An automobile part welding workstation with automatic part grabbing function

Abstract

The application relates to an automobile part welding workstation with an automatic part grabbing function, and belongs to the technical field of welding equipment. The automobile part welding workstation comprises a control module, a plurality of work stations, a grabbing robot and a welding robot. The control module is electrically connected with the grabbing robot. The grabbing robot is used for grabbing workpieces and driving the workpieces to shift between the plurality of work stations under the instruction of the control module. The welding robot is used for welding a plurality of parts on the workpieces in the work stations. A vibration detection module is arranged on one side of the grabbing robot. The vibration detection module is used for detecting the distance between the vibration detection module and the workpieces during the shifting of the workpieces between the plurality of work stations by the grabbing robot, and uploading the distance data to the control module at a frequency of once per second. After receiving the distance data, the control module judges whether the distance data conforms to a reference value. When the judgment result is no, the control module sends an alarm signal. The vibration detection module is arranged, and the influence of vibration on the grabbing and shifting is reduced.

Description

Technical Field

[0001] This invention belongs to the field of welding equipment technology, and specifically relates to a welding workstation for automotive parts with automatic part gripping function. Background Technology

[0002] Welding is a primary process in the production of automobiles and auto parts. Since manual welding is inconvenient and has low precision, existing technologies generally utilize welding workstations consisting of multiple workstations and corresponding welding workstations to complete welding operations.

[0003] While conventional welding workstations utilize welding robots to automate the welding process, the placement of workpieces on the workstation still relies on manual methods by operators, resulting in a low level of automation. To address this, Chinese Patent CN103010726B discloses an automatic loading device for an automotive welding production line. This device includes a base, a movable material rack, and several orderly arranged workpiece positioning supports on the upper part of the material rack. One side of the base has an inwardly recessed receiving cavity containing a guiding mechanism. The material rack can enter the receiving cavity from one side of the base under the guidance of the guiding mechanism. The base also includes a lifting device for lifting the material rack and a controller for controlling the movement of the lifting device. The material racks are equipped with positioning mechanisms for positioning the material racks. By adopting a split structure, it can meet the loading needs of different car models and different workpieces, and can significantly reduce the labor intensity of operators. The operation is smooth and the safety performance is high. However, in actual production, the workpiece may vibrate during the transfer process of the robot arm due to unstable gripping or the characteristics of the part itself, such as low structural strength. At this time, the part may be damaged due to vibration, or newly welded parts may fall off due to vibration. Although the above structure uses a robot arm to automatically grip the workpiece and improves the accuracy of the robot arm to grip the workpiece based on the positioning mechanism, it does not take measures to deal with vibration. Therefore, there is a need for an automotive parts welding workstation with automatic gripping function that has low impact of vibration on gripping and transfer. Summary of the Invention

[0004] To address the aforementioned problems in the existing technology, this invention provides an automotive parts welding workstation with an automatic gripping function, characterized by low vibration impact on gripping and transport.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] An automotive parts welding workstation with automatic part gripping function includes a control module, several workstations, a gripper robot, and a welding robot. The control module and the gripper robot are electrically connected. The gripper robot is used to grip workpieces under the command of the control module and move the workpieces between several workstations. The welding robot is used to weld several parts onto the workpieces at the workstations.

[0007] A vibration detection module is installed on one side of the gripper robot. The vibration detection module is used to detect the distance between itself and the workpiece during the process of the gripper robot moving the workpiece between several workstations, and uploads the distance data to the control module once per second. After receiving the distance data, the control module judges whether the distance data meets the reference value. When the judgment result is negative, the control module issues an alarm signal.

[0008] As a preferred embodiment of the present invention, before each instruction to the gripper robot to move the workpiece between several workstations, the control module first instructs the gripper robot to pre-move the workpiece in the vertical direction. During the pre-move, the vibration detection module detects the distance between itself and the workpiece and uploads the distance data to the control module at a frequency of once per second. After receiving the distance data, the control module determines whether the distance data meets the reference value. When the determination result is negative, the control module issues an alarm signal.

[0009] As a preferred embodiment of the present invention, it further includes an auxiliary gripping module, which includes an auxiliary gripper robot. The auxiliary gripping module is electrically connected to the control module. After receiving the distance data, the control module determines whether the distance data conforms to the reference value. When the determination result is negative, the control module instructs the auxiliary gripping module to grip the workpiece and move the workpiece between several workstations.

[0010] As a preferred technical solution of the present invention, the control module is pre-inputting a distance reference value r0 and a reference number of parts d0. The vibration detection module detects the distance between itself and the workpiece during the pre-movement period and uploads the distance data r to the control module at a frequency of once per second. The control module reads the number of parts d on the currently transferred workpiece. After receiving the distance data, the control module determines whether the distance data is greater than (1-a)×x×r0 and less than (1+a)×y×r0. When the determination result is negative, the control module instructs the auxiliary gripping module to grip the workpiece and drive the workpiece to transfer between several workstations.

[0011] Where x = 0.1d / d0 + 0.95, y = 0.1d0 / d + 0.85, d0 ≤ d ≤ 2d0, and a is a constant pre-input to the control module, 0.1 ≤ a ≤ 0.2.

[0012] As a preferred embodiment of the present invention, after receiving the distance data, the control module determines whether the distance data is greater than (1-0.5a)×x×r0 and less than (1+0.5a)×y×r0. If the determination result is negative, the control module instructs the gripper robot to slow down the speed at which it moves the workpiece between several workstations, and determines whether the distance data is greater than (1-a)×x×r0 and less than (1+a)×y×r0. If the determination result is negative, the control module instructs the auxiliary gripping module to grip the workpiece and move the workpiece between several workstations.

[0013] As a preferred embodiment of the present invention, a conveyor belt is provided on one side of the gripper robot, and the gripper robot is used to grip the workpiece and transfer the workpiece from the workstation to the conveyor belt.

[0014] As a preferred embodiment of the present invention, it further includes a control panel, which is electrically connected to the control module. The control panel is used to input the value of 'a' and send instructions to the control module.

[0015] The beneficial effects of this invention are as follows:

[0016] (1) By instructing the gripper robot to move the workpiece in the vertical direction before instructing the control module to move the workpiece, vibration detection of the workpiece can be performed before transportation, and an alarm signal can be issued when a large vibration is detected, which extends the processing time of the operator when the vibration is large and further reduces the impact of vibration. At the same time, for parts that may fall off during transportation, they are made to fall off during the pre-movement, which reduces the initial speed of the fallen parts and further reduces the impact of vibration.

[0017] (2) By having the control module receive the distance data and determine whether the distance data is greater than (1-a)×x×r0 and less than (1+a)×y×r0, the number of parts on the workpiece is introduced to correct the judgment of whether the vibration is too large. When there are more parts on the workpiece and the probability of one or more parts falling off is greater, the judgment standard is raised. When a small degree of vibration occurs, a signal is issued and measures are taken to reduce the impact of vibration on transportation. When there are fewer parts on the workpiece and the probability of parts falling off is smaller, the judgment standard is lowered to prevent taking measures too frequently and ensure production efficiency.

[0018] (3) By using two reference value ranges to divide the vibration amplitude into two categories, and adjusting according to the two categories, measures with lower transportation efficiency cost are taken when the amplitude is small, and measures with higher transportation efficiency cost are taken when the amplitude is large, thereby reducing the impact of vibration and further improving production efficiency. Attached Figure Description

[0019] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 This is a top view of the overall structure of the present invention;

[0021] Figure 2 This is a block diagram of the control loop of the present invention.

[0022] Explanation of key component symbols:

[0023] In the diagram: 1. Gripper robot; 2. Welding robot; 21. Fixed welding torch; 22. Stud welding torch; 3. Control module; 31. Control panel; 4. Vibration detection module; 5. Workpiece; 6. Auxiliary gripping module. Detailed Implementation

[0024] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0025] Please see Figure 1-2 An automotive parts welding workstation with automatic gripping function includes several workstations, a gripper robot 1, a welding robot 2, and a control module 3. The control module 3 and the gripper robot 1 are electrically connected. The gripper robot 1 is used to grip workpieces 5 under the command of the control module 3 and move workpieces 5 between several workstations. The welding robot 2 is used to weld several parts onto workpieces 5 at the workstations.

[0026] Specifically, in this embodiment, the welding robot 2 includes a fixed welding gun 21 and a stud welding gun 22, with the two welding guns corresponding to two workstations. The gripper robot 1 includes a first robotic arm and a second robotic arm, with a robotic hand on each robotic arm. A conveyor belt is provided on one side of one of the robotic arms, which is used to send the workpiece 5 on it to the next process. A transfer platform is provided between the two workstations. The robotic arm is used to drive the corresponding robotic hand to move to the vicinity of the workpiece 5. The robotic hand clamps the workpiece 5 to complete the fixation of the workpiece 5. Then, the first robotic arm drives the robotic hand and the workpiece 5 to complete the transfer of the workpiece 5 between several workstations. At the same time, the control module 3 is pre-input with a program that instructs the robotic arm to run. The control module 3 and the program ensure that the robotic arm sends each workpiece 5 to the workstation and moves between different workstations.

[0027] In use, the control module 3 instructs the first robotic arm to transport the workpiece 5 from the previous process to the station of the fixed welding gun 21, and instructs it to transport it from the station of the fixed welding gun 21 to the transfer table. Subsequently, the control module 3 instructs the second robotic arm to transport the workpiece 5 from the transfer table to the station of the stud welding gun 22, and from the station of the stud welding gun 22 to the conveyor belt. The fixed welding gun 21 is used to weld and fix the parts on the workpiece 5 to the workpiece 5. The control module 3 instructs the second robotic arm to transport the workpiece 5 from the stud welding gun 22 to the conveyor belt, and the conveyor belt sends the workpiece 5 to the next process.

[0028] In the above process, although a robotic arm is used to automatically grasp the workpiece 5, in actual production, the workpiece 5 may vibrate at the far end of the workpiece 5 due to unstable grasping or the characteristics of the part itself, such as the part being large and having low structural strength, while the robotic arm can only grasp one end of the workpiece 5. At this time, the workpiece 5 may be damaged due to vibration, or the parts on the workpiece 5 that have just been welded by the fixed welding gun 21 may fall off due to vibration. The above structure does not detect vibration and cannot alert the operator when vibration occurs. Therefore, a vibration detection module 4 is set on one side of the gripper robot 1. The vibration detection module 4 is used to detect the distance between itself and the workpiece 5 during the process of the gripper robot 1 moving the workpiece 5 between several workstations, and uploads the distance data to the control module 3 at a frequency of once per second. After receiving the distance data, the control module 3 judges whether the distance data meets the reference value. When the judgment result is negative, the control module 3 issues an alarm signal.

[0029] Specifically, in this embodiment, the vibration detection module 4 includes two laser rangefinders. The two laser rangefinders are respectively set at the end of the robotic arm near the robotic hand, and each laser rangefinder is at a certain angle to the robotic arm. This angle can be set by the operator according to the actual production needs, so that after the robotic hand clamps the workpiece 5, the laser rangefinder can be aimed at the far end of the workpiece 5 away from the robotic hand. Each laser rangefinder is used to measure the distance from itself to the far end of the workpiece 5 after the robotic hand clamps the workpiece 5. Each laser rangefinder is electrically connected to the control module 3 and uploads the distance data from itself to the far end of the workpiece 5 to the control module. The reference value is a fixed data in the control module 3 that is pre-inputted, or a numerical range of upper and lower limits specified by the fixed data. The control module 3 is electrically connected to an alarm, and the control module 3 issues an alarm signal through the alarm.

[0030] When the control module 3 instructs the first or second robotic arm to transport workpiece 5, the control module 3 instructs the laser rangefinder to start. The laser rangefinder continuously measures the position from the far end of workpiece 5 to the laser rangefinder. When the far end of workpiece 5 shakes or vibrates, the position from the far end of workpiece 5 to the laser rangefinder changes, and the distance data measured by the laser rangefinder changes. At the same time, the laser rangefinder uploads the distance data to the control module 3 at a frequency of once per second. The control module 3 can analyze whether there are differences between the distance data uploaded at different times, determine whether the far end of workpiece 5 vibrates, and determine the magnitude of the vibration. When the vibration is large and causes a large change in the distance data, which in turn causes the control module 3 to determine that the distance data uploaded at a certain moment deviates from the reference value, the control module 3 issues an alarm signal.

[0031] By setting up a vibration detection module 4, during the process of the gripper robot 1 moving the workpiece 5 between several workstations, the distance between the far end of the workpiece 5 and itself is measured, and the distance data is uploaded to the control module 3. This allows the control module 3 to determine whether the vibration of the far end of the workpiece 5 is significant based on whether several distance data exceed the reference value, and to remind the operator when significant vibration occurs.

[0032] In the above process, although the operator can be alerted when vibration occurs, this is already during the transfer of workpiece 5. In general production, in order to ensure the operation of the workpiece, the speed at which the gripper robot 1 moves workpiece 5 is usually relatively high. Therefore, the degree of vibration is usually relatively high. Moreover, the speed and acceleration of the parts falling from workpiece 5 are relatively high, and the distance and speed of the flying parts are relatively high, which has a high probability of causing safety problems. In order to reduce the impact of vibration and at the same time take into account the detection of vibration, before each instruction to the gripper robot 1 to move workpiece 5 between several workstations, the control module 3 first instructs the gripper robot 1 to move workpiece 5 in the vertical direction. During the pre-movement, the vibration detection module 4 detects the distance between itself and workpiece 5 and uploads the distance data to the control module 3 at a frequency of once per second. After receiving the distance data, the control module 3 judges whether the distance data meets the reference value. When the judgment result is no, the control module 3 issues an alarm signal.

[0033] Specifically, the pre-movement is pre-input by the control module 3. Before the control module 3 instructs the first or second robotic arm to move the workpiece 5 according to the process program, the control module 3 executes the pre-movement program. At this time, the control module 3 instructs the first or second robotic arm to move upward a short distance to simulate the movement of the workpiece 5 driven by the robotic arm and the robotic hand. The distance of movement can be determined by the input pre-movement program. In this embodiment, the distance is 10-15cm. During the start and stop phases of the pre-movement, the workpiece 5 vibrates under the action of acceleration, and the connection with the workpiece 5 is unstable. The workpiece 5, which would fall off during transportation, will also fall off during the pre-movement. However, the speed and acceleration are relatively small during the pre-movement. If it falls off, the potential safety hazard caused by the flying parts is smaller, thus reducing the impact of vibration and completing the reduction of the impact caused by vibration.

[0034] Meanwhile, since the workpiece 5, which will vibrate during transportation, will also vibrate under the action of acceleration during the pre-movement process, the vibration detection module 4 can also detect the vibration at the far end of the workpiece 5. When the detection result shows that the vibration amplitude is large, the control module 3 can issue an alarm signal to the operator before the transportation is carried out.

[0035] By instructing the gripper robot 1 to pre-move the workpiece 5 in the vertical direction before instructing the control module 3 to move the workpiece 5, vibration detection of the workpiece 5 can be performed before transportation. When a large vibration is detected, an alarm signal is issued, which extends the processing time of the operator when the vibration is large and further reduces the impact of vibration. At the same time, for parts that may fall off during transportation, they are made to fall off during the pre-movement, which reduces the initial speed of the falling parts and further reduces the impact of vibration.

[0036] After the control module 3 issues an alarm signal based on the judgment that the vibration amplitude is large, additional measures are needed to reduce the impact of the vibration. For example, additional gripping methods can be introduced to grip the remote end. For this purpose, an auxiliary gripping module 6 is also included. The auxiliary gripping module 6 includes an auxiliary gripper robot 1. The auxiliary gripping module 6 is electrically connected to the control module 3. After receiving the distance data, the control module 3 judges whether the distance data meets the reference value. When the judgment result is negative, the control module 3 instructs the auxiliary gripping module 6 to grip the workpiece 5 and drive the workpiece 5 to move between several workstations.

[0037] Specifically, the auxiliary gripping module 6 also includes a robotic arm and a robotic hand. The robotic arm is used to drive the robotic hand to move to the end of the workpiece 5 away from the gripper robot 1 after the pre-movement. The robotic hand is used to grip the end of the workpiece 5 away from the gripper robot 1. After gripping, the workpiece 5 is further fixed, reducing the vibration level of the workpiece 5 and reducing the impact of vibration.

[0038] When the vibration is large during the pre-movement process, it indicates that the vibration during transportation will be more severe, requiring the auxiliary gripping module 6 to grip the workpiece 5. When the vibration is small during the pre-movement process, and there is a small probability of vibration, the auxiliary gripping module 6 needs extra time to position and grip the workpiece 5. Therefore, the auxiliary gripping module 6 gripping the workpiece 5 with less vibration may lead to extra time consumption and reduce welding efficiency. Therefore, the auxiliary gripping module 6 is only instructed to grip the workpiece 5 when the control module 3 determines that the data does not meet the reference value.

[0039] By setting up an auxiliary gripping module 6, and having the control module 3 determine the degree of vibration based on distance data and reference values ​​during the pre-movement process, and instructing the auxiliary gripping module 6 to grip the workpiece 5 and move the workpiece 5 between several workstations when the vibration is large, the auxiliary gripping module 6 is introduced to reduce the impact of vibration when the vibration is small, and the auxiliary gripping module 6 is not introduced when the vibration is small, thus ensuring welding efficiency.

[0040] During the process of the gripping robot transporting workpiece 5, the probability of one or more parts falling off increases when there are many welded parts on a workpiece 5. For example, when the vibration level is constant, the probability of a single part falling off workpiece 5 is 10%. When there is one part on workpiece 5, the probability of one or more parts falling off is 10%. When there are five parts on workpiece 5, the probability of one or more parts falling off is (1-0.9^5)×100%≈40%, which is relatively high. Therefore, when multiple parts are fixed on workpiece 5, it is necessary to further improve the judgment standard for whether the vibration is too large. When a small degree of vibration occurs, a signal should be issued and measures should be taken to prevent even smaller vibrations from occurring, thereby reducing the probability of a single part falling off. To this end, the control module 3 pre- First, a distance reference value r0 and a reference number of parts d0 are input. During the pre-movement, the vibration detection module 4 detects the distance between itself and the workpiece 5 and uploads the distance data r to the control module 3 at a frequency of once per second. The control module 3 reads the number of parts d on the currently transferred workpiece 5. After receiving the distance data, the control module 3 judges whether the distance data is greater than (1-a)×x×r0 and less than (1+a)×y×r0. When the judgment result is negative, the control module 3 instructs the auxiliary gripping module 6 to grip the workpiece 5 and drive the workpiece 5 to move between several workstations; where x=0.1d / d0+0.95, y=0.1d0 / d+0.85, d0≤d≤2d0, and a is a constant pre-input to the control module 3, 0.1≤a≤0.2;

[0041] Specifically, in this embodiment, a = 0.1, d0 is the actual distance from the far end of the workpiece 5 to the vibration detection module 4 measured by the operator, and the vibration detection module 4 measures the distance r from itself to the far end of the bow. When the number of workpieces 5 is fixed, when the control module 3 determines that r = r0, or r is in the range of [0.9r0, 1.1r0], the deviation from r0 is small, that is, the vibration amplitude of the workpiece 5 is small, and no measures need to be taken. When the control module 3 determines that r is not in the range of [0.9r0, 1.1r0], it means that the deviation from r0 is large, and the vibration amplitude is large. At this time, the control module 3 takes corresponding measures.

[0042] When there are many parts on the transferred workpiece 5, it is necessary to raise the standard for judging whether the vibration is too large. A signal should be issued and measures taken when a small degree of vibration occurs to prevent even smaller vibrations from occurring. At this time, the number of parts d is larger than d0. The values ​​of x = 0.1d / d0 + 0.95 and (1-a)×x×r0 increase with increasing d, while the values ​​of y = 0.1d0 / d + 0.85 and (1+a)×y×r0 decrease with increasing d. This is the judgment interval [0.9×x] used to determine whether the vibration amplitude exceeds the reference value. The endpoint values ​​of [×r0, 1.1×y×r0] are close to each other, and the range is smaller. That is, when a smaller amplitude vibration occurs, the control module 3 judges that the d value is more likely to deviate from the reference value based on the fact that it exceeds the reference value. When the number of parts is equal to the upper limit d = 2d0, the value of x = 0.1d / d0 + 0.95 is the upper limit 1.05, and the value of y = 0.1d0 / d + 0.85 is the lower limit 0.95. At this time, the reference value judgment range reaches the minimum, that is, [0.945d0, 1.045d0], which completes the improvement of the judgment standard for whether the vibration is too large.

[0043] Similarly, when there are fewer parts on the workpiece 5 being transferred, the probability of parts falling off is low. It is necessary to prevent the judgment of excessive vibration when there is slight vibration, and to lower the judgment standard to improve production efficiency. At this time, when the value of d is small and close to d0, the value of (1-a)×x×r0 increases as d decreases, and the value of (1+a)×y×r0 increases. The endpoint values ​​of the judgment interval [0.9×x×r0, 1.1×y×r0] used to judge whether the vibration amplitude exceeds the reference value are far apart, and the interval is larger. When a small amplitude vibration occurs, the value of d is more likely to be within the judgment interval of the reference value, thus completing the reduction of the judgment standard.

[0044] After receiving the distance data, the control module 3 determines whether the distance data is greater than (1-a)×x×r0 and less than (1+a)×y×r0. This allows for the correction of the number of parts on workpiece 5 in determining whether the vibration is too large. When there are many parts on workpiece 5 and the probability of one or more parts falling off is higher, the judgment standard is raised. When a small degree of vibration occurs, a signal is issued and measures are taken to reduce the impact of vibration on transportation. When there are few parts on workpiece 5 and the probability of parts falling off is lower, the judgment standard is lowered to prevent taking measures too frequently and ensure production efficiency.

[0045] To reduce the impact of vibration and further improve production efficiency, after receiving the distance data, the control module 3 determines whether the distance data is greater than (1-0.5a)×x×r0 and less than (1+0.5a)×y×r0. If the determination result is negative, the control module 3 instructs the gripper robot 1 to slow down the speed at which it moves the workpiece 5 between several workstations, and determines whether the distance data is greater than (1-a)×x×r0 and less than (1+a)×y×r0. If the determination result is negative, the control module 3 instructs the auxiliary gripping module 6 to grip the workpiece 5 and move the workpiece 5 between several workstations.

[0046] Since (1-0.5a) and (1+0.5a) are closer to 1 than 1-a and 1+a, the range [(1-0.5a)×x×r0, (1+0.5a)×y×r0] is relatively small. When the value of r is within the range [(1-0.5a)×x×r0, (1+0.5a)×y×r0], it indicates that the vibration is small, and the control module 3 does not make any additional response. When the value of r exceeds the range [(1-0.5a)×x×r0, (1+0.5a)×y×r0], but is still within the relatively large range [(1-a)×x×r0, (1+a)×y×r0], it indicates that the workpiece 5 has obvious vibration, but the degree of vibration is not large. At this time, the control module 3 instructs the gripper robot 1 to slow down the speed of the workpiece 5, reduce the speed and acceleration of the workpiece 5, and thus move it at a certain speed. At the cost of transportation efficiency, the vibration level of workpiece 5 and the impact of vibration are reduced. When the value of r exceeds the range [(1-a)×x×r0,(1+a)×y×r0], it means that the vibration amplitude is large, and it is necessary to further introduce the auxiliary gripping module 6. In this way, at the cost of more transportation efficiency, the vibration level of workpiece 5 and the impact of vibration are reduced. At this time, the control module 3 judges whether the vibration deviates from the reference value, and the judgment result is divided into two levels. The first level corresponds to the case of small vibration amplitude, with fewer measures taken and lower transportation efficiency cost. The second level corresponds to the case of large vibration amplitude, with more measures taken and higher transportation efficiency cost. The control module 3 completes the differential judgment of vibration amplitude and takes corresponding measures after differential judgment to reduce the impact of vibration while further improving production efficiency.

[0047] By using two reference value ranges to classify vibration amplitude into two categories and adjusting accordingly, the control module 3 adopts measures with lower transportation efficiency costs when the amplitude is small and measures with higher transportation efficiency costs when the amplitude is large, thereby reducing the impact of vibration and further improving production efficiency.

[0048] During the above process, the operator needs to manually adjust the value of 'a' or 'd' as needed. To facilitate adjustment, a control panel 31 is also included. The control panel 31 is electrically connected to the control module 3. The control panel 31 is used to input the value of 'a' and send instructions to the control module 3.

[0049] Working principle and usage process of this invention:

[0050] In use, the control module 3 instructs the first robotic arm to transport the workpiece 5 from the previous process to the station of the fixed welding gun 21, and instructs it to be transported from the station of the fixed welding gun 21 to the transfer table. Subsequently, the control module 3 uses the second robotic arm to transport the workpiece 5 from the transfer table to the station of the stud welding gun 22, and from the station of the stud welding gun 22 to the conveyor belt. The fixed welding gun 21 is used to weld and fix the parts on the workpiece 5 to the workpiece 5. The control module 3 instructs the second robotic arm to transport the workpiece 5 from the stud welding gun 22 to the conveyor belt, and the conveyor belt sends the workpiece 5 to the next process.

[0051] When control module 3 instructs the first or second robotic arm to transport workpiece 5, control module 3 instructs the laser rangefinder to start and measure the position from the far end of workpiece 5 to the laser rangefinder. When the far end of workpiece 5 shakes or vibrates, the position from the far end of workpiece 5 to the laser rangefinder changes, and the distance data measured by the laser rangefinder changes. At the same time, the laser rangefinder uploads the distance data to control module 3 at a frequency of once per second. Control module 3 can analyze whether there are differences between the distance data uploaded at different times, determine whether the far end of workpiece 5 vibrates, and determine the magnitude of the vibration. When the vibration is large and causes a large change in the distance data, causing control module 3 to determine that the distance data uploaded at a certain moment deviates from the reference value, control module 3 issues an alarm signal.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A welding workstation for automotive parts with automatic gripping function, characterized in that: It includes a control module, several workstations, a gripper robot, and a welding robot. The control module and the gripper robot are electrically connected. The gripper robot is used to grip workpieces under the command of the control module and move the workpieces between several workstations. The welding robot is used to weld several parts onto the workpieces at the workstations. The gripper robot is equipped with a vibration detection module on one side. The vibration detection module is used to detect the distance between itself and the workpiece during the process of the gripper robot moving the workpiece between several workstations, and uploads the distance data to the control module once per second. After receiving the distance data, the control module judges whether the distance data meets the reference value. When the judgment result is negative, the control module issues an alarm signal. Before each instruction to the gripper robot to move the workpiece between several workstations, the control module first instructs the gripper robot to move the workpiece in the vertical direction. During the pre-movement, the vibration detection module detects the distance between itself and the workpiece and uploads the distance data to the control module once per second. After receiving the distance data, the control module determines whether the distance data meets the reference value. When the determination result is negative, the control module issues an alarm signal. It also includes an auxiliary gripping module, which includes an auxiliary gripper robot. The auxiliary gripping module is electrically connected to the control module. After receiving the distance data, the control module determines whether the distance data meets the reference value. When the determination result is negative, the control module instructs the auxiliary gripping module to grip the workpiece and move the workpiece between several workstations. The control module is pre-input with a distance reference value r0 and a reference number of parts d0. During the pre-movement, the vibration detection module detects the distance between itself and the workpiece and uploads the distance data r to the control module at a frequency of once per second. The control module reads the number of parts d on the currently transferred workpiece. After receiving the distance data, the control module determines whether the distance data is greater than (1-a)×x×r0 and less than (1+a)×y×r0. When the determination result is negative, the control module instructs the auxiliary gripping module to grip the workpiece and drive the workpiece to move between several workstations. Where x = 0.1d / d0 + 0.95, y = 0.1d0 / d + 0.85, d0 ≤ d ≤ 2d0, and a is a constant pre-input to the control module, 0.1 ≤ a ≤ 0.

2.

2. The automotive parts welding workstation with automatic gripping function according to claim 1, characterized in that: After receiving the distance data, the control module determines whether the distance data is greater than (1-0.5a)×x×r0 and less than (1+0.5a)×y×r0. If the determination result is negative, the control module instructs the gripper robot to slow down the speed at which it moves the workpiece between several workstations, and determines whether the distance data is greater than (1-a)×x×r0 and less than (1+a)×y×r0. If the determination result is negative, the control module instructs the auxiliary gripping module to grip the workpiece and move the workpiece between several workstations.

3. The automotive parts welding workstation with automatic gripping function according to claim 1, characterized in that: A conveyor belt is provided on one side of the gripper robot, which is used to grip the workpiece and transfer it from the workstation to the conveyor belt.

4. The automotive parts welding workstation with automatic gripping function according to claim 2, characterized in that: It also includes a control panel, which is electrically connected to the control module. The control panel is used to input the value of 'a' and send instructions to the control module.

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