CN114918578B - Intelligent robot welding workstation and pipeline welding method - Google Patents
Intelligent robot welding workstation and pipeline welding method Download PDFInfo
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- CN114918578B CN114918578B CN202210417512.2A CN202210417512A CN114918578B CN 114918578 B CN114918578 B CN 114918578B CN 202210417512 A CN202210417512 A CN 202210417512A CN 114918578 B CN114918578 B CN 114918578B
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- 238000003466 welding Methods 0.000 title claims abstract description 181
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000012546 transfer Methods 0.000 claims abstract description 28
- 239000012636 effector Substances 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims description 48
- 230000008569 process Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 8
- 230000036544 posture Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010891 electric arc Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
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- 230000002349 favourable effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of intelligent welding of robots, in particular to an intelligent robot welding workstation and a pipeline welding method. The intelligent robot welding workstation comprises an intelligent welding robot, a welding gun, an intelligent carrying robot, an end effector and an omnidirectional mobile platform, wherein the omnidirectional mobile platform is used for bearing a fixed pipeline; the intelligent transfer robot is arranged on one side of the omnidirectional mobile platform, and the execution tail end of the intelligent transfer robot is provided with an end pick-up which is used for picking up and feeding a welding pipeline; the intelligent welding robot is arranged on the other side of the omnidirectional mobile platform, a welding gun is arranged at the execution tail end of the intelligent welding robot, and the welding gun is used for welding a welding seam between a welding pipeline and a fixed pipeline. The invention realizes the multi-variety and small-batch welding of the pipeline structural members, and is beneficial to saving manpower, improving the production efficiency and improving the welding quality compared with the current common manual welding means.
Description
Technical Field
The invention relates to the technical field of intelligent welding of robots, in particular to an intelligent robot welding workstation and a pipeline welding method.
Background
In recent years, the market demand of the robot welding technology is continuously expanding, the software and hardware related to the robot welding technology are also rapidly developing to intelligent development, and the welding technology is also adaptively adjusted from the traditional mode to the automatic welding direction of the robot. With the continuous advancement of national intelligent manufacturing policies, the traditional manufacturing industry is facing the transformation and upgrading of intelligent manufacturing, and the market demand of intelligent manufacturing is increasing. The robot welding technology is gradually developed towards an intelligent welding technology integrating multiple robots, multiple welding methods and multiple sensing means, and the intelligent welding robot is optimized towards a robot control technology of a welding process.
In the automated welding of pipe structural members, in particular in the task of welding small-variety and multi-batch pipes, there are two problems: robot programming and weld locating. For robot programming, it is typically implemented using methods of field-teaching programming and off-line programming. The teaching programming uses an actual workpiece as an object, an operator controls the tail end of a manipulator tool to reach a designated gesture and position through a teaching box, gesture data of the robot are recorded, a robot motion instruction is written, and acquisition and recording of joint data information such as track planning, gesture and the like of the robot in normal welding are completed. The method is intuitive and good in adaptability, is cumbersome, and cannot realize automation.
The robot off-line programming is to utilize the result of computer graphics, to build a scene corresponding to the real working environment in the simulation environment by three-dimensional modeling of the working unit, to control and operate the graphics by a planning algorithm, to perform track planning without using an actual robot, so as to generate a robot program. Off-line programming can be separated from an industrial field and all the programming work can be completed in an office, but the application range of the off-line programming method is not wide due to complicated setting, high requirements on skills of operators and high price of software. The workpiece always has certain errors due to errors introduced in the processing and team forming processes, so that the position and the posture of an actual welding seam always have certain errors relative to a robot coordinate system, the errors are particularly obvious in welding of welding structural parts, a robot welding program is directly used, and therefore a locating device and a locating method are required to be introduced to correct the specific position of the welding seam. The usual locating modes are as follows: (1) According to the welding wire and arc method, a relative relation between the robot and the workpiece is judged through a pre-programmed robot program and through current and voltage signals when the robot approaches the workpiece, and then the position of a welding line is approximately calculated. (2) Laser locating, namely scanning a workpiece by using a robot to drive a line or point laser, and then calculating the position of a welding line by using the spatial positions of the obtained target points and the positions of a plurality of sampling points. In both of the above methods, complex locating programming is required and is inefficient, and both methods fail for complex weld patterns or large deviations. The automatic welding and detecting method of the three-dimensional vision finishes the multiple procedures of alignment, locating and detection in the robot welding application; however, the welding wire contact sensor, the electric arc method, the visual method and other methods cannot be suitable for locating the welding of the pipeline with a certain insulating and reflective coating on the outer surface.
Disclosure of Invention
Aiming at the problems, the invention aims to provide an intelligent robot welding workstation and a pipeline welding method, which are used for solving the problem that welding wires cannot be suitable for pipeline welding locating with a certain insulating and reflecting coating on the appearance by using a welding wire contact sensor, an electric arc method, a visual method and the like.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an embodiment of the present invention provides an intelligent robot welding workstation, including:
the omnidirectional mobile platform is used for bearing the fixed pipeline;
the intelligent transfer robot is arranged on one side of the omnidirectional mobile platform, and the execution tail end of the intelligent transfer robot is provided with an end pick-up which is used for picking up and feeding a welding pipeline;
the intelligent welding robot is arranged on the other side of the omnidirectional mobile platform, a welding gun is arranged at the execution tail end of the intelligent welding robot, and the welding gun is used for welding a welding line between a welding pipeline and a fixed pipeline.
In one possible implementation manner, the end effector comprises a flange connection assembly, a bottom plate and a V-shaped electromagnet, wherein the flange connection assembly is arranged at the top of the bottom plate and is connected with the execution end of the intelligent transfer robot; the V-shaped electromagnet is arranged at the bottom of the bottom plate, and the V-shaped electromagnet realizes the adsorption and release of the welded pipeline through on-off power.
In one possible implementation manner, the flange connection assembly includes a connection flange and a plurality of vertical rods, wherein the connection flange is arranged above the bottom plate in parallel, and the connection flange is connected with the bottom plate through the plurality of vertical rods.
In one possible implementation manner, two groups of online measuring mechanisms are respectively arranged at two ends of the end effector, and the two groups of online measuring mechanisms are used for detecting the position and the gesture of the fixed pipeline.
In one possible implementation manner, the online measurement mechanism comprises two swing rods, two contact sensors and a swing rod driving mechanism, wherein the middle positions of the two swing rods are hinged to the end part of the bottom plate, and the two contact sensors are respectively arranged at the lower ends of the two swing rods; the swing rod driving mechanism is arranged at the top of the bottom plate, and the output end of the swing rod driving mechanism is hinged with the upper ends of the two swing rods; the swing rod driving mechanism drives the two swing rods to swing reversely, so that the two contact sensors are driven to synchronously extend out of the outer side of the V-shaped electromagnet or are accommodated in the inner side of the V-shaped electromagnet.
In one possible implementation manner, the swing rod driving mechanism comprises a sliding block, a cross rod and a servo electric cylinder, wherein the tail part of the servo electric cylinder is hinged with the bottom plate, and the output end of the servo electric cylinder is connected with the middle part of the cross rod; two ends of the cross rod are respectively connected with two sliding blocks in a sliding way, and the two sliding blocks are respectively hinged with the upper ends of the two swing rods.
Another embodiment of the present invention provides a method for welding a pipeline using the intelligent robot welding workstation, comprising the steps of:
1) The omnidirectional mobile platform bears the fixed pipeline and moves to a welding station;
2) The intelligent transfer robot detects the position and the gesture of a welding groove end of the fixed pipeline through on-line measuring mechanisms at two ends of the end pick-up;
3) The intelligent transfer robot picks up the welded pipeline in the planar tray through the end pick-up device, and then the welded pipeline is in butt joint with the welding groove end of the fixed pipeline;
4) The intelligent welding robot performs welding of a section of welding seam between the welded pipeline and the fixed pipeline through a welding gun;
5) Releasing the welded pipeline by the end pick-up of the intelligent carrying robot;
6) The omnidirectional mobile platform bears the fixed pipeline and the welding pipeline to change the pose, so that the welding seam which is not welded is directed towards the intelligent welding robot;
7) The intelligent transfer robot detects the position and the gesture of the fixed pipeline through on-line measuring mechanisms at two ends of the end pick-up;
8) And the intelligent welding robot welds another section of welding seam between the welded pipeline and the fixed pipeline through the welding gun until the welding of the whole annular welding seam is completed.
In one possible implementation, the process of detecting the position and the posture of the fixed pipeline by two groups of online measuring mechanisms comprises the following steps:
1) The contact sensor A, the contact sensor B, the contact sensor C and the contact sensor D in the two groups of online measuring mechanisms are all contained in the inner sides of the V-shaped electromagnets;
2) The action of a servo electric cylinder in the online measuring mechanism enables the contact sensor A and the contact sensor B to extend out of the outer side of the V-shaped electromagnet;
3) The intelligent transfer robot drives the end pick-up to move so that the contact sensor A or the contact sensor B is contacted with the fixed pipeline;
4) The end pick-up drives the contact sensor B to rotate downwards by taking the contact sensor A as a fulcrum until the contact sensor A contacts with the fixed pipeline;
or the end pick-up drives the contact sensor A to rotate downwards by taking the contact sensor B as a fulcrum until the contact sensor A contacts with the fixed pipeline;
5) The other group of servo electric cylinders in the online measuring mechanism act to enable the contact sensor C and the contact sensor D to extend out of the outer side of the V-shaped electromagnet;
6) The intelligent transfer robot drives the end pick-up to rotate downwards around the central connecting line of the contact sensor A and the contact sensor B, so that the contact sensor C and the contact sensor D are contacted with the fixed pipeline;
7) The intelligent transfer robot drives the end effector to move along the axial direction of the fixed pipeline until the touch sensor A and the touch sensor B or the touch sensor C and the touch sensor D are separated from the fixed pipeline, so that the position of a welding groove ring of the fixed pipeline is obtained.
In one possible implementation, the end effector picks up or releases the welded pipe by turning on and off the V-shaped electromagnet.
The invention has the advantages and beneficial effects that: aiming at the characteristics of large scale and inaccurate positioning of a pipeline structural member, the invention uses a space mechanism contact multi-sensing technology to open the data chain of the pipeline, efficiently realizes the automation from design data to welding processing, and has the following beneficial effects:
(1) And the full-flow automation from the design model to the processing and welding of the pipeline structural member is realized. The traditional offline programming method is difficult to realize the automation of the whole process. Firstly, welding seams cannot be automatically identified, and complex manual interaction and setting are required; secondly, due to pipeline positioning errors, the off-line programming generated program cannot be directly used, and the welding seam locating is realized by combining with complex programming so as to correct the deviation, so that the welding can be realized, and the method is difficult to adapt to the use scenes of small batches and multiple varieties.
(2) The invention uses the space mechanism to contact the multi-sensor to identify and seek the position, and can be well adapted to the welding scene of the pipeline structural member. And the problem that the absolute positioning accuracy of the robot in large-scale space is reduced and the positioning of the welding seam is difficult can be effectively solved.
(3) The invention realizes the multi-variety and small-batch welding of the pipeline structural members, and is beneficial to saving manpower, improving the production efficiency and improving the welding quality compared with the current common manual welding means.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is an isometric view of an intelligent robotic welding workstation of the present invention;
FIG. 2 is a top view of the intelligent robotic welding station of the present invention;
FIG. 3 is an isometric view of a non-detection state of the smart robotic end effector of the present invention;
FIG. 4 is an isometric view of the intelligent robot end effector detection state of the present invention;
FIG. 5 is a front view of the intelligent robotic end effector of the present invention in a detected state;
FIG. 6 is a bottom view of the intelligent robotic end effector of the present invention;
in the figure: 1 is an intelligent welding robot, 2 is a welding gun, 3 is an intelligent transfer robot, 4 is an end effector, 401 is a connecting flange, 402 is a vertical rod, 403 is a bottom plate, 404 is a V-shaped electromagnet, 405 is a swinging rod, 406 is a sliding block, 407 is a cross rod, 408 is a servo electric cylinder, 409 is a contact sensor, 4091 is a contact sensor A,4092 is a contact sensor B,4093 is a contact sensor C,4094 is a contact sensor D,5 is an omnidirectional moving platform, 6 is a fixed pipeline, and 7 is a welding pipeline.
Detailed Description
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The intelligent robot welding workstation provided by the embodiment of the invention realizes the small-batch welding of multiple varieties of pipeline structural members, and compared with the current common manual welding means, the intelligent robot welding workstation is beneficial to saving manpower, providing production efficiency and improving welding quality. Referring to fig. 1 and 2, the intelligent robot welding workstation comprises an intelligent welding robot 1, a welding gun 2, an intelligent carrying robot 3, an end effector 4 and an omni-directional mobile platform 5, wherein the omni-directional mobile platform 5 is used for bearing a fixed pipeline 6; the intelligent transfer robot 3 is arranged on one side of the omnidirectional mobile platform 5, the execution tail end of the intelligent transfer robot 3 is provided with an end pick-up 4, and the end pick-up 4 is used for picking up and feeding a welded pipeline 7; the intelligent welding robot 1 is arranged on the other side of the omnidirectional mobile platform 5, a welding gun 2 is arranged at the execution tail end of the intelligent welding robot 1, and the welding gun 2 is used for welding a welding seam between a welding pipeline 7 and a fixed pipeline 6.
Referring to fig. 3 to 6, in the embodiment of the present invention, the end effector 4 includes a flange connection assembly, a base plate 403 and a V-shaped electromagnet 404, wherein the flange connection assembly is disposed on top of the base plate 403, and the flange connection assembly is connected to an execution end of the intelligent carrier robot 3; the V-shaped electromagnet 404 is arranged at the bottom of the bottom plate 403, and the V-shaped electromagnet 404 realizes the adsorption and release of the welded pipeline 7 through on-off power.
Referring to fig. 3 and 4, in the embodiment of the present invention, the flange connection assembly includes a connection flange 401 and a plurality of uprights 402, wherein the connection flange 401 is disposed above the bottom plate 403 in parallel, and the connection flange 401 is connected to the bottom plate 403 through the plurality of uprights 402 disposed along the circumferential direction.
Further, two groups of online measuring mechanisms are respectively arranged at two ends of the end pick-up 4 and used for detecting the position and the gesture of the welding groove end of the fixed pipeline 6.
In the embodiment of the invention, the on-line measuring mechanism comprises two swing rods 405, two contact sensors 409 and a swing rod driving mechanism, wherein the middle positions of the two swing rods 405 are hinged at the end parts of the bottom plate 403, and the two contact sensors 409 are respectively arranged at the lower ends of the two swing rods 405; the swing rod driving mechanism is arranged at the top of the bottom plate 403, and the output end of the swing rod driving mechanism is hinged with the upper ends of the two swing rods 405; the swing rod driving mechanism drives the two swing rods 405 to swing reversely, so that the two contact sensors 409 are driven to extend out of the V-shaped electromagnet 404 or are accommodated in the inner side of the V-shaped electromagnet 404 synchronously.
In the embodiment of the invention, the swing rod driving mechanism comprises a sliding block 406, a cross rod 407 and a servo electric cylinder 408, wherein the tail part of the servo electric cylinder 408 is hinged with the bottom plate 403, and the output end of the servo electric cylinder 408 is connected with the middle part of the cross rod 407; two ends of the cross rod 407 are respectively connected with two sliding blocks 406 in a sliding way, and the two sliding blocks 406 are respectively hinged with the upper ends of two swinging rods 405. The servo electric cylinder 408, the cross rod 407 and the two swing rods 405 form a space link mechanism, the servo electric cylinder 408 stretches and contracts to drive the cross rod 407 to move up and down, so that the two sliding blocks 406 which are in sliding fit with the cross rod 407 are driven to be away from or close to each other, and the two sliding blocks 406 drive the two swing rods 405 to swing reversely. Specifically, the axis of servo cylinder 408 moves in the X-Z plane. The servo cylinder 408 is a mature market product, and internally comprises a motor, a screw rod and the like, and has telescopic movement capability and length obtaining capability, wherein the length obtaining capability is preferably a servo motor code wheel.
Specifically, referring to fig. 6, a set of on-line measuring mechanisms includes a contact sensor a4091 and a contact sensor B4092; another set of on-line measuring mechanisms includes a touch sensor C4093 and a touch sensor D4094. In this embodiment, the four contact sensors are all of an ellipsoidal structure, and the four contact sensors are used to complete the contact measurement of the position and the posture of the fixed pipeline 6, so as to obtain the position of the welding groove end of the fixed pipeline 6, thereby preparing data for the butt joint of the welding groove of the fixed pipeline 6 and the welding pipeline 7.
The embodiment of the invention provides an intelligent robot welding workstation, which uses a space mechanism to contact multiple sensors for identification and locating, can be well adapted to welding scenes of pipeline structural members, and effectively improves the spatial absolute positioning accuracy of a robot in large scale; the method realizes the multi-variety small-batch welding of the pipeline structural parts, is favorable for saving manpower compared with the current common manual welding means, improves the production efficiency and improves the welding quality.
On the basis of the above embodiments, another embodiment of the present invention provides a pipe welding method implemented using the intelligent robot welding workstation of any of the above embodiments. The method for welding the pipeline comprises the following steps:
1) The omnidirectional mobile platform 5 carries the fixed pipeline 6 to move to a welding station; after the omnidirectional mobile platform 5 moves in place, the omnidirectional mobile platform has a trace offset between a theoretical position and an actual position;
2) The intelligent transfer robot 3 detects the position and the gesture of the welding groove end of the fixed pipeline 6 through on-line measuring mechanisms at two ends of the end pick-up 4;
3) The intelligent transfer robot 3 picks up the welded pipeline 7 in the planar tray through the end pick-up 4, and then the welded pipeline 7 is in butt joint with the welding groove end of the fixed pipeline 6; specifically, the end pick-up 4 realizes the pick-up or release of the welded pipe 7 by the on-off of the V-shaped electromagnet 404;
4) The intelligent welding robot 1 performs welding of a section of welding seam between a welded pipeline 7 and a fixed pipeline 6 through a welding gun 2;
5) The end pick-up 4 of the intelligent transfer robot 3 releases the welded pipe 7;
6) The omnidirectional mobile platform 5 bears the fixed pipeline 6 and the welding pipeline 7 to change the position and the posture, so that the welding seam which is not welded is directed towards the intelligent welding robot 1;
7) The intelligent transfer robot 3 detects the position and the posture of the fixed pipeline 6 through the on-line measuring mechanisms at the two ends of the end pick-up 4, namely, the position of a welding line between the fixed pipeline 6 and the welding pipeline 7 is measured;
8) The intelligent welding robot 1 performs welding of another section of welding seam between the welded pipeline 7 and the fixed pipeline 6 through the welding gun 2 until the whole circular welding seam is welded.
Further, the process of detecting the position and the posture of the fixed pipeline 6 by the two groups of online measuring mechanisms comprises the following steps:
1) The contact sensor A4091, the contact sensor B4092, the contact sensor C4093 and the contact sensor D4094 in the two groups of online measuring mechanisms are all contained inside the V-shaped electromagnet 404;
2) The action of the servo cylinder 408 in the set of on-line measuring mechanisms causes the contact sensor a4091 and the contact sensor B4092 to protrude outside the V-shaped electromagnet 404;
3) The intelligent carrying robot 3 drives the end effector 4 to move so that the contact sensor A4091 or the contact sensor B4092 is in contact with the fixed pipeline 6;
4) The end effector 4 drives the contact sensor B4092 to rotate downwards by taking the contact sensor A4091 as a fulcrum until the contact sensor B4092 contacts the fixed pipeline 6;
or the end effector 4 drives the contact sensor A4091 to rotate downwards by taking the contact sensor B4092 as a fulcrum until the contact sensor A4091 contacts with the fixed pipeline 6;
5) The action of the servo cylinder 408 in the other set of on-line measuring mechanisms causes the contact sensor C4093 and the contact sensor D4094 to protrude outside the V-shaped electromagnet 404;
6) The intelligent transfer robot 3 drives the end effector 4 to rotate downwards around the central connecting line of the contact sensor A4091 and the contact sensor B4092, so that the contact sensor C4093 and the contact sensor D4094 are in contact with the fixed pipeline 6;
7) The intelligent carrier robot 3 drives the end effector 4 to move along the axial direction of the fixed pipeline 6 until the touch sensor a4091 and the touch sensor B4092 or the touch sensor C4093 and the touch sensor D4094 are separated from the fixed pipeline 6, thereby obtaining the position of the welding groove ring of the fixed pipeline 6.
In this embodiment, the spatial positions of the target points are obtained through four contact sensors, and the positions and the postures of the two welded spatial pipes are calculated, so that the positions of the welding seams are obtained. Meanwhile, the contact sensor is adopted to adapt to pipeline welding locating with a certain insulating and reflecting coating on the outer surface, and the environment interference resistance in the detection process is strong.
Aiming at the characteristics of large scale and inaccurate positioning of the pipeline structural member, the invention uses a space mechanism contact multi-sensing technology to open the data chain of the pipeline, and efficiently realizes the automation from design data to welding processing. The invention uses the space mechanism to contact the multi-sensor to identify and seek the position, can be well adapted to the welding scene of the pipeline structural member, effectively improves the absolute positioning precision of the robot in large-scale space, realizes the multi-variety and small-batch welding of the pipeline structural member, saves labor, improves the production efficiency and improves the welding quality.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
1. An intelligent robotic welding workstation, comprising:
the omnidirectional mobile platform (5) is used for bearing the fixed pipeline (6);
the intelligent transfer robot (3) is arranged on one side of the omnidirectional mobile platform (5), the execution tail end of the intelligent transfer robot (3) is provided with an end pick-up device (4), and the end pick-up device (4) is used for picking up and feeding a welding pipeline (7);
the intelligent welding robot (1) is arranged on the other side of the omnidirectional mobile platform (5), a welding gun (2) is arranged at the execution tail end of the intelligent welding robot (1), and the welding gun (2) is used for welding a welding seam between a welding pipeline (7) and a fixed pipeline (6);
the end effector (4) comprises a flange connection assembly, a bottom plate (403) and a V-shaped electromagnet (404), wherein the flange connection assembly is arranged at the top of the bottom plate (403), and the flange connection assembly is connected with the execution tail end of the intelligent transfer robot (3); the V-shaped electromagnet (404) is arranged at the bottom of the bottom plate (403), and the V-shaped electromagnet (404) realizes the adsorption and release of the welded pipeline (7) through on-off power;
two groups of online measuring mechanisms are respectively arranged at two ends of the end pick-up device (4) and are used for detecting the position and the gesture of the fixed pipeline (6);
the on-line measuring mechanism comprises two swing rods (405), two contact sensors (409) and a swing rod driving mechanism, wherein the middle positions of the two swing rods (405) are hinged to the end part of the bottom plate (403), and the two contact sensors (409) are respectively arranged at the lower ends of the two swing rods (405); the swing rod driving mechanism is arranged at the top of the bottom plate (403), and the output end of the swing rod driving mechanism is hinged with the upper ends of the two swing rods (405); the swing rod driving mechanism drives the two swing rods (405) to swing reversely, so that the two contact sensors (409) are driven to synchronously extend out of the outer side of the V-shaped electromagnet (404) or are accommodated in the inner side of the V-shaped electromagnet (404).
2. The intelligent robot welding workstation of claim 1, wherein the flange connection assembly comprises a connection flange (401) and a plurality of uprights (402), wherein the connection flange (401) is arranged in parallel above the bottom plate (403), and the connection flange (401) is connected with the bottom plate (403) through the plurality of uprights (402).
3. The intelligent robot welding workstation of claim 1, wherein the swing rod driving mechanism comprises a sliding block (406), a cross rod (407) and a servo electric cylinder (408), wherein the tail of the servo electric cylinder (408) is hinged with the bottom plate (403), and the output end of the servo electric cylinder (408) is connected with the middle part of the cross rod (407); two ends of the cross rod (407) are respectively connected with two sliding blocks (406) in a sliding way, and the two sliding blocks (406) are respectively hinged with the upper ends of the two swinging rods (405).
4. A method of welding pipes using the intelligent robotic welding station of claim 3, comprising the steps of:
1) The omnidirectional mobile platform (5) bears the fixed pipeline (6) and moves to a welding station;
2) The intelligent transfer robot (3) detects the position and the gesture of a welding groove end of the fixed pipeline (6) through on-line measuring mechanisms at two ends of the end pick-up (4);
3) The intelligent transfer robot (3) picks up the welding pipeline (7) in the plane tray through the end pick-up device (4), and then the welding pipeline (7) is in butt joint with the welding groove end of the fixed pipeline (6);
4) The intelligent welding robot (1) performs welding of a section of welding seam between a welding pipeline (7) and a fixed pipeline (6) through a welding gun (2);
5) The end pick-up (4) of the intelligent carrying robot (3) releases the welding pipeline (7);
6) The omnidirectional mobile platform (5) bears the fixed pipeline (6) and the welding pipeline (7) to change the pose, so that the welding seam which is not welded is directed towards the intelligent welding robot (1);
7) The intelligent transfer robot (3) detects the position and the gesture of the fixed pipeline (6) through on-line measuring mechanisms at two ends of the end pick-up (4);
8) The intelligent welding robot (1) performs welding of another section of welding seam between the welding pipeline (7) and the fixed pipeline (6) through the welding gun (2) until the welding of the whole annular welding seam is completed;
the process of detecting the position and the posture of the fixed pipeline (6) by the two groups of online measuring mechanisms comprises the following steps:
1) the contact sensor A (4091), the contact sensor B (4092), the contact sensor C (4093) and the contact sensor D (4094) in the two groups of online measuring mechanisms are all contained inside the V-shaped electromagnet (404);
2) The action of a servo cylinder (408) in the online measuring mechanism enables a contact sensor A (4091) and a contact sensor B (4092) to protrude out of the V-shaped electromagnet (404);
3) The intelligent transfer robot (3) drives the end effector (4) to move so that the contact sensor A (4091) or the contact sensor B (4092) is in contact with the fixed pipeline (6);
4) The end effector (4) drives the contact sensor B (4092) to rotate downwards by taking the contact sensor A (4091) as a fulcrum until the contact sensor B contacts with the fixed pipeline (6);
or the end effector (4) drives the contact sensor A (4091) to rotate downwards by taking the contact sensor B (4092) as a fulcrum until the contact sensor A is contacted with the fixed pipeline (6);
5) The action of a servo electric cylinder (408) in the other group of the online measuring mechanism enables a contact sensor C (4093) and a contact sensor D (4094) to protrude out of the V-shaped electromagnet (404);
6) The intelligent transfer robot (3) drives the end effector (4) to rotate downwards around the central connecting line of the contact sensor A (4091) and the contact sensor B (4092), so that the contact sensor C (4093) and the contact sensor D (4094) are in contact with the fixed pipeline (6);
7) The intelligent transfer robot (3) drives the end effector (4) to move along the axial direction of the fixed pipeline (6) until the touch sensor A (4091) and the touch sensor B (4092) or the touch sensor C (4093) and the touch sensor D (4094) are separated from the fixed pipeline (6), so that the position of a welding groove ring of the fixed pipeline (6) is obtained.
5. The method of welding a pipe according to claim 4, wherein the end effector (4) is adapted to pick up or release the welded pipe (7) by switching on and off the V-shaped electromagnet (404).
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| CN113510411A (en) * | 2020-04-09 | 2021-10-19 | 上海发那科机器人有限公司 | Pipeline robot welding system and method |
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