CN212218498U - Ship assembling plate frame structure welding robot based on remote correction - Google Patents
Ship assembling plate frame structure welding robot based on remote correction Download PDFInfo
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- CN212218498U CN212218498U CN202021008421.6U CN202021008421U CN212218498U CN 212218498 U CN212218498 U CN 212218498U CN 202021008421 U CN202021008421 U CN 202021008421U CN 212218498 U CN212218498 U CN 212218498U
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Abstract
The utility model relates to the technical field of ship equipment, in particular to a remote correction-based welding robot with a ship assembling plate frame structure, which comprises a follow-up welding robot, an active robot, a control system and a man-machine interaction system; the tail end of the follow-up welding robot is provided with a structured light vision scanning device and a welding gun, the follow-up welding robot is provided with a welding robot controller, the tail end of the active robot is provided with a welding gun model and a force application handle, the active robot is provided with an active robot controller, and the bottom of the force application handle is provided with a force sensor; the active robot controller comprises an impedance controller, a fuzzy self-tuning controller and an inverse dynamic model. The utility model discloses a follow-up welding robot receives initiative robot follow-up control, through applying external force in application of force handle, can realize the terminal position of initiative robot and the compliance control of power, makes follow-up welding robot welding orbit get back to and independently scans the within range realization, realizes remote correction.
Description
Technical Field
The utility model relates to a boats and ships equipment technical field, concretely relates to boats and ships assemblage grillage structure welding robot based on remote correction.
Background
In shipbuilding, welding occupies an important place. The ship plate frame structure is a typical structure of a ship cabin, the welding seam structure is various in form, small in quantity and large in quantity, and the welding seam is short and small, so that the welding of the ship plate frame structure has higher requirement on the transfer precision of a welding robot. An intelligent welding robot for a ship plate frame structure also exists at present, for example, a Chinese patent with the name of patent No. CN 206484130U is an intelligent welding system for the ship plate frame structure robot, and discloses that the intelligent welding system comprises a welding device, a digital welding power supply and a control system, wherein the digital welding power supply is connected with the welding device; the welding device comprises a guide rail and a welding robot system arranged on the guide rail, the control system is connected with a human-computer interaction system, and the human-computer interaction system controls the welding robot system; the welding robot system comprises a mechanical arm, and the mechanical arm is connected with a laser face sweeping piece and a welding gun device. However, the allowable range of the width of the welding seam of the workpiece of the system is that the width of the bottom of the V-shaped groove is less than 5mm, the width of the top of the V-shaped groove is between 5mm and 50mm, when the distance between the welding seams of the workpiece is irregular, the welding seam of the workpiece is partially beyond the allowable range, deviation of automatic tracking identification is easily caused, when the deviation occurs, a welding arc field needs to be retracted for correction, the efficiency of a correction process is low, welding parameters can not be adjusted in time easily, and therefore welding quality is affected.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the above-mentioned problem, provide boats and ships assemblage grillage structure welding robot based on remote correction, through setting up follow-up welding robot and initiative robot, follow-up welding robot sets up in long-range end, can carry out remote correction to follow-up welding robot through control initiative robot, has solved the problem that current welding robot can not the remote operation inefficiency.
In order to realize the purpose, the utility model discloses a technical scheme as follows: the ship assembling plate frame structure welding robot based on remote correction comprises a follow-up welding robot, an active robot, a control system and a man-machine interaction system;
the tail end of the follow-up welding robot is provided with a structured light visual scanning device and a welding gun, the follow-up welding robot is provided with a welding robot controller, the input end of the welding robot controller is connected with the structured light visual scanning device, and the output end of the welding robot controller is connected with the input end of the follow-up welding robot;
the tail end of the active robot is provided with a welding gun model and a force application handle, an active robot controller is arranged on the active robot, and the bottom of the force application handle is provided with a force sensor; the active robot controller comprises an impedance controller, a fuzzy self-tuning controller and an inverse dynamic model;
the input end of the impedance controller is respectively connected with the force sensor and the servo welding robot controller, and the output end of the impedance controller is connected with the input end of the active robot; the impedance controller is used for realizing the compliant control of the force and the position of the tail end of the active robot by acquiring the position information of the follow-up welding robot and the force information applied to the force application handle, calculating to obtain a position error and an external force value and then transmitting the position error and the external force value to the active robot;
the input end of the fuzzy self-tuning controller is respectively connected with the force sensor and the servo welding robot controller, and the output end of the fuzzy self-tuning controller is connected with the impedance controller; the fuzzy self-tuning controller is used for acquiring real-time values of the position variation and the external force variation of the follow-up welding robot, adjusting a proportional coefficient, an integral coefficient and a differential coefficient in real time and adjusting an output value of the impedance controller in real time;
one output end of the inverse dynamic model is connected with an adder between the impedance controller and the active machine, and the other output end of the inverse dynamic model is connected with the welding robot controller and the control system; the inverse dynamic model is used for receiving the force information and the position information output by the impedance controller, calculating the track following error of the active robot and performing track following deviation rectifying control;
the welding robot controller the inverse dynamic model is connected with the control system through a communication cable, the servo welding robot is controlled by the active robot to realize synchronous action, and the control system is connected with the human-computer interaction system.
Further, welding robot bottom still is equipped with the rail brackets that top fixed mounting has the guide rail, the guide rail outside is equipped with cooperation sliding connection's slide, the base of welding robot body is fixed on the slide.
Further, follow-up welding robot still includes clear rifle bolt, clear rifle bolt is located welding robot body and is close to welder one side, clear rifle bolt with the base of welding robot body is connected.
Further, structured light vision scanning device includes laser scanner and CCD camera, laser scanner CCD camera all is connected with welding robot controller.
Further, the structured light vision scanning device is positioned in the range of 10-20cm in front of the welding gun.
Furthermore, the follow-up welding robot and the active robot have the same structure and are both six-axis robots.
Furthermore, the alarm device is further included and is connected with the control system.
Due to the adoption of the technical scheme, the utility model discloses following beneficial effect has: the utility model discloses a set up follow-up welding robot and initiative robot, follow-up welding robot is established at the remote end, initiative robot is established at the control end, follow-up welding robot receives initiative robot follow-up control, initiative robot end is equipped with the application of force handle, through applying external force, calculate power information and positional information through the impedance controller, realize the gentle and agreeable control of power and position of initiative robot end, and calculate the orbit following error of initiative robot through the inverse dynamic model, carry out the orbit following deviation control, guarantee the robustness and the stability of control, fuzzy self-tuning controller tracks in real time and obtains follow-up welding robot positional variation and external force variation, real-time adjustment proportionality coefficient, integral coefficient and differential coefficient, real-time adjustment impedance controller's output value, control each joint gesture following nature of initiative robot, the servo welding robot and the active robot realize synchronous action through the communication system, so that the welding track returns to the autonomous scanning range, and real-time correction of the welding track of the servo welding robot is realized.
Drawings
FIG. 1 is a schematic diagram of a system connection structure of a ship assembling plate welding robot based on remote calibration according to the present invention;
fig. 2 is the utility model discloses boats and ships assemblage grillage structure welding robot's schematic structure based on remote correction.
The reference numbers in the figures are: 1-welding torch, 2-structured light vision scanning device, 21-laser scanner, 22-CCD camera, 3-clear torch, 4-guide rail, 5-guide rail bracket, 6-slide carriage, 7-communication cable, 8-welding robot controller, 9-follow-up welding robot, 10-welding torch model, 11-force application handle, 12-active robot, 13-active robot controller, 14-man-machine interaction system, 15-control system, 16-force sensor, 17-alarm, 131-impedance controller, 132-fuzzy self-setting controller, 133-inverse dynamic model.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
As shown in fig. 1 to 2, the remote correction based welding robot for the ship erection plate frame structure comprises a follow-up welding robot 9, an active robot 12, a control system 15 and a human-computer interaction system 14;
the tail end of the follow-up welding robot 9 is provided with a structured light vision scanning device 2 and a welding gun 1, the follow-up welding robot 9 is provided with a welding robot controller 8, the input end of the welding robot controller 8 is connected with the structured light vision scanning device 2, and the output end of the welding robot controller 8 is connected with the input end of the follow-up welding robot 9;
the tail end of the active robot 12 is provided with a welding gun model 10 and a force application handle 11, in order to be matched with a welding gun 1 of the follow-up welding robot 9, the active robot 12 is replaced by the welding gun model 10, so that the position correction is convenient, and the force application handle 11 is used for obtaining the feedback control of external force; an active robot controller 13 is installed on the active robot 12, and a force sense sensor 16 is installed at the bottom of the force application handle 11; the welding gun model 10 is the same as the welding gun 1 in size; the force application handle 11 is arranged at the lower part of the welding gun model 10; the active robot controller 13 comprises an impedance controller 131, a fuzzy self-tuning controller 132 and an inverse dynamic model 133;
the input end of the impedance controller 131 is connected to the force sensor 16 and the welding robot controller 8, respectively, and the output end of the impedance controller 131 is connected to the input end of the active robot 12; the impedance controller 131 is used for obtaining the position information of the servo welding robot 9 and the force information applied to the force application handle 11, calculating to obtain a position error and an external force value, and transmitting the position error and the external force value to the active robot 12, so as to realize the compliant control of the force and the position of the tail end of the active robot 12;
the input end of the fuzzy self-tuning controller 132 is connected to the force sensor 16 and the welding robot controller 8, respectively, and the output end of the impedance controller 131 is connected to the active robot 12; the fuzzy self-tuning controller 132 is configured to obtain a real-time value of a position variation and an external force variation of the servo welding robot 9, adjust a proportionality coefficient, an integral coefficient and a differential coefficient in real time, and adjust an output value of the impedance controller 131 in real time;
one output end of the inverse dynamic model 133 is connected to an adder between the impedance controller 131 and the active robot 12, and the other output end of the inverse dynamic model 133 is connected to the welding robot controller 8 and the control system 15; the inverse dynamic model 133 is configured to receive the force information and the position information output by the impedance controller 131, calculate a trajectory following error of the active robot, and perform trajectory following deviation rectification control; in the driving process of the active robot, due to the influence of environmental disturbance and mechanical structure parts, the track and the tail end posture are deviated, and the inverse dynamic model 133 is required to perform deviation rectification control on the joint, so that the control stability is improved;
the welding robot controller 8, the inverse dynamic model 133 are connected with the control system 15 through a communication cable, the servo welding robot 9 is controlled by the active robot 12 to realize synchronous action, and the control system 15 is connected with the human-computer interaction system 14.
In order to facilitate the movement of the servo welding robot 9, the bottom of the welding robot 9 is also provided with a guide rail bracket 5 with a guide rail 4 fixedly arranged at the top, the guide rail 4 is externally provided with a sliding seat 6 connected with a sliding way in a matching way, and a base of the servo welding robot 9 is fixed on the sliding seat 6. Through setting up guide rail 4, follow-up welding robot 9 can follow the installation and fix the guide rail 4 on rail brackets 5 and remove to different positions, and the welder 2 of welding robot 9 of being convenient for removes to next welding unit when accomplishing a welding unit, has increased follow-up welding robot 9's effective welding area.
In order to facilitate the clear rifle of follow-up welding robot 9 and cut the silk, follow-up welding robot 9 still includes clear rifle bolt 3, clear rifle bolt 3 is located follow-up welding robot 9 and is close to welder 2 one side, clear rifle bolt 3 with follow-up welding robot 9's base is connected. Clear rifle bolt 3 sets up on follow-up welding robot 9, follows the motion of follow-up welding robot 9, is convenient for carry out clear rifle shear wire to welding gun 2.
The structured light vision scanning device 1 includes a laser scanner 21 and a CCD camera 22, and the laser scanner 21 and the CCD camera 22 are connected to a welding robot controller 8. The laser scanner 21 is used for scanning the welding position of the workpiece to obtain the coordinate information of the welding seam workpiece and transmitting the data to the control system 15 through the welding robot controller 8, the CCD camera 22 is used for obtaining the image information of the welding position of the workpiece, the image information can be displayed on the interface of the human-computer interaction system 14, and the welding track and the welding state can be tracked and displayed in real time.
The structured light vision scanning device 2 is located in the range of 10-20cm in front of the welding gun 1. The structure can prevent sparks in the welding process from damaging the structured light vision scanning device 2, and can accurately acquire intersection point information of the bottom of a groove of a workpiece; secondly, the problem that the scanning probe scans an overlarge area to cause inaccurate identification is avoided.
The follow-up welding robot 9 and the active robot 12 have the same structure and are all six-axis robots. The six-axis robot is of an existing structure, is a joint robot with six rotating shafts, is high in flexibility, can freely move in a three-dimensional space, and can accurately and quickly weld. The follow-up welding robot 12 and the active robot body 12 adopt robots with the same structure, and the synchronization and consistency of motion are ensured.
In order to facilitate timely discovery of abnormity and timely treatment by an operator, the welding robot further comprises an alarm 17, wherein the alarm 17 is connected with the control system 15 and used for sending alarm information when the irregular welding seam and the control system 15 acquire the center of the welding seam to generate identification deviation.
The utility model discloses a theory of operation does: when in use, the servo welding robot 9 reaches the middle of the lattice of the ship section, and the active robot 12 is placed at the control end; the control system 15 controls the active robot 12 to move, the servo welding robot 9 synchronously moves, the structured light vision scanning device 2 of the servo welding robot 9 scans the welding seam of the workpiece, the position information and the image information of the welding seam are obtained, the position information and the image information are transmitted to the control system 15 through the welding robot controller 8, if the control system 15 obtains the coordinate of the center point of the welding seam, the motion track of the welding gun 1 is automatically compiled, the servo welding robot 9 obtains the track information, the welding gun 1 is controlled to weld autonomously, and meanwhile, the image information is displayed on the interface of the human-computer interaction system 14; if the control system 15 cannot acquire the information of the center point of the welding seam, the control system 15 controls the alarm 17 to give an alarm, and at the moment, by applying external force to the active robot force application handle 11, collecting external force information by the force sensor 16 and feeding back the information to the impedance controller 131 through the active robot controller 13, the impedance controller 131 simultaneously obtains the position information of the servo welding robot 9, calculates the position error and the external force value, and calculates the track following error of the active robot through the inverse dynamic model 133, performs the track following deviation rectifying control, ensures the robustness and stability of the robot control, meanwhile, the fuzzy self-tuning controller 132 tracks and acquires real-time values of the position variation and the external force variation of the follow-up welding robot, adjusts a proportionality coefficient, an integral coefficient and a differential coefficient in real time, and adjusts an output value of the impedance controller in real time, so that the attitude following performance of each joint of the active robot 12 is better. The utility model discloses an apply external force in the application of force handle 11 of initiative robot 12, initiative robot 12 passes through impedance control ware 131, realizes the compliance control of the terminal position of initiative robot 12 and power, changes the orbit of initiative robot 12, and servo-actuated welding robot 9 realizes the synchronization action through communication system, makes the welding orbit get back to in independently scanning range to the realization is rectified in real time to servo-actuated welding robot 9's welding orbit.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Claims (7)
1. Boats and ships assemblage grillage structure welding robot based on remote correction, its characterized in that: the robot comprises a follow-up welding robot, an active robot, a control system and a human-computer interaction system;
the tail end of the follow-up welding robot is provided with a structured light visual scanning device and a welding gun, the follow-up welding robot is provided with a welding robot controller, the input end of the welding robot controller is connected with the structured light visual scanning device, and the output end of the welding robot controller is connected with the input end of the follow-up welding robot;
the tail end of the active robot is provided with a welding gun model and a force application handle, an active robot controller is arranged on the active robot, and the bottom of the force application handle is provided with a force sensor; the active robot controller comprises an impedance controller, a fuzzy self-tuning controller and an inverse dynamic model;
the input end of the impedance controller is respectively connected with the force sensor and the servo welding robot controller, and the output end of the impedance controller is connected with the input end of the active robot; the impedance controller is used for realizing the compliant control of the force and the position of the tail end of the active robot by acquiring the position information of the follow-up welding robot and the force information applied to the force application handle, calculating to obtain a position error and an external force value and then transmitting the position error and the external force value to the active robot;
the input end of the fuzzy self-tuning controller is respectively connected with the force sensor and the servo welding robot controller, and the output end of the fuzzy self-tuning controller is connected with the impedance controller; the fuzzy self-tuning controller is used for acquiring real-time values of the position variation and the external force variation of the follow-up welding robot, adjusting a proportional coefficient, an integral coefficient and a differential coefficient in real time and adjusting an output value of the impedance controller in real time;
one output end of the inverse dynamic model is connected with an adder between the impedance controller and the active machine, and the other output end of the inverse dynamic model is connected with the welding robot controller and the control system; the inverse dynamic model is used for receiving the force information and the position information output by the impedance controller, calculating the track following error of the active robot and performing track following deviation rectifying control;
the welding robot controller the inverse dynamic model is connected with the control system through a communication cable, the servo welding robot is controlled by the active robot to realize synchronous action, and the control system is connected with the human-computer interaction system.
2. The remotely-correction-based ship assembly pallet frame structure welding robot as recited in claim 1, wherein: welding robot bottom still is equipped with the rail brackets that top fixed mounting has the guide rail, the guide rail outside is equipped with cooperation sliding connection's slide, the base of welding robot body is fixed on the slide.
3. The remotely-correction-based ship assembly pallet frame structure welding robot as recited in claim 1, wherein: follow-up welding robot still includes clear rifle bolt, clear rifle bolt is located welding robot body and is close to welder one side, clear rifle bolt with the base of welding robot body is connected.
4. The remotely-correction-based ship assembly pallet frame structure welding robot as recited in claim 1, wherein: structured light vision scanning device includes laser scanner and CCD camera, laser scanner CCD camera all is connected with welding robot controller.
5. The remotely-correction-based ship assembly pallet frame structure welding robot as recited in claim 4, wherein: the structured light vision scanning device is positioned in the range of 10-20cm in front of the welding gun.
6. The remotely-correction-based ship assembly pallet frame structure welding robot as recited in claim 1, wherein: the follow-up welding robot and the active robot are the same in structure and are both six-axis robots.
7. The remotely-correction-based ship assembly pallet frame structure welding robot as recited in claim 1, wherein: the alarm is connected with the control system.
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| CN202021008421.6U CN212218498U (en) | 2020-06-04 | 2020-06-04 | Ship assembling plate frame structure welding robot based on remote correction |
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| CN202021008421.6U CN212218498U (en) | 2020-06-04 | 2020-06-04 | Ship assembling plate frame structure welding robot based on remote correction |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590165A (en) * | 2020-06-04 | 2020-08-28 | 北部湾大学 | Ship assemblage plate welding robot based on remote correction and welding method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590165A (en) * | 2020-06-04 | 2020-08-28 | 北部湾大学 | Ship assemblage plate welding robot based on remote correction and welding method |
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