Cooperative control system for multiple welding robots based on improved particle swarm algorithm

Abstract

The invention discloses a cooperative control system for multiple welding robots based on an improved particle swarm algorithm, and relates to the technical field of automatic welding control over robots. The cooperative control system comprises a PC with cooperative control software installed and the multiple welding robots. Each welding robot comprises a manipulator for welding and a robot control cabinet used for driving the manipulator to work, wherein the manipulator is provided with a manipulator sensor used for sensing the position of the manipulator. The output end of the PC is connected with the robot control cabinet of each welding robot through the Ethernet. The manipulator sensor of each welding robot is connected with the corresponding robot control cabinet through a signal cable and further connected with the input end of the PC through the Ethernet. The welding robots adopt a double-closed-loop control strategy, and the welding motions and positions of the manipulators are fed back to a welding robot controller and the PC simultaneously through the sensors, so that the correctness of position information and the best welding route planning control are realized.

Description

technical field [0001] The invention relates to the technical field of robot automatic welding control, in particular to a cooperative control system for coordinating the welding work sequence and welding path planning control of multiple welding robots. Background technique [0002] In the automatic welding production line, when the welding work is directly completed by a single welding robot, it is easier to control the working sequence and welding path of the welding robot, but in a production line with a large workpiece length and many welds to be welded, only a single welding robot is used. Welding with a single welding robot has low work efficiency and cannot reflect the high efficiency of automated production. For example, in the carriage plate welding production line, the carriage plate is formed by welding many ribs on a large steel plate, and the shape and position tolerance of each part of the workpiece is required to be less than ±0.5mm. After the workpiece is as...

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Problems solved by technology

[0002] In the automatic welding production line, when the welding work is directly completed by a single welding robot, it is easier to control the working sequence and welding path of the welding robot, but in a production line with a large workpiece length and many welds to be welded, only a single welding robot is used. A welding robot is used for welding, and the work efficiency is low, which cannot reflect the efficiency of automated production

For example, in the carriage plate welding production line, the carriage plate is formed by welding many ribs on a large steel plate, and the shape and position tolerance of each part of the workpiece is required to be less than ±0.5mm. After the workpiece is assembled, the gap between the butt welds does not exceed the welding wire Radius, after the workpiece is assembled, the gap between the fillet welds does not exceed the diameter of the welding wire. The consistency of the workpiece is good, and the deviation of the weld shape is less than 1mm. The carriage plate needs to be welded on both sides. Welding or welding with a single welding robot has relatively low work efficiency and high production costs, which no longer meet the development needs of existing enterprises

Using multiple welding robots to weld at the same time usually uses manual input of welding point data and manual planning of robot welding paths. This method cannot optimize the welding path, nor can it achieve the optimization of the efficiency of welding linkage between multiple robots

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