ]]，B_0pThe coordinates of the point for reference positioning are known, and L is obtained_AB、L_XAB、L_YABAnd theta_AB，L_ABFinger B_0pAnd A_0P11Linear distance of (L)_XABFinger B_0pRelative to A_0P11Distance in X direction, L_YABFinger B_0pRelative to A_0P11Distance in Y direction, θ_ABFinger B0_pRelative to A_0P11An angular offset in the X direction;

the reference coarse positioning distance measurement fixed point on the reference line board is set as D_0P；D_0PCan be arranged at the reference lineCentral or non-central position of the plate, D_0PAnd B_0pIs known, to obtain L_XDB、L_YDB、L_DBAnd theta_DB，L_XDBFinger D_0PRelative to B_0pDistance in X direction, L_YDBFinger D_0PRelative to B_0pDistance in Y direction, L_DBFinger D_0PRelative to B_0pLinear distance of (e), theta_DBFinger D_0PRelative to B_0pAn angular offset in the X direction;

step C1.1.2 line board setting;

step C1.1.3 positions the offset of the camera 61 feedback line board;

the control system controls the wire welding arm 21 to move to the reference position of the shooting wire board, and the positioning camera 61 is used for positioning the point B_1PPoint B for reference positioning_0pOffset of (2), i.e. offset X of line board relative to reference line board_1P0、Y_1P0And theta_1P0Feeding back to the control system; offset X_1P0Finger B_1PRelative to B_0PX direction offset of (2), Y1_P0Finger B_1PRelative to B_0PAmount of deviation in Y direction of (e), theta_1P0The rotation offset of the finger board relative to the reference line board.

Step C1.2, ranging by a line board;

step C1.2.1, setting a coarse positioning and ranging position of the line board;

line board offset [ X ] fed back by step C1.1.3_1P0、Y_1P0、θ_1P0]Get D on the line board_1PRelative reference line board D_0POffset X between_1′P0、Y_1′P0，

X_1′P0＝X_1P0+L_DB×cos(θ_DB+θ_1P0)-L_XDB；

Y_1′P0＝Y_1P0+L_DB×sin(θ_DB+θ_1P0)-L_YDB；

step C1.2.2 locating the ranging sensor 60 for ranging;

step C1.2.3, setting the actual shooting line board position of the positioning camera;

Step C1.3, fine positioning of a line taking point of a line board;

step C1.3.1 obtaining the offset of the line board;

step C1.3.2, acquiring Z-direction offset of the line board;

step C1.3.2.1, setting a reference distance measurement fixed point of the reference line board;

the reference distance measurement fixed point on the reference line board is set as C_0Pa0P denotes a reference line board, aNumber of reference ranging points, a: 1. n; in this embodiment, the reference line board is provided with three groups of reference ranging fixed points as C_0PaAre each C_0P1、C_0P2And C_0P3，C_0P1At A_0P11Right below, C_0P2At A_0P18Just above, C_0P3At A_0P31Just below, the reference distance measurement fixed point C_0PaWith adjacent reference line-taking point A_0PMNThe distance therebetween is set to L_AC；

Step C1.3.2.2, setting the distance measurement fixed point of the line board;

the distance measurement fixed point on the line board is set as C_1PaThe 1P index board, a refers to the number of the distance measuring points, a: 1. n; in this embodiment, the line board is provided with three groups of ranging fixed points as C_1PaAre each C_1P1、C_1P2And C_1P3，C_1P1At A_1P11Right below, C_1P2At A_1P18Right above, C_1P3At A_1P31Just below, distance measuring and fixed point C_1PaAdjacent to the line taking point A_1PMNA distance therebetween and L_AC，C_0PaAnd C_1PaThe number and the positions are in one-to-one correspondence;

step C1.3.2.3, the positioning distance measuring sensor 60 detects the offset of the line board in the Z direction;

reference ranging fixed point C on reference line board detected by positioning ranging sensor 60_0PaAnd distance measuring fixed point C on line board_1PaZ-direction offset value Z_Pa，Z_P1Finger C_1P1Relative to C_0P1Offset value in Z direction, Z_P2Finger C_1P2Relative to C_0P2Offset value in Z direction, Z_P3Finger C_1P3Relative to C_0P3An offset value in the Z direction;

step C1.3.2.4 is to obtain the line-drawing point A of the line board_1P11Coordinate of (A) [ X ]_1P11，Y_1P11，Z_1P11]；

X_1P11＝X_1P-L_XAB+L_AB×cos(θ_AB+θ_1P)；

Y_1P11＝Y_1P-L_YAB+L_AB×sin(θ_AB+θ_1P)；

Z_1P11＝(Z_P2-Z_P1)/(17×L_YAA+2×L_AC)×L_AC+Z_P1；

Step C1.3.2.5 is to obtain the first row of arbitrary line-taking points A of the line board_1P1NCoordinate of (A) [ X ]_1P1N，Y_1P1N，Z_1P1N]；

X_1P1N＝X_1P11-(N-1)×L_YAB×sinθ_1P；

Y_1P1N＝Y_1P11+(N-1)×L_YAB×cosθ_1P；

Z_1P1N＝(Z_P2-Z_P1)/(17×L_YAA+2×L_AC)×(L_AC+(N-1)×L_YAA)+Z_P1；

Step C1.3.2.6 is to obtain the arbitrary line-taking point A of the line board_1PMNCoordinate of (A) [ X ]_1PMN，Y_1PMN，Z_1PMN]；

X_1PMN＝X_1P11+(M-1)×L_XAA×cosθ_1P-(N-1)×L_YAA×sinθ_1P；

Y_1PMN＝Y_1P11+(M-1)×L_xAA×sinθ_1P+(N-1)×L_YAA×cosθ_1P；

Z_1PMN＝(Z_P2-Z_P1)/(17×L_YAA+2×L_AC)×(L_AC+(N-1)×L_YAA)+(Z_P3-Z_P1) X (M-1)/2 + Z_P1；

Step C2 is the following step of locating the coordinates of the butt joint:

c2.1, roughly positioning a welding plate;

The reference welding point on the reference welding plate is set as A_0HMN0H denotes a reference solder plate, M denotes the number of columns, N denotes the number of rows, A_0HMNThe reference welding points in the M-th row and the N-th row on the reference welding plate (M is more than or equal to 1 and less than or equal to 3, N is more than or equal to 1 and less than or equal to 18) are pointed, and the reference distance measuring fixed point on the reference welding plate is set as C_0HaA indicates the number of reference ranging points, a: 1. n; the welding point on the welding plate is set as A_1HMN1H denotes a solder plate, M denotes the number of rows, N denotes the number of rows, A_1HMNThe welding points (M is more than or equal to 1 and less than or equal to 3, N is more than or equal to 1 and less than or equal to 18) in the M-th row and N-th row on the finger welding plate, and the distance measuring fixed point on the finger welding plate is set as C_1HaA indicates the number of ranging points, a: 1. n; a. the_0HMNAnd A_1HMN、C_0HaAnd C_1HaThe number and the positions are in one-to-one correspondence;

Step C2.2, measuring the distance of the welding plate;

step C2.3, fine positioning of welding points of the welding plate;

the positioning camera 61 shoots the offset X of the welding plate relative to the reference welding plate at the actual position of the welding plate_1H、Y_1HAnd theta_1HFed back to the control system, the position and distance sensor 60 detects the reference distance measurement fixed point C on the reference welding plate_0HaAnd a distance measuring and positioning point C on the welding plate_1HaOffset value Z of Z direction_Ha， Z_H1Finger C_1H1Relative to C_0H1Offset value in Z direction, Z_H2Finger C_1H2Relative to C_0H2Offset value in Z direction, Z_H3Finger C_1H3Relative to C_0H3Offset value in Z direction according to offset value X_1H、Y_1H、θ_1HAnd offset value Z in Z direction_HaTo obtain a welding point A_1HMNCoordinate of (A) [ X ]_1HMN，Y_1HMN， Z_1HMN](ii) a Welding point A_1HMNCoordinate calculation method and line taking point A_1PMNThe calculation method of the coordinates is similar and will not be described herein.

In the step B9, the wire taking assembly 32 is used to perform wire taking and pulling operations, the wire taking assembly 32 includes a first wire taking mechanism and a second wire taking mechanism, the first wire taking mechanism includes a first wire taking cylinder 3231, a first wire taking plate 3232 and a second wire taking plate 3233, the second wire taking mechanism includes a second wire taking cylinder 3241, a third wire taking plate 3242, a fourth wire taking plate 3243 and a wire taking driving mechanism 3246, and the method specifically includes the following steps:

step B9.1: the wire taking arm 31 controls the wire taking assembly 32 to move to the current wire taking point A_1PMNCoordinate of (A) [ X ]_1PMN，Y_1PMN，Z_1PMN]；

Step B9.2: the first wire taking cylinder 3231 controls the first wire taking plate 3232 and the second wire taking plate 3233 to synchronously move relatively to clamp the signal transmission wire, and the wire taking arm 31 controls the wire taking assembly 32 to move away from a wire taking point to finish wire taking operation;

step B9.3: the wire taking driving mechanism 3246 drives the second wire taking mechanism to be close to the first wire taking mechanism, the second wire taking cylinder 3241 controls the third wire taking plate 3242 and the fourth wire taking plate 3243 to synchronously move relatively to clamp the signal transmission wire, and the wire taking driving mechanism 3246 drives the second wire taking mechanism to be far away from the first wire taking mechanism to finish wire pulling operation.

In the step B11, the welding assembly 22 is used for welding, the welding assembly 22 includes a welding mechanism, a welding conveying mechanism and a welding clamping mechanism, the welding mechanism includes a welding part 2210 and a pressure welding motor 2212, the welding clamping mechanism includes a clamping cylinder 2221 and a clamping plate 2222, the welding conveying mechanism includes a clamping jaw, an upper member, a lower member and a threading motor 2240, the lower member includes a lower cylinder 2245, and the method specifically includes the following steps:

step B11.1: the thread taking assembly 32 conveys the thread to the position between the upper member and the lower member, the lower air cylinder 2245 controls the lower member to move towards the upper member, the thread is fixed between the upper member and the lower member, and the thread taking arm 31 is reset;

step B11.2: the control system sends the current welding point coordinate [ X ]_1HMN，Y_1HMN，Z_1HMN]To the welding arm 21, the welding arm 21 controls the welding assembly 22 to move to the welding point, and the clamping cylinder 2221 controls the clamping plate 2222 to clamp the welding terminal;

step B11.3: the control system controls the threading motor 2240 to operate, and the thread penetrates through the conveying cavity 225 of the clamping jaw and the clamping plate 2222 in sequence and penetrates to the welding terminal;

step B11.4: the control system controls the pressure welding motor 2212 to operate, the penetrated line is pressed flat, and after the line is pressed flat, the line returns for a certain distance while controlling the welding piece 2210 to perform welding operation;

step B11.5: the components of the welding assembly 22 are reset and the welding arm 21 is returned to the original point to stand by.

It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Claims

1. The utility model provides a signal transmission line's automatic weld equipment which characterized in that: the wire taking device comprises a base, a welding device, a wire taking device, a wire preprocessing device and a control system, the control system controls the base, the welding device, the wire taking device and the wire preprocessing device to run, the wire taking device comprises a wire taking arm, the welding device comprises a welding arm, the wire taking device takes a signal transmission line to be processed from a wiring cabinet to the wire preprocessing device through the wire taking arm to perform preprocessing, the wire taking device transmits the signal transmission line to be preprocessed to the welding device through the wire taking arm, and the welding device moves the signal transmission line to be preprocessed to a welding terminal of the wiring cabinet through the welding arm and performs welding.

2. The automatic welding apparatus of a signal transmission line according to claim 1, wherein: the base passes through the AGV drive, and the base passes through the AGV and moves to standby position, and the wiring cabinet is provided with a plurality of line boards, and arbitrary line board has set firmly a plurality of line board holes, and horizontal or vertical distribution is followed to a plurality of line board holes, and the downthehole hanging of line board is equipped with the signal transmission line who remains to handle, and wiring cabinet opposite side is provided with the welding plate that is used for the bonding wire, and the welding terminal is located the welding plate.

3. The automatic welding apparatus of a signal transmission line according to claim 1, wherein: the thread taking device comprises a thread taking assembly, a thread taking transverse moving assembly and a thread taking longitudinal moving assembly, wherein the thread taking longitudinal moving assembly is fixedly arranged on a base along the vertical direction, the thread taking longitudinal moving assembly comprises a thread taking longitudinal moving drag chain, one end of the thread taking longitudinal moving drag chain is fixed, the other end of the thread taking longitudinal moving drag chain is connected with a thread taking longitudinal moving slide block on the thread taking longitudinal moving assembly, the thread taking longitudinal moving assembly drives the thread taking longitudinal moving slide block to move so as to drive the thread taking longitudinal moving drag chain to move along the vertical direction, the thread taking longitudinal moving drag chain can protect pipelines and limit the moving range of the thread taking device, the thread taking transverse moving assembly comprises a thread taking transverse moving drag chain, one end of the thread taking transverse moving drag chain is fixed with the thread taking transverse moving assembly, the other end of the thread taking transverse moving drag chain is connected with the thread taking transverse moving slide block on the thread taking transverse moving assembly, the thread taking transverse moving assembly drives the thread taking transverse drag chain to move along the horizontal direction through driving the thread taking slide block, the thread taking transverse moving drag chain can protect the pipelines, the wire taking device comprises a wire taking arm, a wire taking transverse moving slide block, a wire taking arm and a wire taking longitudinal moving assembly, wherein the wire taking arm is connected with the wire taking transverse moving slide block in a fixed mode, the wire taking arm is connected with the wire taking longitudinal moving assembly in a fixed mode, the wire taking arm is controlled to move in a space under the combined action of the wire taking transverse moving assembly and the wire taking longitudinal moving assembly, a cylinder group is arranged in the wire taking arm and moves in the space, one end of the wire taking arm is fixedly connected with the wire taking transverse moving slide block, the other end of the wire taking arm is fixedly connected with the wire taking assembly, the wire taking arm drives the wire taking assembly to move in the space, and the adjustment of the position in a small range is controlled.

4. The automatic welding apparatus of a signal transmission line according to claim 3, wherein: the wire taking assembly comprises a wire taking fixing plate, a wire taking connecting plate, a first wire taking mechanism and a second wire taking mechanism are fixedly arranged on the wire taking fixing plate and are fixedly connected with a wire taking arm, the first wire taking mechanism comprises a first wire taking cylinder, a first wire taking plate and a second wire taking plate, the first wire taking cylinder is respectively connected with the first wire taking plate and the second wire taking plate and controls the first wire taking plate and the second wire taking plate to synchronously move relative to or oppositely move for wire taking and wire releasing, the first wire taking plate and the second wire taking plate are identical in structure and are symmetrically distributed, the first wire taking plate comprises a first plate, a second plate and a third plate, the first plate, the second plate and the third plate are sequentially and fixedly connected to form a Z-shaped structure, the first plate is connected with the first wire taking cylinder, the first wire taking groove and the second wire taking groove are respectively fixedly arranged on the opposite surfaces of the first wire taking plate and the second wire taking plate, and the first wire taking groove and the second wire taking groove are preferably semicircular structures, the first wire taking cylinder controls the first wire taking plate and the second wire taking plate to synchronously move relatively, so that the first wire taking plate is contacted with the second wire taking plate, and the signal transmission line is limited in a wire taking groove formed by the first wire taking groove and the second wire taking groove.

5. The automatic welding apparatus of a signal transmission line according to claim 4, wherein: the second wire taking mechanism comprises a second wire taking cylinder, a third wire taking plate and a fourth wire taking plate, the second wire taking cylinder is respectively connected with the third wire taking plate and the fourth wire taking plate, and controlling a third wire taking plate and a fourth wire taking plate to synchronously move relatively or oppositely to perform wire taking and paying off operations, wherein the third wire taking plate and the fourth wire taking plate are in the same structure and are symmetrically distributed, the third wire taking plate comprises a fourth plate, a fifth plate and a sixth plate, the fourth plate, the fifth plate and the sixth plate are sequentially and fixedly connected to form a Z-like structure, the fourth plate is connected with a second wire taking cylinder, the opposite surfaces of the third wire taking plate and the fourth wire taking plate are respectively and fixedly provided with a third wire taking groove and a fourth wire taking groove, the third wire taking groove and the fourth wire taking groove are preferably semicircular structures, the second wire taking cylinder controls the third wire taking plate and the fourth wire taking plate to synchronously move relatively, the third wire taking plate and the fourth wire taking plate are in contact, and a signal transmission line is limited in the wire taking groove formed by the third wire taking groove and the fourth wire taking groove to perform the wire taking operation.

6. The automatic welding apparatus of a signal transmission line according to claim 1, wherein: the wire preprocessing device comprises a wire preprocessing mechanism, a wire preprocessing transverse moving assembly and a wire preprocessing longitudinal moving assembly, wherein the wire preprocessing longitudinal moving assembly is fixedly arranged on a base along the vertical direction, the wire preprocessing longitudinal moving assembly comprises a wire preprocessing longitudinal moving drag chain, one end of the wire preprocessing longitudinal moving drag chain is fixed, the other end of the wire preprocessing longitudinal moving drag chain is connected with a wire preprocessing longitudinal moving sliding block on the wire preprocessing longitudinal moving assembly, the wire preprocessing longitudinal moving assembly drives the wire preprocessing longitudinal moving drag chain to move along the vertical direction through a driving wire preprocessing longitudinal moving sliding block, the wire preprocessing longitudinal moving drag chain can protect a pipeline and limit the moving range of the wire preprocessing device, the wire preprocessing mechanism at least comprises a wire twisting assembly, a wire shearing assembly, a wire stripping assembly, a wire conveying assembly, a wire tightening detection assembly and a wire preprocessing platform, the wire twisting assembly, the wire shearing assembly, the wire stripping assembly, the wire conveying assembly and the wire tightening detection assembly are arranged on the wire preprocessing platform, the wire preprocessing platform is connected with the wire preprocessing transverse moving assembly, the wire conveying assembly moves relative to the wire twisting assembly, the wire shearing assembly and the wire stripping assembly, the wire conveying assembly is in butt joint with the wire twisting assembly, the wire conveying assembly is in butt joint with the wire shearing assembly and the wire stripping assembly, and the wire preprocessing device conducts wire shearing, wire stripping, wire twisting and detection on the signal transmission wire through the wire twisting assembly, the wire shearing assembly, the wire stripping assembly, the wire conveying assembly and the wire tightening detection assembly.

7. The automatic welding apparatus of a signal transmission line according to claim 1, wherein: the welding device comprises a welding assembly, a welding transverse moving assembly and a welding longitudinal moving assembly, wherein the welding longitudinal moving assembly is fixedly arranged on a base in the vertical direction, the welding longitudinal moving assembly is driven by a lead screw and comprises a welding longitudinal moving drag chain, one end of the welding longitudinal moving drag chain is fixed, the other end of the welding longitudinal moving drag chain is connected with a welding longitudinal moving slide block on the welding longitudinal moving assembly, the welding longitudinal moving assembly drives the welding longitudinal moving drag chain to move in the vertical direction by driving the welding longitudinal moving slide block to move, the welding longitudinal moving drag chain can protect a pipeline and limit the moving range of the welding device, the welding transverse moving assembly comprises a welding transverse moving drag chain, one end of the welding transverse moving drag chain is fixed with the welding transverse moving assembly, the other end of the welding transverse moving drag chain is connected with the welding slide block on the welding transverse moving assembly in a transverse mode, and the welding transverse moving assembly drives the welding transverse moving drag chain to move in the horizontal direction by driving the welding transverse moving slide block, the welding transverse moving drag chain can protect the pipeline and limit the moving range of the welding device, and the welding transverse moving sliding block is fixedly connected with the welding arm.

8. The automatic welding apparatus for signal transmission lines of claim 7, wherein: the welding arm is formed by connecting a plurality of sections of arms, a cylinder group is arranged in the welding arm, the welding arm moves in a space range, one end of the welding arm is fixedly connected with a welding transverse sliding block, the other end of the welding arm is fixedly connected with a welding assembly, the welding arm drives the welding assembly to move in the space range, the adjustment of the position in a small range is controlled, the welding assembly comprises a welding fixing mechanism, a welding conveying mechanism and a welding clamping mechanism, the welding mechanism and the welding conveying mechanism are respectively fixed on the welding fixing mechanism, the welding conveying mechanism receives a formed line conveyed by the line taking device and moves the formed line to a welding position, the welding mechanism welds a signal transmission line, the welding fixing mechanism comprises a first welding fixing plate and a second welding fixing plate, the first welding fixing plate is vertically connected with the second welding fixing plate, and the second welding fixing plate is fixedly provided with a welding connecting plate fixedly connected with the welding arm, welding mechanism sets firmly at welding fixed plate one through the welding board, welding mechanism includes a welding piece, a welding fixed plate, the pressure welding motor and a welding connecting plate, the pressure welding motor is fixed at the welding board and is connected with a welding connecting plate, the pressure welding motor can drive a welding connecting plate and remove, a welding fixed plate sets firmly at a welding connecting plate, a welding is installed at a welding connecting plate, the removal of a welding fixed plate is controlled to pressure welding motor accessible welding connecting plate, the position of adjustment welding, the line that will wear out flattens.

9. The use method of the automatic welding equipment for the signal transmission line is characterized by comprising the following steps: the method is used for the automatic welding equipment of any one of claims 1-8, and particularly comprises the following steps:

step B1: preprocessing automatic welding equipment;

step B2: starting and preparing automatic welding equipment;

step B3: judging the number sequence of the welding wires;

Step B6: judging the number sequence of the line plates;

step B8: judging the number sequence of inner holes of the line board;

step B14: when the line board array of the destination station is executed, the line taking arm and the wire welding arm 21 are shut down, and the system is powered off;

10. The method of using a signal transmission line automated welding apparatus of claim 9, wherein: the automatic welding equipment starting preparation in the step B2 comprises the following steps:

step B2.2: starting the AGV and confirming that the AGV communicates normally;

step B2.3: the control system controls the AGV7 to run to the standby station;

step B2.4: the control system reads the serial execution list.