CN211939587U

CN211939587U - Welding system for multi-robot cooperative operation

Info

Publication number: CN211939587U
Application number: CN202020447397.XU
Authority: CN
Inventors: 冯消冰; 张俊; 张磊
Original assignee: Beijing Bo Tsing Technology Co Ltd
Current assignee: Beijing Bo Tsing Technology Co Ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2020-11-17
Anticipated expiration: 2030-03-31

Abstract

The utility model discloses a welding system of multirobot collaborative operation, this welding system includes: the main robot comprises a main control module; the system comprises at least three slave robots, wherein each slave robot comprises a slave control module which is in communication connection with a master control module; the welding robot comprises a master robot and a slave robot; the master control module is used for issuing instructions, and the slave control module is used for receiving the instructions so as to realize the cooperative operation of the welding robot. The embodiment of the utility model provides a technical scheme can realize that many equipment of one-man operation (welding robot) automatic weld in coordination is favorable to using manpower sparingly resource.

Description

Welding system for multi-robot cooperative operation

Technical Field

The utility model relates to a welding field especially relates to a welding system of multirobot collaborative work.

Background

Welding, also known as fusion, welding, is a manufacturing process and technique for joining metals or other thermoplastic materials, such as plastics, in a heated, high temperature or high pressure manner. Depending on the energy source of the welding, gas flame welding, arc welding, laser welding, electron beam welding, friction welding and ultrasonic welding may be included.

At present, in the actual welding process, a plurality of devices are usually required to operate simultaneously, each device is required to be controlled by one operator, and a large amount of human resources are required to be consumed.

SUMMERY OF THE UTILITY MODEL

The utility model provides a welding system of multirobot collaborative work to realize that many equipment of one-man operation (welding robot) automatic weld in coordination is favorable to using manpower sparingly resource.

The embodiment of the utility model provides a welding system of many robots operation in coordination, this welding system includes:

the main robot comprises a main control module;

the system comprises at least three slave robots, wherein each slave robot comprises a slave control module which is in communication connection with the master control module;

wherein welding areas of two welding robots adjacently arranged are crossed, the welding robots including the master robot and the slave robot; the master control module is used for issuing instructions, and the slave control module is used for receiving the instructions so as to realize the cooperative operation of the welding robot.

In one embodiment, the master control module and the slave control module communicate with each other based on a wireless local area network.

In one embodiment, each of the welding robots starts welding at the same time and stops welding at the same time.

In one embodiment, the number of the welding robots is 2N, and N is a positive integer greater than 1;

and taking the workpieces to be welded as reference pieces, wherein the welding robots are symmetrically arranged in pairs.

In one embodiment, the interval between two adjacent welding robots is equal.

In an embodiment, the welding system further comprises a detection device, wherein the detection device is at least in communication connection with the main control module;

the detection device is used for detecting the operation state of each welding robot and transmitting the operation state to the main control module;

and the main control module is used for controlling the welding robot to stop working according to the working state when working faults occur.

In an embodiment, the detection device comprises a self-test device and/or an other-test device.

In one embodiment, the self-inspection device comprises at least one of a walking detection module, a welding detection module, a communication detection module, an image detection module and a control detection module;

the walking detection module is used for detecting the coordinate state and the walking state of the welding robot;

the welding detection module is used for detecting the welding output state of the welding robot;

the communication detection module is used for detecting the communication state of the welding robot;

the image detection module is used for detecting the welding real-time state of the welding robot;

the control detection module is used for detecting the controlled state of the welding robot.

In one embodiment, the other inspection device comprises at least one of a positioning fault detection module, a communication fault detection module, and a welding state detection module;

the positioning fault detection module is used for detecting the positioning state of the welding robot;

the communication fault detection module is used for detecting the communication state of the welding robot;

the welding state detection module is used for detecting the welding state of the welding robot.

The embodiment of the utility model provides a welding system of multi-robot collaborative work includes: the main robot comprises a main control module; the system comprises at least three slave robots, wherein each slave robot comprises a slave control module which is in communication connection with a master control module; the welding robot comprises a master robot and a slave robot; the master control module is used for issuing instructions, and the slave control module is used for receiving the instructions so as to realize the cooperative operation of the welding robot. Therefore, the cooperative operation of the welding robots can be realized by utilizing master-slave control between the welding robots, so that the cooperative automatic welding of a plurality of devices (welding robots) operated by one person can be realized, and the manpower resource is saved.

Drawings

Fig. 1 is a schematic structural diagram of a welding system for multi-robot cooperative work according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of another welding system with multiple robots working in cooperation according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of another welding system with multiple robots working in cooperation according to an embodiment of the present invention;

fig. 4 is a schematic view of an operation flow of a welding system with multiple robots working in coordination according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

The embodiment of the utility model provides a welding system of multi-robot collaborative work, its improvement point includes at least: establishing a wireless local area network to realize active communication; one welding robot (also called as equipment) is arranged to comprise a master control module, namely a main robot is used as a master control center, and other welding equipment (namely slave robots) can be scheduled and controlled to synchronously operate while self-welding is realized. Each slave robot is provided with a slave control module, and a real-time coordination signal is established between the slave control module and the master control module, so that the synchronism of the signal is ensured. After each welding robot is prepared, the main control module issues a centralized instruction, and a plurality of welding robots weld simultaneously and stop welding simultaneously. Therefore, the cooperative automatic welding of a plurality of devices (welding robots) operated by one person can be realized, and the manpower resource can be saved; meanwhile, a plurality of devices work cooperatively, so that the welding efficiency is improved; the multiple devices are symmetrically arranged in pairs around the workpiece to be welded, so that the welding quality is ensured. The following describes an exemplary welding system and its working process according to an embodiment of the present invention with reference to fig. 1 to 4.

Referring to fig. 1, an embodiment of the present invention provides a welding system (herein, may be simply referred to as "system") 10 including: a main robot 110 including a main control module 111; the system comprises at least three slave robots 120, wherein each slave robot 120 comprises a slave control module 121, and each slave control module 121 is in communication connection with a master control module 111; wherein welding areas of two welding robots 20 adjacently disposed are crossed, the welding robots 20 including a master robot 110 and a slave robot 120; the master control module 111 is used for issuing instructions, and the slave control module 121 is used for receiving instructions, so as to implement cooperative operation of the welding robot 20.

The master control module 111 communicates with the slave control module 121 to synchronize signals between the master robot 110 and the slave robot 120, so as to implement cooperative operation of the welding robots.

Exemplarily, the inside integrated robot collaborative work scheduling function (scheduling algorithm) of master control module 111 still can be for starting welding, welding parameter, stopping welding, begin to remove, stop removing, move to initial position, move to the relevant instruction of the welding that technical staff in the field can know such as target location from the instruction of control module 121 issue, the embodiment of the utility model provides a this unreinforced also do not restrict.

Illustratively, the master control module 111 and the slave control module 121 may include signal amplifiers and other signal interaction related structural components known to those skilled in the art; other structural components of the master robot 110 and the slave robot 120 may be the same, and the embodiment of the present invention is not limited thereto.

Wherein, through setting up the welding area of two adjacent welding robots 20 and crossing, can make every welding robot 20 all can meet with the welding area of its adjacent welding robot 20, as shown around waiting to weld the arc line section of work piece 00 in fig. 1 to can avoid leaking welding, be favorable to guaranteeing welding continuity and reliability.

The embodiment of the utility model provides an among the welding system 10, include host computer robot 110 through setting up host computer robot 110, slave robot 120 includes from accuse module 121, host computer module 111 sends the instruction to from accuse module 121, can make host computer robot 110 be controlled by host computer module 111 and realize the welded while, still can utilize intercommunication between host computer module 111 and the slave accuse module 121, realize the dispatch and the control to slave robot 120, thereby each welding robot 20 can the cooperative work, and then can realize that single operation multiple equipment (welding robot) cooperates automatic weld, can save manpower resources; meanwhile, the plurality of welding robots 20 operate simultaneously, which is beneficial to ensuring higher welding efficiency and saving time.

In an embodiment, the master control module 111 and the slave control module 121 implement communication based on a Wireless Local Area Network (WLAN).

The wireless local area network is a convenient data transmission system, and particularly, it uses Radio Frequency (RF) technology, such as electromagnetic waves, to replace the local area network formed by the old twisted pair copper wires (Coaxial), and performs communication connection in the air, and can use a simpler information access architecture to realize information interaction, so that the communication mechanical architecture is simpler, and the occupied space is smaller.

In one embodiment, each welding robot 20 starts welding at the same time and stops welding at the same time.

With such an arrangement, the welding robots 20 can be used to simultaneously operate in the same time period, so that the welding efficiency can be maximally improved; simultaneously, single-point or unilateral welding arouses easily to treat welding workpiece 00 and warp, the embodiment of the utility model provides a, start welding simultaneously, stop welding simultaneously through setting up each welding robot 20, be favorable to preventing to treat welding workpiece 00 and warp.

In one embodiment, the number of welding robots 20 is 2N, N being a positive integer greater than 1 (for example, in fig. 1, N is 2); the welding robots 20 are arranged two by two symmetrically with the work piece 00 to be welded as a reference.

Wherein the deformation of the workpieces 00 to be welded caused by the two symmetrically arranged welding robots 20 can be mutually weakened or even offset, thereby the arrangement can ensure high welding efficiency and is beneficial to avoiding the deformation of the workpieces 00 to be welded.

In other embodiments, the number of the welding robots 20 may also be 6, 8 or more, and may be set according to the welding system 10 and the welding requirement, which is not limited by the embodiment of the present invention.

In one embodiment, the spacing between two adjacent welding robots 20 is equal.

Wherein, if each welding robot 20's welding parameter homogeneous phase is the same, it is unusual, and its welding speed is the same, and equal through setting up the interval between each two adjacent welding robots 20, can make each welding robot activity duration homogeneous phase the same to be favorable to realizing among the welding system 10, each welding robot 20 starts welding simultaneously, stops welding simultaneously, thereby can ensure higher welding efficiency, save time.

In other embodiments, the number of the welding robots 20 may be an odd number, and the intervals between two adjacent welding robots 20 may not be equal. Specifically, each welding robot 20 can automatically recognize the seam tracking, so that the respective welding area can be divided, the welding robot 20 can automatically record the formation of itself, and report the coordinate position in real time (which is equivalent to "self-inspection" hereinafter), so that the coordinate positions and the welding working state of all the welding robots can be obtained.

In one embodiment, referring to fig. 2 or 3, the welding system 10 further includes a detection device 130, the detection device 130 being communicatively coupled to at least the master control module 111; the detection device 130 is used for detecting the operation state of each welding robot 20 and transmitting the operation state to the main control module 111; the main control module 111 is used for controlling the welding robot 20 to stop working when the working fails according to the working state.

Due to the arrangement, abnormal operation can be avoided, the welding system 10 can be ensured to work under normal parameters, damage to structural components of the welding system can be avoided, and the service life of the welding system 10 can be prolonged; meanwhile, the method is favorable for avoiding error welding and ensuring the welding safety and accuracy.

In an embodiment, with continued reference to fig. 3, detection device 130 includes a self-test device 131 and/or an other-test device 132.

The self-checking device 131 and the other-checking device 132 can be used independently to detect the operation state; the two can also be used jointly, the detection results can be verified mutually while the detection of the operation state is realized, and the detection accuracy and the instantaneity are ensured.

For example, the self-test device 131 may be integrated with the welding robot 20 in the welding system 10. Specifically, the self-test can be understood that the welding robot 20 can detect its own state, and the self-test device 131 can include a detection circuit and a detection program built in the welding robot 20, for example, by stroke and coordinate point feedback, and a detection circuit through self-test, can position a fault, can realize welding fault detection, can realize communication fault detection, can realize control fault detection, and the like.

The fault detection procedure of the self-test apparatus 131 may be as follows:

1. walking detection 1: sending set coordinates to a servo motor driver- > to read the state and the coded value of an encoder- > whether a fault code exists in the encoder- > judge whether a fault code exists in the driver- > judge whether a fault indicator lamp of the driver is on (red);

2. and (3) walking detection 2: sending set coordinates to a servo motor driver-;

3. welding detection 1: sending welding instruction-;

4. and (3) welding detection 2: sending a welding instruction-;

5. communication failure (internal communication): the master robot sends out communication data-, waits for the slave robot to reply-, and judges that a fault indicator lamp of the communication fault-, is bright (red) from the condition that the slave robot does not reply (or replies that the data is not right) -;

6. image processing failure: emitting laser light- > laser camera obtains video image- > the image processing can't get the characteristic value of light-then judge the image processing trouble (laser trouble, camera trouble or image algorithm problem-) > the trouble pilot lamp is bright (red);

7. controlling the fault: and (3) giving an output control signal- > a detection output signal- > comparing the output control signal with the detection signal- > if the output control signal is not matched with the detection signal- > then judging that a fault indicator lamp of the control fault- > is on (red).

Similar to the software inspection process, the inspection process can be implemented by a hardware circuit built in the welding robot 20. In an embodiment, the self-test device 131 includes at least one of a walk detection module 311, a weld detection module 312, a communication detection module 313, an image detection module 314, and a control detection module 315; the walking detection module 311 is used for detecting the coordinate state and walking state of the welding robot 20; the welding detection module 312 is used for detecting the welding output state of the welding robot 20; the communication detection module 313 is used for detecting the communication state of the welding robot 20; the image detection module 314 is used for detecting the welding real-time state of the welding robot 20; the control detection module 315 is used to detect the controlled state of the welding robot 20.

The detection process of each module of the self-detection device 131 can be understood with reference to the above, which is not described herein again.

In an embodiment, the other detection device 132 includes at least one of a positioning fault detection module 321, a communication fault detection module 322, and a welding state detection module 323; the positioning fault detection module 321 is configured to detect a positioning state of the welding robot 20; the communication failure detection module 322 is used for detecting the communication state of the welding robot 20; the welding state detection module 323 detects the welding state of the welding robot 20.

The other inspection device 132 is an inspection device independent of the welding robot 20. The detecting of the operation state of the welding robot 20 may include: 1) detecting the state of the welding robot 20 by using a camera, and reporting an error if the state is determined to be incorrect; 2) sending coordinate information by using ultrasonic ranging, determining that the direction and the distance are not right, and reporting an error; 3) and (4) continuously performing communication handshake, and reporting an error if no data is received or the received data is wrong. Wherein:

1. the positioning fault detection module 321 is configured to detect a positioning fault, and specifically may include: the coordinate of the main robot is determined through the ranging-ultrasonic ranging sensor, and other slave robot coordinates are detected to judge whether the welding robot is in the appointed direction or not, and if the welding robot is not in the appointed direction, the positioning fault is judged;

2. the communication failure detection module 322 is configured to detect a communication failure (external communication between devices), and specifically may include: the master robot sends out communication data-, waits for other corresponding slave robots to reply-, and judges that the communication is failed if the slave robots do not reply (or reply data is not corresponding) -;

3. the welding state detection module 323 is configured to detect a welding state, and specifically may include: and (3) starting a camera (in the step of image processing), judging whether the working state of the welding robot works normally (in the step of red indicator light), and judging that the master robot or the slave robot has faults.

On the basis of the state detection, if a fault is detected, the operation is automatically quitted so as to avoid waste or damage caused by subsequent continuous operation.

Illustratively, the fail-over may include: when the walking mechanism (walking device) and the communication are normal, the welding robot is controlled to exit; when the communication is abnormal but the walking mechanism is normal, the welding robot can be controlled by the operator to exit. Wherein the exit mechanism, and the temporary avoidance zone may be as follows:

turning off other functions: stopping welding, turning off the laser, and if the laser can walk, automatically walking to a specified position to wait for operation and maintenance personnel to process.

For example, the process of the fault exit may include:

1. the method comprises the following steps that (1) equipment failure (a walking device is normal) -, welding is stopped, laser is turned off) -, a failure indicator lamp is turned on, a failure signal is sent, (a) welding robot runs to a set failure maintenance area (a) operation maintenance personnel waits for the operation maintenance personnel to process, (a) slave robot failure is detected by a master robot (if the master robot fails, a second slave robot can ascend and is the master robot, and so on), (the) operation is automatically switched to (M-1) platform welding robot cooperative work (according to setting, the operation can be stopped completely); wherein M is the total number of welding robots initially operating.

2. The method comprises the following steps that (1) equipment failure (abnormal walking device) -welding is stopped, laser-turning-off and a failure indicator lamp are turned on, a failure signal-fortune and maintenance personnel explain that a failure robot manually runs to a set failure maintenance area-fortune and maintenance personnel processing-fortune and maintenance personnel-main robot detects a failure of a slave robot (if the main robot fails, the second slave robot can rise to be the main robot, and the like), and the-fortune and maintenance personnel automatically switch to (M-1) welding robots to work cooperatively (all can stop working according to setting); wherein M is the total number of welding robots initially operating.

On the basis of the welding system provided by the above embodiment, the work flow can refer to fig. 4. For example, before the workflow starts, the method may further include: the manual work of operating personnel sets up (confirms) main robot and slave robot, sets up the master-slave station promptly, installs signal amplifier on each station, specifically includes: and a master control module is installed on the master robot, and a slave control module is installed on the slave robot. Thereafter, the welding initial state of each welding robot is manually adjusted. Thereafter, the operation of the flow in fig. 4 may include: sequentially detecting whether each station is ready; after each station is ready, an operator clicks to start, the welding system starts welding operation, a plurality of welding robots start welding at the same time, the detection equipment detects the welding state at the same time, and the fault exits; if no fault is detected in the welding process, the welding process is finished, and meanwhile, the welding is stopped; then, each welding robot returns to the initial welding state, and then the next welding is started; until the welding is completed.

In other embodiments, each welding robot can automatically distribute areas by the main control module, automatically place and automatically start welding, and the cooperation of multiple welding robots operated by one person and automatic welding can be realized, so that high welding efficiency is ensured, and high welding quality is ensured.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations, and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims

1. A multi-robot cooperative welding system, comprising:

the main robot comprises a main control module;

2. The welding system of claim 1, wherein the master module and the slave module communicate with each other over a wireless local area network.

3. The welding system of claim 1, wherein each of the welding robots starts welding at the same time and stops welding at the same time.

4. The welding system of claim 1, wherein the number of welding robots is 2N, N being a positive integer greater than 1;

5. The welding system of claim 4, wherein the spacing between adjacent two of said welding robots are all equal.

6. The welding system of claim 1, further comprising a detection device communicatively coupled to at least the master control module;

7. The welding system of claim 6, wherein the detection device comprises a self-test device and/or an other-test device.

8. The welding system of claim 7, wherein the self-test device comprises at least one of a walk detection module, a weld detection module, a communication detection module, an image detection module, and a control detection module;

9. The welding system of claim 7, wherein the other inspection device comprises at least one of a location fault detection module, a communication fault detection module, and a welding status detection module;