CN202438792U - Control system for welding robot - Google Patents
Control system for welding robot Download PDFInfo
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- CN202438792U CN202438792U CN2011205368577U CN201120536857U CN202438792U CN 202438792 U CN202438792 U CN 202438792U CN 2011205368577 U CN2011205368577 U CN 2011205368577U CN 201120536857 U CN201120536857 U CN 201120536857U CN 202438792 U CN202438792 U CN 202438792U
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Abstract
The utility model discloses a control system for a welding robot, and relates to a control device for a welding robot. The system comprises a laser vision sensing system, a laser barcode scanning system, a main industrial personal computer, a driving device, a wireless teaching device, sensors displaying various states, a communication device and an interface circuit. The system is advantageous in that an external sensing function of the robot is improved, thereby realizing a closed-loop control and increasing teaching efficiency; the robot can be conveniently controlled by using the wireless teaching device; the laser vision sensing system can obtain three-dimensional information of accurate weld joints to timely adjust a path of a welding gun, thereby being high in welding precision and anti-electromagnetic interference capability; a three-dimensional laser scanning technology and the barcode information reading device simplify the teaching process, reduce the time for idle stroke moving of the welding gun and increase the teaching efficiency; each sensor collaboratively works to greatly reduce errors of robot trajectory tracking and improve the quality of the workpiece weld joints; and adaptive ability of the control system is enhanced and the reliability of the system is high.
Description
Technical field
The utility model relates to a kind of welding robot control device, specifically is that a kind of welding robot is controlled system, based on the welding robot control system of intelligent wireless teaching and vision track technology.
Background technology
Welding robot is exactly to replace the welder to be engaged in the industrial robot of weld task at the welding production field, mainly is divided into two big types of spot welding and arc-welding.The welding parameter of existing teaching reproduction pattern welding robot is provided with according to operating condition in advance; In welding process, lack external information sensing and real-time adjustment function; Coherence request to operating condition is strict, can not adapt to the variation of welding surroundings and process.Secondly, teaching reproduction pattern welding robot teaching process is loaded down with trivial details, and the idle running travel time is long, inefficiency, and also teaching machine is connected through cable with welding robot, and the human-machine operation space is restricted.In order to overcome of the influence of above problem to welding quality; Improve the intelligent level of welding robot and the reliability of work; This just requires welding robot control system on the teaching basis; Merge sensing technology, intelligent control technology and computer technology realize the autonomy-oriented and the intellectuality of welding process.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art; The utility model provides a kind of welding robot to control system; Can improve welding robot external information sensing and real-time adjustment function, and can improve teaching efficiency, increase the robot controller and the method in teaching space.
This utility model realizes with following technical scheme: a kind of welding robot is controlled system, comprises
The sensor that is used for the various states of detection machine people is monitored stress, corner and the rotating speed of each arm of robot in real time, and the information of butt welded seam is caught simultaneously, and robot is formed closed-loop control,
The signal reforming unit, sensor is sent to industrial computer with detected various signal conversions back through communicator;
Main industrial computer, the signal that receives wireless teaching apparatus carries out analyzing and processing and accomplishes human-computer interaction function, and the signal that main industrial computer receives from each sensor passes through Mechanics Calculation, and the control system is resolved, and forms the departure signal, feeds back to drive unit;
Drive unit receives order that main industrial computer sends and is used for the drive machines people and carries out work;
Also comprise wireless teaching apparatus,, suddenly stop operating, manually carry out various points, the interpolation of Straight Line and Arc according to the shape of weldment to the startup of robot;
The laser-vision sensing system gathers corresponding image information, and carries out the image preliminary treatment; Then information is delivered to main industrial computer; Main industrial computer carries out weld seam recognition to image, extracts required weld information, delivers to the drive unit and the welding machine of robot after the processing;
The functionality of laser bar code scanning system receives required weld information and import main industrial computer, combines with the threedimensional model of welding work pieces, and at last by the system generator code, the drive unit that sends to robot carries out work.
It further is: described wireless teaching apparatus comprises wireless signal transmitter, home control network communication protocol interface, anti-interference and signal amplification module and teach box receiver.
Described laser-vision sensing system comprises laser instrument, CCD camera, optical filter and pattern capture card; After the imaging of CCD camera; Image pick-up card is gathered corresponding image information; And carry out the image preliminary treatment, then information is delivered to main industrial computer, main industrial computer carries out weld seam recognition to image; Extract required weld information, deliver to the drive unit and the welding machine of robot after the software processes;
The functionality of laser bar code scanning system comprises the position of laser scanner, variable laser scanner and the controller and the bar code of attitude; Laser scanner imports main industrial computer with institute's welding work pieces scanning for threedimensional model, posts corresponding bar code on the workpiece that weld; The inner bar code identification system of main industrial computer receives required weld information and combines with threedimensional model, at last by the generation system program code, sends to the drive unit of robot.
Described sensor is photoelectric encoder, force cell, proximity transducer and laser vision sensor.
Described photoelectric encoder is installed on the AC servo motor in the drive unit, at the arm of force of robot one force cell is installed respectively up and down, and proximity transducer and laser vision sensor are installed on the welding gun.
The beneficial effect of the utility model: 1) increased the external sense function of robot, realized closed-loop control, improved teaching efficiency;
2) wireless teaching apparatus provides close friend's man machine operation interface and wide human-machine operation space.The operator can carry out ROBOT CONTROL faster and more easily;
3) laser-vision sensing system has initiative, non-contacting characteristics, and three-dimensional information, the sensitivity precision that can obtain accurate object is high, the anti-electromagnetic field interference performance is strong;
4) three-dimensional laser scanning technique and bar code information reading device have been simplified the process of teaching, increased the accuracy of teaching, and having shortened mobile between the welding place is idle running, has reduced the overall operation time;
5) control system employs 4 types of sensors, the compound work of each sensor synergism, the accuracy that has increased robot motion's track has greatly improved the quality of workpiece weld seam, and to the various realtime monitorings of robot, has reduced the possibility of makeing mistakes;
6) The whole control system can be adjusted the working method of robot along with the variation of welding condition and environment automatically, and welding robot reduces the requirement of welding condition, and adaptive ability strengthens, and reliability improves.
Description of drawings
Below in conjunction with accompanying drawing the utility model is described further.
Fig. 1 is a welding robot control device schematic block diagram according to the invention;
Fig. 2 is a functionality of laser bar code scanning teaching system flow chart of the present invention;
Fig. 3 is a laser vision system flow chart of the present invention;
Fig. 4 is the basic functional principle figure of laser vision of the present invention system.
The specific embodiment
As shown in Figure 1, welding robot control system is used for the sensor of the various states of detection machine people, and stress, corner and the rotating speed of each arm of robot are monitored in real time, and the information of butt welded seam is caught simultaneously, and robot is formed closed-loop control.
The signal reforming unit, sensor is sent to industrial computer with detected various signal conversions back through communicator.Main industrial computer, the signal that receives wireless teaching apparatus carries out analyzing and processing and accomplishes human-computer interaction function, and the signal that main industrial computer receives from each sensor passes through Mechanics Calculation, and the control system is resolved, and forms the departure signal, feeds back to drive unit.Drive unit receives order that main industrial computer sends and is used for the drive machines people and carries out work.Wireless teaching apparatus to the startup of robot, suddenly stops operating, and manually carries out various points, the interpolation of Straight Line and Arc according to the shape of weldment.The laser-vision sensing system gathers corresponding image information, and carries out the image preliminary treatment; Then information is delivered to main industrial computer; Main industrial computer carries out weld seam recognition to image, extracts required weld information, delivers to the drive unit and the welding machine of robot after the processing.The functionality of laser bar code scanning system receives required weld information and import main industrial computer, combines with threedimensional model, and at last by the system generator code, the drive unit that sends to robot carries out work.The detection signal that main industrial computer provides according to teaching system and various sensor sends movement directive and order is revised in the path in real time to the robot driving governor.Thereby control is controlled welding robot according to welding condition, the work of real-time high-efficiency.
The drive unit of robot is organized according to the 3-21 that generally can be divided into of the free degree; Each group structure is identical; Comprise driver, photoelectric encoder and frequency converter; Main industrial computer output is connected with the input of frequency converter and driver, and frequency converter is connected with drive motors with output end of driver, and the output of photoelectric encoder is connected with main industrial computer input.
The laser-vision sensing system comprises laser instrument, CCD camera, optical filter and pattern capture card; After the imaging of CCD camera; Image pick-up card is gathered corresponding image information; And carry out the image preliminary treatment, then information is delivered to main industrial computer, main industrial computer carries out weld seam recognition to image; Extract required weld information, deliver to the drive unit and the welding machine of robot after the software processes.CCD camera perpendicular alignmnet workpiece, laser instrument is in tilted layout, and the laser that laser instrument is got forms a slice illumination through the post lens and is mapped on the workpiece, forms the light belt of a narrower in width.After this light belt is by workpiece reflection or refraction, keep the light of the specific wavelength that laser instrument sends through optical filter, and the light of other wavelength of filtering gets into the imaging of CCD camera at last.Each groove is different in the vertical direction degree of depth with workpiece, so look from the direction of vertical workpiece, reverberation becomes a broken line, and broken line has reflected the three-dimensional position relation at light line center and weld groove center.
The functionality of laser bar code scanning system comprises the position of laser scanner, variable laser scanner and the controller and the bar code of attitude; Laser scanner imports main industrial computer with institute's welding work pieces scanning for threedimensional model, posts corresponding bar code on the workpiece that weld; The inner bar code identification system of main industrial computer will be required the weld information reception and with combine with the threedimensional model of welding work pieces, at last by the generation system program code, send to the drive unit of robot.
Sensor is photoelectric encoder, force cell, proximity transducer and laser vision sensor.Photoelectric encoder is installed on the AC servo motor in the drive unit, and force cell is respectively installed one up and down at the arm of force of robot, and proximity transducer and laser vision sensor are installed on the welding gun.Explain with four artificial examples of welding robot: sensor comprises 4 photoelectric encoders, 8 force cells, 1 laser vision sensor and 1 proximity transducer; Photoelectric encoder is installed in respectively on the AC servo motor in the driving mechanism that respectively shuts down, and two installation force cells are monitored the stress of each arm of robot in real time on each arm of welding robot.Laser vision sensor and proximity transducer all are installed in the welding gun front end, and robot is formed closed-loop control, and the information of common butt welded seam is caught, and adjusts in real time then.
Wireless teaching apparatus comprises wireless signal transmitter, home control network communication protocol interface, anti-interference and signal amplification module and teach box receiver.
The distributed control model that main industrial computer, drive unit and wireless teaching apparatus are formed has the advantage that system responses is quick, information processing capability is strong, good reliability is easy to operate.Adopt that force cell, vision sensor and proximity transducer can the monitoring machinery human arm stressed, start and the anxious stopping time is impacted situation; And can adjust in real time it; The feedback processing of the molten bath information through butt welded seam, thus flexibility, stability and the accuracy of welding robot welding improved.Laser vision system and feeler can guarantee the high-precision motion of welding gun, improve the welding quality of weld seam.
As shown in Figure 2, laser scanner is at first worked, and institute's welding work pieces scanning is imported main industrial computer for threedimensional model, and main industrial computer is handled the model of gained, and is converted into editable threedimensional model.The operator can directly specify corresponding weld information on threedimensional model.Perhaps on the workpiece of welding, stick corresponding bar code, every corresponding bar code weld information of weld seam.By bar code identification system required weld information is read then, import main industrial computer, combine,, send to robot controller and carry out work at last by system-program code with threedimensional model.This scheme is fit to the welding product of large complicated batch process.
Shown in Fig. 3 and 4, system mainly comprises laser instrument, optical filter of camera head, other servicing unit, pattern capture card and image recognition software.Native system mainly utilizes the active type measure mode, and in conjunction with laser triangulation shape principle, laser instrument penetrates a bit that weld seam is arrived in laser radiation, and detector is accepted reverberation.After the imaging of CCD camera; Image pick-up card is gathered corresponding image information; And carry out the image preliminary treatment, then information is delivered to main industrial computer, main industrial computer carries out weld seam recognition to image; Extract required weld information, deliver to robot controller and welding machine after the software processes and carry out work.
Claims (6)
1. a welding robot control system comprises
The sensor that is used for the various states of detection machine people is monitored stress, corner and the rotating speed of each arm of robot in real time, and the information of butt welded seam is caught simultaneously, and robot is formed closed-loop control,
The signal reforming unit, sensor is sent to industrial computer with detected various signal conversions back through communicator;
Main industrial computer, the signal that receives wireless teaching apparatus carries out analyzing and processing and accomplishes human-computer interaction function, and main industrial computer receives the signal from each sensor;
Drive unit receives order that main industrial computer sends and is used for the drive machines people and carries out work;
It is characterized in that: also comprise wireless teaching apparatus,, suddenly stop operating the startup of robot;
The laser-vision sensing system gathers corresponding image information, and carries out the image preliminary treatment, then information is delivered to main industrial computer;
The functionality of laser bar code scanning system receives and imports main industrial computer with required weld information.
2. welding robot according to claim 1 is controlled system, and it is characterized in that: described wireless teaching apparatus comprises wireless signal transmitter, home control network communication protocol interface, anti-interference and signal amplification module and teach box receiver.
3. welding robot according to claim 1 control system is characterized in that: described laser-vision sensing system comprises laser instrument, CCD camera, optical filter and pattern capture card; After the imaging of CCD camera, image pick-up card is gathered corresponding image information, and carries out the image preliminary treatment, then information is delivered to main industrial computer.
4. welding robot according to claim 1 is controlled system, and it is characterized in that: the functionality of laser bar code scanning system comprises the position of laser scanner, variable laser scanner and the controller and the bar code of attitude; Laser scanner imports main industrial computer with institute's welding work pieces scanning for threedimensional model, posts corresponding bar code on the workpiece that weld.
5. welding robot according to claim 1 is controlled system, and it is characterized in that: described sensor is photoelectric encoder, force cell, proximity transducer and laser vision sensor.
6. welding robot according to claim 5 is controlled system; It is characterized in that: described photoelectric encoder is installed on the AC servo motor in the drive unit; Force cell is respectively installed one up and down at the arm of force of robot, and proximity transducer and laser vision sensor are installed on the welding gun.
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| CN2011205368577U CN202438792U (en) | 2011-12-20 | 2011-12-20 | Control system for welding robot |
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| CN2011205368577U CN202438792U (en) | 2011-12-20 | 2011-12-20 | Control system for welding robot |
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| CN103192391A (en) * | 2013-04-08 | 2013-07-10 | 苏州工业园区职业技术学院 | Five-axis full-automatic tin soldering robot servo control system |
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| CN103231380A (en) * | 2013-04-08 | 2013-08-07 | 苏州工业园区职业技术学院 | Servo control system of fully automatic five-shaft intermediate-speed soldering robot |
| CN103419199A (en) * | 2013-07-09 | 2013-12-04 | 天津大学 | Teaching system based on open type welding robot |
| CN103605375A (en) * | 2013-10-24 | 2014-02-26 | 国家电网公司 | Bionic robot control method and bionic robot control device |
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| CN104950799A (en) * | 2015-06-10 | 2015-09-30 | 浙江大学 | Dynamic closed-loop control system for welding robot and algorithm for dynamically modifying dynamic closed-loop control system in real time |
| CN105643158A (en) * | 2016-03-22 | 2016-06-08 | 哈尔滨工业大学 | Self-adaptive laser scanning device for welding seam and control method |
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