Multi-industrial robot synergic welding control method

An industrial robot, industrial control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of long processing cycle of parts, large labor and time consumption, poor welding quality stability, etc., to improve the level of intelligence, improve Welding efficiency, the effect of liberating labor intensity
CN110154031AActive Publication Date: 2019-08-23NORTHWESTERN POLYTECHNICAL UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
NORTHWESTERN POLYTECHNICAL UNIV
Publication Date
2019-08-23

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Abstract

The invention mainly relates to a control method of a multi-industrial robot synergic welding hull small assembly. Based on the structural design of a movable industrial robot and multiple welding mechanical arms, in combination with the characteristic and process need of a small assembly workpiece, a movable industrial robot and multi-mechanical arm cooperative motion control method is provided.The modularization thought is applied, control signals in an offline program are monitored in real time, mechanical arm control logic databases are compared, information included by the signals is matched out and sent to a corresponding controller, and a specified action is completed. According to the method, different circulations of a PLC logic program are controlled through different control signals, the time sequence synchronous or asynchronous synergic movement of the movable industrial robot and the industrial mechanical arms and the multiple industrial mechanical arms is finally achieved, the welding efficiency and the welding intelligent level are greatly improved, labor force is freed up, and the labor environment of workers is improved.
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Description

technical field

[0001] The invention belongs to the field of multi-robot cooperative control, and in particular relates to a mobile industrial robot and multi-manipulator cooperative welding control method. Background technique

[0002] In modern industrial production, welding technology is an important part, especially in shipbuilding engineering, welding technology has a pivotal and indispensable position. Due to the special structure of the hull, the welding process is widely used in the hull construction. From the perspective of production, improving the quality and efficiency of the welding process will have an important impact on the construction of ship engineering.

[0003] At present, the application of welding technology in the shipbuilding industry faces problems such as low degree of automation, unstable welding quality, low production efficiency, and poor manufacturing flexibility. Serious irreversible bodily harm. In response to this problem, it has become a ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
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