CN207014371U - A kind of six-joint robot control system for pipe fitting welding - Google Patents
A kind of six-joint robot control system for pipe fitting welding Download PDFInfo
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- CN207014371U CN207014371U CN201720573107.4U CN201720573107U CN207014371U CN 207014371 U CN207014371 U CN 207014371U CN 201720573107 U CN201720573107 U CN 201720573107U CN 207014371 U CN207014371 U CN 207014371U
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Abstract
A kind of six-joint robot control system for pipe fitting welding, including master control borad, embedded controller and motion controller, motion controller connects the servo driver of motor of six joint shafts respectively, and master control borad controls the motor linkage of six joint shafts so as to control machine human body posture by embedded controller and motion controller.Master control borad includes Logic control module, path planning module, motion-control module and network control module, Logic control module is used to optimize program, complete the operation of logic control, path planning module selectes suitable movement locus according to welding workpiece size, obtain optimal path, motion-control module is used to control end movement to realize straight line, curvilinear motion operation and motion tracking, it is set to move to target point, network control module is used to realize the overall process and off-line programing of monitoring six-joint robot operation in real time.The Control system architecture is simple, small volume, and easy to operate, cost is low, and efficiency and reliability is high, and welding quality is good.
Description
Technical field
A kind of control system is the utility model is related to, more particularly to a kind of six-joint robot for pipe fitting welding controls system
System.
Background technology
Welding between Guan Yuguan, weld seam are complicated, and flue dust and splatter during welding, welding surroundings are more severe, thus
Welding robot for being welded between Guan Yuguan is widely used, but existing welding robot has following deficiency：
1. control system is complex, operation inconvenience, programming is cumbersome, as shown in Fig. 2 control system is highly integrated in mainboard
With in control panel, degree of opening it is relatively low, it is necessary to operating personnel carry out specialty training just preferably robot can be entered
Row teaching, implement the welding to pipe fitting；
2. being not easy to obtain welding gun optimal path, generally require repeatedly to be simulated in computer when obtaining optimal path, by
Artificial rule of thumb voluntarily to determine welding track, in welding process, welding gun central point is not accurate enough, deviation easily occurs, occurs inclined
Phenomenon is welded, robot can not effectively work good with pipe fitting；
3. the precision of end tool does not reach the requirement of welding, higher are required to the overall qualities of operating personnel, it is impossible to full
Sufficient enterprise's production needs.
Utility model content
The purpose of this utility model is the improvement for prior art control section, there is provided a kind of for pipe fitting welding
Six-joint robot control system is insufficient existing for above-mentioned prior art to overcome.
The utility model adopts the technical scheme that：A kind of six-joint robot control system for pipe fitting welding, including
Master control borad, embedded controller and motion controller, motion controller are integrated in embedded controller, and motion controller leads to
The servo driver of motor that bus connects six joint shafts respectively is crossed, and then is connected with motor, master control borad passes through bus and insertion
Formula controller connects, and controls the motor linkage of six joint shafts by embedded controller and motion controller so as to control machine
Device human body posture；
The master control borad includes Logic control module, path planning module, motion-control module and network control module；
Logic control module is used to optimize program, completes the operation of logic control；
Path planning module is used to solve end movement track, according to the selected suitable motion rail of welding workpiece size
Mark, obtain optimal path；
Motion-control module is used to control end movement to realize straight line, curvilinear motion operation and motion tracking, makes its end
End welding gun moves to the target point to be reached；
Network control module is used to realize the overall process and off-line programing of monitoring six-joint robot operation in real time；
The embedded controller include photoelectric proximity switch, welding gun distal point coordinate obtaining module, alarm modules and
Electric power driving module；
Photoelectric proximity switch is used to limit movement travel, and when when end, welding gun soon touches weldment, photoelectricity is close to be opened
Pass sends approach signal and approach signal is passed into master control panel control system, makes welding gun stop motion；
Alarm modules are used to warn to unusual condition in the course of work, when welding gun because maloperation or end welding gun are encountered
When weldment or other reasonses break down, warning red is sent and with buzzing alarming；
Electric power driving module is used to provide a system to working power.
Its further technical scheme is：The embedded controller is embedded in welding gun distal point coordinate obtaining module, welding gun
Distal point coordinate obtaining module is used for the coordinate position point for obtaining welding gun point, is transferred to path planning module through data, passes through road
Optimal motion path is tried to achieve in the calculating of footpath planning module.
Further：The motion controller uses GUS-600 motion controllers, and the controller reserves six bus ends
Mouthful, it is connected by bus cable with the servo driver of motor of six joint shafts so that the motor linkage of six axles is so as to controlling
Machine human body posture.
The Logic control module uses Siemens S7-1200, and network control module uses GE- IC200BEM103, road
Footpath planning module uses ROS-SLAM.
Due to taking above-mentioned technical proposal, a kind of six-joint robot control system for pipe fitting welding of the utility model
Have the advantages that：
1. the utility model is by integrating modules, by Logic control module, path planning module, fortune on master control borad
Dynamic control module and network control module are incorporated into a control system with embedded controller, there is provided programming in logic, fortune
The functions such as dynamic control, network control so that complicated control system is simplified, and easy to operate, cost of manufacture is relatively low；
2. the utility model master control borad includes path planning module, embedded controller insertion welding gun end point coordinates
Software is obtained, the coordinate position point of welding gun point can be obtained, path planning module is transferred to through data, passage path planning module
Optimal motion path is tried to achieve in calculating, so as to solve the problems, such as to be difficult to obtain optimal path in the past；It is unnecessary to reduce welding gun
Run duration, improve the efficiency and the quality of welding of welding；
Network control module is added in master control panel control system simultaneously, user can the shape of supervisory-controlled robot motion at any time
Condition, welding manipulator weld-end fittings can be quickly and conveniently used, due to there is above advantage, makes welding robot in welding profession
In obtain further application；
3. the embedded controller insertion welding gun distal point acquisition module of the utility model, welding gun end is obtained by the module
Point coordinates, and path planning module is transferred to by data, so as to derive kinematic normal solution and inverse solution, obtain optimal weldering
Connect path, reduce the unnecessary run duration of welding gun, can Butt welding gun port precise positioning, improve efficiency and the weldering of welding
The quality connect；
4. the utility model uses embedded controller, the volume of control system can be both reduced, reduces power consumption and cost, again
Reliability can be improved.
System is controlled to a kind of six-joint robot for pipe fitting welding of the utility model with reference to the accompanying drawings and examples
The technical characteristic of system is further described.
Brief description of the drawings
Fig. 1 is a kind of six-joint robot Control system architecture block diagram for pipe fitting welding of the utility model；
Fig. 2 is original six-joint robot Control system architecture block diagram.
Embodiment
A kind of six-joint robot control system for pipe fitting welding, including master control borad, embedded controller and motion
Controller, motion controller are integrated in embedded controller, and motion controller connects six joint shafts by bus respectively
Servo driver of motor, and then be connected with motor, master control borad is connected by bus with embedded controller, and passes through embedded control
Device and motion controller processed control the motor linkage of six joint shafts so as to control machine human body posture；
The master control borad includes Logic control module, path planning module, motion-control module and network control module；
Logic control module is used to optimize program, completes the operation of logic control；
Path planning module is used to solve end movement track, according to the selected suitable motion rail of welding workpiece size
Mark, obtain optimal path；
Motion-control module is used to control end movement to realize straight line, curvilinear motion operation and motion tracking, makes its end
End welding gun moves to the target point to be reached；
Network control module is used to realize the overall process and off-line programing of monitoring six-joint robot operation in real time；
The embedded controller include photoelectric proximity switch, welding gun distal point coordinate obtaining module, alarm modules and
Electric power driving module；
Photoelectric proximity switch is used to limit movement travel, and when when end, welding gun soon touches weldment, photoelectricity is close to be opened
Pass sends approach signal and approach signal is passed into master control panel control system, makes welding gun stop motion；
Alarm modules are used to warn to unusual condition in the course of work, when welding gun because maloperation or end welding gun are encountered
When weldment or other reasonses break down, warning red is sent and with buzzing alarming；
Electric power driving module is used to provide a system to working power.
The embedded controller is embedded in welding gun distal point coordinate obtaining module, and welding gun distal point coordinate obtaining module is used for
The coordinate position point of welding gun point is obtained, is transferred to path planning module through data, the calculating of passage path planning module is tried to achieve most
Excellent motion path.
The motion controller uses GUS-600 motion controllers, and the controller reserves six bus ports, passes through bus
Cable is connected with the servo driver of motor of six joint shafts so that the motor linkage of six axles is so as to the motion of control machine people
Posture；The Logic control module uses Siemens S7-1200, and network control module uses GE- IC200BEM103, path rule
Draw module and use ROS-SLAM.
It is above one of the utility model optimum implementation, can also making appropriate conversion on this basis.
Claims (4)
- A kind of 1. six-joint robot control system for pipe fitting welding, it is characterised in that：Including master control borad, embedded controller And motion controller, motion controller are integrated in embedded controller, motion controller connects six by bus respectively The servo driver of motor of joint shaft, and then be connected with motor, master control borad is connected by bus with embedded controller, and is passed through Embedded controller and motion controller control the motor linkage of six joint shafts so as to control machine human body posture；The master control borad includes Logic control module, path planning module, motion-control module and network control module；The embedded controller includes photoelectric proximity switch, welding gun distal point coordinate obtaining module, alarm modules and power supply Drive module；Photoelectric proximity switch is used to limit movement travel, when when end, welding gun soon touches weldment, photoelectric proximity switch hair Go out approach signal；Alarm modules are used to warn to unusual condition in the course of work, when welding gun because welding is encountered in maloperation or end welding gun When part or other reasonses break down, warning red is sent and with buzzing alarming；Electric power driving module is used to provide a system to working power.
- A kind of 2. six-joint robot control system for pipe fitting welding as claimed in claim 1, it is characterised in that：It is described embedding Enter formula controller insertion welding gun distal point coordinate obtaining module, welding gun distal point coordinate obtaining module is used for the seat for obtaining welding gun point Cursor position point is simultaneously transferred to path planning module through data.
- A kind of 3. six-joint robot control system for pipe fitting welding as claimed in claim 1 or 2, it is characterised in that：Institute State motion controller and use GUS-600 motion controllers, the controller reserves six bus ports, passes through bus cable and six The servo driver of motor connection of joint shaft so that the motor linkage of six axles is so as to control machine human body posture.
- A kind of 4. six-joint robot control system for pipe fitting welding as claimed in claim 3, it is characterised in that：It is described to patrol Collect control module and use Siemens S7-1200, network control module uses GE- IC200BEM103, and path planning module uses ROS-SLAM。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720573107.4U CN207014371U (en) | 2017-05-22 | 2017-05-22 | A kind of six-joint robot control system for pipe fitting welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720573107.4U CN207014371U (en) | 2017-05-22 | 2017-05-22 | A kind of six-joint robot control system for pipe fitting welding |
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| Publication Number | Publication Date |
|---|---|
| CN207014371U true CN207014371U (en) | 2018-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720573107.4U Expired - Fee Related CN207014371U (en) | 2017-05-22 | 2017-05-22 | A kind of six-joint robot control system for pipe fitting welding |
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| Country | Link |
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| CN (1) | CN207014371U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414845A (en) * | 2017-05-22 | 2017-12-01 | 广西科技大学 | A kind of six-joint robot control system for pipe fitting welding |
-
2017
- 2017-05-22 CN CN201720573107.4U patent/CN207014371U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414845A (en) * | 2017-05-22 | 2017-12-01 | 广西科技大学 | A kind of six-joint robot control system for pipe fitting welding |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180216 |