Multi-industrial robot synergic welding control method

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.

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 ...

AI Technical Summary

Problems solved by technology

[0005] Invention patent CN105195864A discloses a double-robot workstation for double-seam arc welding. The workstation is a double-seam double-arc welding welding system. The control level of the system is equipped with dual robots, and the two robots are controlled synchronously. By adding The external axis realizes the synchronous movement of the workpiece clamping turning machine and the robot, which solves the problems of poor welding quality stability, large welding deformation, and long processing cycle of parts in the irregular welds in the manual welding symmetrical welded seam box section components.

However, this multi-industrial robot collaborative control method only adds a general control station on the basis of the original robot control structure, and the general control station is essentially an upper-level programming computer used to generate motion programs for the lower-level controllers, without mentioning How to exchange information and coordinate control among multi-industrial robots has not yet solved the problems of difficult collaborative control of multi-industrial robots and unsatisfactory synergistic effects. , the shape of the workpiece is complex, etc. Usually, a single robot needs to complete hundreds or even thousands of actions to complete the welding of a workpiece. If the online component programming based on this invention, it will consume a lot of manpower and time in the programming stage. Obviously not suitable for hull welding

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