CN210757842U - Flexible group welding robot workstation - Google Patents

Abstract

The utility model discloses a flexible pair welding robot workstation, which comprises a transmission platform, a flexible welding robot group, a global vision unit, a gantry truss detection unit and a general control unit. The transmission platform is arranged on an equipment transmission line, and the transmission platform is arranged on There are welding workpieces, the flexible welding robot group is located on both sides of the transmission platform, the global vision unit is located around the flexible welding robot group, the gantry truss detection unit is located above the transmission platform, and the image information of the global vision unit is obtained through the master control unit. Welding robot group performs welding. The utility model realizes the high integration, high flexibility and high efficiency of the welding robot, solves the problems of large deviation of the spot welding position of the manual group and poor consistency of the workpiece, and effectively reduces the number of workpiece clamping and transfer. The multi-position spot welding of workpieces and the seamless connection of welding processes are realized, and the accuracy of grouping, welding consistency and welding quality are improved.

Description

Flexible group welding robot workstation

technical field

The utility model belongs to the technical field of welding detection robots, in particular to a flexible paired welding robot workstation.

Background technique

With the rapid development of intelligent industrial robot technology, welding robot workstations are gradually applied to all aspects of industrial intelligent manufacturing. The existing robot welding workstation is usually a welding robot combined with a positioner to achieve the purpose of automatic positioning and welding. However, for the workpieces to be welded in batches, it is necessary to manually perform a large amount of spot welding before placing them on the positioner. For welding, this welding process has problems such as large workload of workers, many times of transfer and clamping, low welding efficiency, large deviation of group pair position, and poor welding quality. Therefore, the development of high integration, high flexibility, high efficiency. High-quality flexible groups are of great significance to the welding robot workstation and the welding robot industry.

Utility model content

In order to solve the above-mentioned defects in the prior art, the purpose of the present utility model is to provide a flexible pair welding robot workstation, which has the characteristics of high integration, high flexibility, high efficiency and high quality, and can effectively reduce the transfer rate. The number of clamping times and the workload of workers can reduce the deviation of the position of the group and improve the welding efficiency and welding quality.

The utility model is realized through the following technical solutions.

The utility model provides a flexible pair welding robot workstation, which comprises a transmission platform, a flexible welding robot group, a global vision unit, a gantry truss detection unit and a general control unit. There are welding workpieces, the flexible welding robot group is located on both sides of the transmission platform, the global vision unit is located around the flexible welding robot group, the gantry truss detection unit is located above the transmission platform, and the image information of the global vision unit is obtained through the master control unit. A flexible welding robot group performs welding.

For above-mentioned technical scheme, the present utility model also has further preferred scheme:

Preferably, the vision component is a binocular vision component, a multi-eye vision component, a monocular multi-position motion component, a structured light scanning component or a laser scanning component; the binocular and multi-eye vision components are two or more cameras ; The monocular multi-position motion component is a camera mounted on the motion mechanism; the structured light scanning component is a laser.

Preferably, the gantry truss detection unit includes an X-direction guide rail, a Y-direction guide rail and a Z-direction guide rail, the Z-direction guide rail is slidably connected to the X-direction guide rail and the Y-direction guide rail, and the end of the Z-direction guide rail is connected to a detection robot, and the detection robot The end is connected to the inner and outer quality inspection components.

Preferably, the flexible welding robot group includes a welding robot arranged on both sides of the conveying platform, a clamping robot fixed on the left side of the welding robot, and two welding machines placed on the right side, and the end of the welding piece robot is fixed by a manipulator. The welding torch fixed by the welding torch adapter plate is connected, and the lower end of the manipulator fixing claw is connected with the visual inspection component by the visual fixing frame.

Preferably, a clamping claw is fixed at the end of the clamping robot.

Preferably, the general control unit includes a general control electrical control cabinet placed at the rear end of the gantry truss detection unit and a robot electrical control cabinet on the rear side of the welding robot; the general control electrical control cabinet is respectively connected with the robot electrical control cabinet and the gantry truss detection unit , the robot electric control cabinet is connected with the flexible welding robot group; the gantry truss detection unit is connected with the internal and external quality inspection components.

The utility model has the following beneficial effects due to the adoption of the above technical solutions:

1. The present utility model solves the problems such as large deviation of spot welding position and poor consistency of workpiece by manual group due to the adoption of flexible welding robot group combined with gantry truss robot and detection robot, in coordination with visual components, and using image processing algorithm. It effectively reduces the number of workpiece clamping and transfer, and realizes the high integration, high flexibility and high efficiency of the welding robot.

2. The utility model adopts the method of flexible group pair welding robot group, and cooperates with the conveying platform and the gantry truss to solve the problem of seamless connection of workpiece multi-position group pair spot welding and welding process, and improves the group pair accuracy and welding consistency. and welding quality.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present utility model and constitute a part of this application, and do not constitute an improper limitation to the present utility model. In the accompanying drawings:

Fig. 1 is the structural representation of the utility model flexible group pair welding robot workstation;

Fig. 2 is the structural schematic diagram of the gantry truss detection robot of the present invention;

3 is a schematic structural diagram of a flexible pair welding robot of the present invention;

4 is a schematic structural diagram of a welding assembly of the present invention;

FIG. 5 is a flow chart of the welding method of the flexible pair welding robot workstation of the present invention.

In the figure: 1. Fence; 2. Gantry truss inspection unit; 3. General control electrical control cabinet; 4. Robot electrical control cabinet; 5. Global vision device; 6. Inspection robot; 7. Internal and external quality inspection components; 8. Transmission Platform; 9. Clamping robot; 10. Right welding robot; 11. Welding machine; 12. Left welding robot; 13. Welding workpiece; 14. Welding torch; 15. Welding torch adapter plate; 16. Manipulator fixing claw; 17 , Vision fixture; 18, Visual inspection components; 19, X-direction guide rail; 20, Y-direction guide rail; 21, Z-direction guide rail.

Detailed ways

The present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments. The schematic embodiments and descriptions of the present utility model are used to explain the present utility model, but are not intended to limit the present utility model.

As shown in Figures 1 and 2, a flexible pair welding robot workstation of the present utility model includes a transmission platform 8, a flexible welding robot group, a global vision unit, a gantry truss detection unit and a general control unit, and the transmission platform is arranged on the equipment transmission line. On the conveyor platform, there are welding workpieces, the flexible welding robot group is located on both sides of the conveyor platform, the global vision unit is located around the flexible welding robot group, the gantry truss detection unit is located above the conveyor platform, and the global vision unit is obtained through the master control unit. image information, and control the flexible welding robot group to weld. in:

The global vision unit includes three sets of global vision devices 5, which are respectively fixed at specific positions on both sides of the conveying platform. The image information of the workpiece is dynamically recognized through multiple sets of vision components, and then the positioning of different workpieces at different positions is realized through the calculation of the industrial computer. Among them, the global vision device 5 is a binocular vision component, a multi-eye vision component, a monocular multi-position motion component, a structured light scanning component or a laser scanning component; the binocular and multi-eye vision components are two or more cameras; The multi-position motion component is a camera mounted on the motion mechanism; the structured light scanning component is a laser.

The flexible welding robot group uses the vision component on the welding robot arm to accurately identify the welding position of the welding workpiece on the transfer platform, and transmits the position information to the general control unit, which controls the clamping robot to perform multi-position positioning of the welding workpiece. , Clamping and grouping of spot welding, welding and repair welding in different positions.

The gantry truss detection unit detects different welding workpieces at different positions online through the gantry truss and the detection robot, and transmits the detection information to the general control unit, which determines whether the flexible welding robot group performs repair welding.

The general control unit controls the conveying platform to transport the welding workpiece to the special welding area, obtains the image information of the global vision unit, the gantry truss detection unit and the flexible welding robot group, and controls the flexible welding robot group to perform multi-position positioning, clamping and welding of the welding workpiece. Spot welding, welding and repair welding in different position groups.

The transfer platform is used to transfer the welding workpiece to the position of the flexible welding robot group for spot welding, welding and repair welding.

As shown in Figures 3 and 4, the flexible welding robot group includes a transfer platform 8 placed on the ground for transferring welding workpieces to the dedicated welding area and the exit of the transfer platform, and also includes welding robots A10 and A10 fixed on the left and right sides of the transfer platform. The welding robot B12, the clamping robot 9 fixed on the left side of the welding robot, and the two welding machines 11 placed on the right side, the end of the welding part robot is connected to the welding torch 14 fixed by the welding torch adapter plate 15 through the manipulator fixing claw 16, The lower end of the manipulator fixing claw 16 is connected to a visual inspection component 18 by a vision fixing frame 17; the end of the clamping robot is fixed with a clamping claw.

Fast welding is performed by receiving the control instructions of the master control electronic control cabinet 3, and two groups of welding robots (the right welding robot 10 and the left welding robot 12) are used for welding to ensure that there is no blind spot in the welding space, and the clip fixed on the left side of the welding robot The holding robot 9 is used to clamp and change the attitude of the workpiece, reduce the deformation of the workpiece, and at the same time ensure spot welding in multiple positions. The two welding machines 11 placed on the right side continue to provide solder for the welding robot, and the welding workpiece 13 is transported through the equipment. The two welding torches 14 are respectively fixed to the welding robot A10 and the welding robot B12 through the welding torch adapter plate 15 and the manipulator fixing claw 16. At the end, the visual detection component 18 is fixed on the manipulator fixing claw 16 through the visual fixing frame 17. The visual detection component 18 accurately identifies the welding position of the welding workpiece transferred from the transfer platform, and transmits the position information to the clamping robot. Location spot welding.

As shown in FIG. 2, the gantry truss detection unit 2 includes an X-direction guide rail 19, a Y-direction guide rail 20 and a Z-direction guide rail 21, the Z-direction guide rail is slidably connected to the X-direction guide rail and the Y-direction guide rail, and the ends of the Z-direction guide rail are connected A detection robot 6, the end of the detection robot is connected to the inner and outer quality detection components 7. The gantry truss detection unit 2 fixed on the ground, the gantry truss detection unit 2 performs precise translation in three directions of X/Y/Z, and the gantry truss detection unit 2 cooperates with the detection robot 6 at the end to realize the comprehensive inspection of the welding workpiece and improve the inspection efficiency. and detection accuracy to ensure the welding quality of the finished parts, the internal and external quality inspection components 7 are fixed at the end of the inspection robot 6, relying on the built-in binocular vision of the inspection components to realize the appearance inspection of different workpieces at different positions, and rely on the built-in ultrasonic flaw detection device of the inspection components to realize the inspection. Internal inspection of different workpieces at different positions, and at the same time, the online inspection information of the inside and outside of the welding workpiece is transmitted to the welding robot group for repair welding. A fixed fence 1 is placed around the gantry truss to protect the surrounding area to prevent workers from being injured and equipment damage caused by equipment accidents. .

As shown in Figure 1, the master control unit includes a master control electrical control cabinet 3 placed at the rear end of the gantry truss detection unit 2 and a robot electrical control cabinet 4 at the front. The detection unit 2 is connected, the robot electric control cabinet 4 is connected with the flexible welding robot group; the gantry truss detection unit 2 is connected with the internal and external quality detection components 7 . The general control electronic control cabinet 3 controls the robot electronic control cabinet 4 to control the flexible welding robot group to perform welding. At the same time, the general control electronic control cabinet 3 controls the gantry truss detection unit 2 to drive the internal and external quality inspection components 7 to detect the welding workpiece 13 . The general control electrical control cabinet 3 is used to process image data and perform group-to-task planning and scheduling, and the robot electrical control cabinet 4 is used to perform motion control and detection of trusses, transfer units, and robots.

The global vision unit includes several vision components, which are respectively arranged around the flexible welding robot group on both sides of the conveying platform; the vision components are binocular vision components, multi-eye vision components, monocular multi-position motion components, structured light scanning components or A laser scanning assembly, the binocular and multi-eye vision assemblies are two or more cameras, the monocular multi-position motion assembly is a camera mounted on a motion mechanism, and the structured light scanning assembly is a laser.

As shown in Figure 5, the welding steps of the flexible group to the welding robot workstation are as follows:

Step 1, start the master control unit, transport the welding workpiece to the entrance of the transmission platform through the transportation equipment, start the robot workstation, and transfer it to the special welding area through the transmission unit;

Step 2, manually import the three-dimensional model of the welding workpiece or the measured standard model into the general control electric control cabinet; and define the welding position;

Step 3: Dynamically identify the image information of the welding workpiece through multiple sets of visual components of the global vision unit, and calculate the specifications, size information and parking position coordinates of the workpiece to be welded by the group to be welded through the master control electric control cabinet. The key feature coordinates of the workpiece are transformed into the welding robot coordinate system. As shown in Figure 3, the specification of the workpiece is 1904-435A, the diameter of the workpiece is 3.5m, there is a part to be paired on each spoke, the size is 400*300mm, and two lap welds are formed, which are recognized by the image. Find out the location of the weld;

Step 4, guide the welding robot to precisely position the vision component, accurately propose the position of the welding seam to be welded, and convert the coordinates of the welding seam to the clamping robot coordinate system through the coordinate system transformation. deviation, control the clamping robot to adjust the position of the workpiece, and reduce the welding workpiece grouping error. As shown in Figure 3, the workpiece that is not paired is easily deformed and warped when directly welded. The clamping robot plays a fixed role and adjusts The deviation of the group pair is improved, and the forming quality of the workpiece is improved;

Step 5, guide the welding robot to precisely position the vision component to work, accurately propose the welding seam position of the welding workpiece, and solve the spot welding position of the group pair; guide the welding robot to the spot welding position, and start the arc to perform the spot welding operation;

Step 6, controlling the clamping robot to fix the paired workpieces, guiding the welding robot to precisely position the vision component to position the welding seam, and generating the welding path of the welding robot and the detection path of the detection robot;

Step 7: Control the left and right welding robots to perform welding operations along the welding path;

Step 8: After the welding seam is welded, the gantry truss cooperates with the inspection robot to run according to the inspection path until the inspection robot can adapt to the tolerance range; after the inspection state is in place, the visual unit in the internal and external quality inspection components collects the image state and information of the welding seam to perform inspection. Process, calculate the corresponding characteristics of the appearance of the weld, and at the same time, the ultrasonic flaw detection component in the inspection component detects the internal defect characteristics of the welded workpiece through ultrasonic flaw detection, and compares the internal and external quality inspection characteristics of the welded workpiece with the pre-agreed standard weld. Generate welding quality inspection report;

Step 9, according to the welding quality inspection report, determine whether the welding is qualified, if qualified, perform step 10, if not, perform repair welding operation on the unqualified welding place;

Step 10: After the welding is completed, the conveying platform starts and alarms after receiving the instruction, prompting the workers that the welding is completed. The welding-completed group will transport the workpieces to the exit with the conveying equipment, and place them on the conveying equipment, and the workers will transfer them to the next worker. At the same time, the next group of welding workpieces are in place, and the above steps are repeated to finally realize the seamless connection of the welding process.

The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solutions disclosed in the present invention, those skilled in the art can make some technical features according to the disclosed technical content without creative work. Replacement and deformation, these replacements and deformations are within the protection scope of the present invention.

Claims (6)

1. a flexible group to welding robot workstation, is characterized in that, comprises transmission platform, flexible welding robot group, global vision unit, gantry truss detection unit and general control unit, described transmission platform is located on equipment transmission line, on transmission platform There are welding workpieces, the flexible welding robot group is located on both sides of the transmission platform, the global vision unit is located around the flexible welding robot group, the gantry truss detection unit is located above the transmission platform, and the image information of the global vision unit is obtained through the master control unit. A flexible welding robot group performs welding. 2. a kind of flexible pair welding robot workstation according to claim 1, is characterized in that, described global vision unit comprises three groups of global vision devices, and global vision devices are binocular vision components, multi-eye vision components, monocular vision components A multi-position motion component, a structured light scanning component or a laser scanning component; the binocular and multi-eye vision components are two or more cameras; the monocular multi-position motion component is a camera mounted on a motion mechanism; the structure The light scanning component is a laser. 3. The flexible pair welding robot workstation according to claim 1, wherein the gantry truss detection unit comprises an X-direction guide rail (19), a Y-direction guide rail (20) and a Z-direction guide rail (21), The Z-direction guide rail (21) is slidably connected to the X-direction guide rail (19) and the Y-direction guide rail (20), the end of the Z-direction guide rail (21) is connected to a detection robot (6), and the end of the detection robot is connected to the internal and external quality inspection components ( 7). 4. A flexible group pair welding robot workstation according to claim 1, wherein the flexible welding robot group comprises welding robots (10, 12) arranged on both sides of the conveying platform (8), fixed on the welding robot The gripping robot (9) on the left side of the robot and the two welding machines (11) placed on the right side, the end of the welding part robot is connected to the welding torch (14) fixed by the welding torch adapter plate (15) through the manipulator fixing claw (16). ), the lower end of the manipulator fixing claw (16) is connected to the visual inspection component (18) by the visual fixing frame (17). 5 . The flexible pair welding robot workstation according to claim 4 , wherein a clamping claw is fixed at the end of the clamping robot ( 9 ). 6 . 6. A kind of flexible pair welding robot workstation according to claim 1, characterized in that, the master control unit comprises a master control electric control cabinet (3) placed at the rear end of the gantry truss detection unit (2) and the rear side of the welding robot the robot electric control cabinet (4); the general control electric control cabinet (3) is respectively connected with the robot electric control cabinet (4) and the gantry truss detection unit (2), and the robot electric control cabinet (4) is connected with the flexible welding robot group connection; the gantry truss detection unit (2) is connected with the inner and outer quality detection components (7).

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