Robot team spot welding workstation and working method thereof

Abstract

The invention discloses a robot team spot welding workstation and a working method thereof.The robot team spot welding workstation is used for welding a rib plate to a bottom plate and comprises a feeding tray, a portal frame device, a positioning mechanism, a first industrial camera, a second industrial camera, a carrying robot and a welding robot; wherein the feeding tray is used for placing the rib plate, the portal frame device is movably arranged in the front-back direction, a welding position is arranged below the portal frame device, the bottom plate is located in the welding position, and the positioning mechanism is connected to the portal frame device. The positioning mechanism is used for bearing the rib plate and guiding the rib plate to be placed in a specific posture so that the rib plate can be positioned, and the first industrial camera is used for shooting the rib plate on the feeding tray to obtain a first image. The device can pick up the rib plate and carry the rib plate to be assembled on the bottom plate, and can complete carrying and assembling of the rib plate and weld the rib plate on the bottom plate.

Description

Technical Field

[0001] The invention relates to a robot team spot welding workstation and a working method thereof. Background Art

[0002] At present, in the process of special-shaped group welding production in shipyards, the rib plate needs to be welded to the bottom plate. In order to improve the welding efficiency, automatic welding equipment is generally used in shipyards to complete the welding. For example, a Chinese patent with announcement number CN218855978U discloses a gantry-type group welding equipment that can be used to complete the welding of the rib plate and the bottom plate. However, the gantry-type group welding equipment cannot automatically transport the rib plate to be assembled on the bottom plate, and cannot complete the automatic transport and assembly of the rib plate, resulting in great inconvenience in the welding process. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a robot team spot welding workstation, which can pick up the rib plate and transport the rib plate to be assembled on the base plate, and can complete the transportation and assembly of the rib plate and weld the rib plate to the base plate.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: a robot team spot welding workstation, which is used to weld the rib plate to the base plate, and comprises a loading tray, a gantry device, a positioning mechanism, a first industrial camera, a second industrial camera, a handling robot and a welding robot;

[0005] The loading tray is used to place the rib plate;

[0006] The gantry device is arranged to move along the front-rear direction, a welding position is provided below the gantry device, and the bottom plate is located in the welding position;

[0007] The positioning mechanism is connected to the gantry device, and is used to receive the rib plate and guide the rib plate to be placed to a specific posture so as to position the rib plate;

[0008] The first industrial camera is used to photograph the rib plate on the loading tray to obtain a first image;

[0009] The second industrial camera is used to photograph the base plate in the welding position to obtain a second image;

[0010] The transport robot is connected to the gantry device, and is used to pick up the rib plate on the loading tray according to the first image and transport the picked-up rib plate to the positioning mechanism, and the transport robot is also used to pick up the rib plate on the positioning mechanism and transport the rib plate to be assembled on the bottom plate according to the second image;

[0011] The welding robot is connected to the gantry device and is used to weld the weld between the rib plate and the bottom plate.

[0012] Further, the positioning mechanism includes a support plate, a first support bar and a second support bar;

[0013] The support plate is connected to the gantry device, and the support plate is arranged obliquely and used to support one side of the rib plate;

[0014] The first support bar is obliquely connected to the support plate and is used to support a side edge of the rib plate;

[0015] The second support bar is obliquely connected to the support plate and is used to support the other side edge of the rib plate.

[0016] Further, the handling robot includes a first manipulator body, a first controller and an end picker;

[0017] The end picker is connected to the first manipulator body and is used to pick up the rib plate;

[0018] The first manipulator body is connected to the gantry device and is used to drive the end picker to move;

[0019] The first industrial camera is connected to the first controller and is used to send the captured first image to the first controller, and the second industrial camera is connected to the first controller and is used to send the captured second image to the first controller;

[0020] The first controller is connected to the first manipulator body and the end picker respectively, and the first controller is used to control the movement of the first manipulator body to drive the end picker to move, and the first controller is also used to control the end picker to pick up or release the rib plate;

[0021] The welding robot comprises a second manipulator body, a second controller, a welding assembly and a weld tracker;

[0022] The second manipulator body is connected to the gantry device;

[0023] The welding assembly is connected to the second manipulator body and is used to weld the weld between the rib plate and the bottom plate;

[0024] The weld tracker is connected to the second manipulator body, and the weld tracker is connected to the second controller and is used to track the weld between the bottom plate and the rib plate and send the obtained weld data to the second controller;

[0025] The second controller is connected to the second robot body and is used to control the movement of the second robot body according to the weld data to drive the welding assembly to move.

[0026] Further, the first manipulator body is slidably connected to the gantry device along the left-right direction;

[0027] The gantry device is also provided with a first driving mechanism connected to the first manipulator body and used to drive the first manipulator body to move left and right;

[0028] The first driving mechanism includes a first motor, a first gear and a first rack;

[0029] The first rack is connected to the gantry device, the first gear is connected to the first motor and meshes with the first rack, the first motor is connected to the first manipulator body, and the first motor is used to drive the first gear to rotate and then drive the first manipulator body to move in the left and right directions on the gantry device;

[0030] The second manipulator body is slidably connected to the gantry device along the left-right direction;

[0031] The gantry device is also provided with a second driving mechanism connected to the second manipulator body and used to drive the second manipulator body to move left and right;

[0032] The second driving mechanism includes a second motor, a second gear and a second rack;

[0033] The second rack is connected to the gantry device, the second gear is connected to the second motor and meshes with the second rack, the second motor is connected to the second manipulator body, and the second motor is used to drive the second gear to rotate and thereby drive the second manipulator body to move in the left and right directions on the gantry device.

[0034] Further, the end tool comprises a base plate, an electromagnetic chuck and at least one elastic component, and the elastic component comprises a guide column, a guide sleeve and a spring;

[0035] The substrate is connected to the first robot body;

[0036] The guide sleeve is connected to the base plate;

[0037] The guide post is slidably connected in the guide sleeve;

[0038] The electromagnetic chuck is connected to the lower end of the guide column, and the upper end of the guide column is provided with a limiting step portion protruding radially outward, and the limiting step portion is used to abut against the top surface of the guide sleeve;

[0039] The spring is sleeved on the outer side of the guide column, the upper end of the spring abuts against the guide sleeve, and the lower end of the spring abuts against the electromagnetic chuck.

[0040] A method for installing the first industrial camera and the second industrial camera is further provided, wherein the first industrial camera and the second industrial camera are both connected to a substrate in the end tool.

[0041] Further, the robot team spot welding workstation also includes a ground rail, and the gantry device includes a gantry body and a third driving mechanism;

[0042] The gantry body is slidably connected to the ground rail along the front-rear direction, and the welding position is located below the gantry body;

[0043] The third driving mechanism is connected to the ground rail and the gantry body respectively and is used to drive the gantry body to move along the front-rear direction on the ground rail;

[0044] Wherein, the ground rail includes a left rail body and a right rail body, and the gantry body includes a left vertical frame, a right vertical frame and a mounting platform;

[0045] One end of the mounting platform is connected to the left stand, and the other end of the mounting platform is connected to the right stand;

[0046] The left stand is slidably connected to the left rail body along the front-back direction, and the right stand is slidably connected to the right rail body along the front-back direction;

[0047] The third driving mechanism includes a left motor, a left gear, a left rack, a right motor, a right gear and a right rack;

[0048] The left rack is connected to the left rail body, the left gear is connected to the left motor and meshes with the left rack, the left motor is connected to the left stand, and the left motor is used to drive the left gear to rotate and then drive the left stand to move along the front-rear direction on the left rail body;

[0049] The right rack is connected to the right rail body, the right gear is connected to the right motor and meshes with the right rack, the right motor is connected to the right stand, and the right motor is used to drive the right gear to rotate and then drive the right stand to move along the front and rear direction on the right rail body.

[0050] Another installation method of the first industrial camera and the second industrial camera is further provided, the robot team spot welding workstation also includes a fixed mounting rod, the first industrial camera is connected to the mounting rod and is located above the loading tray, and the second industrial camera is connected to the gantry body.

[0051] The present invention also provides a working method of the robot team spot welding workstation as described above, the method comprising the following steps:

[0052] S1: the gantry device moves to the material picking position, and the first industrial camera is used to photograph the rib plate on the loading tray to obtain a first image. The handling robot picks up the rib plate on the loading tray according to the first image, and then the handling robot transports the picked-up rib plate to the positioning mechanism and then picks up the rib plate on the positioning mechanism again. The gantry device moves to the rib plate installation position, and the second industrial camera is used to photograph the bottom plate in the welding position to obtain a second image. The handling robot transports the picked-up rib plate to be assembled on the bottom plate according to the second image.

[0053] S2: The welding robot welds the weld between the rib plate and the bottom plate to weld the rib plate to the bottom plate.

[0054] Further, the method comprises the steps of:

[0055] S0: cutting the bottom plate and marking a rib plate installation identification line on the bottom plate, and then transporting the bottom plate to the welding position;

[0056] Among them, in step S1, the second industrial camera obtains a second image with the rib plate installation identification line after photographing the base plate in the welding position, and the transport robot transports the picked up rib plate to the rib plate installation identification line installed on the base plate according to the second image.

[0057] Further, the specific operation of step S1 is as follows: the gantry device moves to the material picking position, the rib plate on the loading tray is photographed by the first industrial camera to obtain a first image and send it to the first controller, the first controller identifies the shape, type and position of the rib plate in the first image and controls the first manipulator body to drive the end picker to move to the loading tray and controls the end picker to pick up the rib plate on the loading tray; then, under the control of the first controller, the first manipulator body drives the end picker to move to the positioning mechanism, the end picker releases the picked up rib plate so that the rib plate falls on the positioning mechanism, and then the end picker picks up the rib plate on the positioning mechanism again, the gantry device moves to the rib plate installation position, the bottom plate in the welding position is photographed by the second industrial camera to obtain a second image with a rib plate installation identification line and send it to the first controller, the first controller identifies the position of the rib plate installation identification line in the second image and controls the first manipulator body to drive the end picker to move to transport the rib plate picked up on the end picker to the rib plate installation identification line installed on the bottom plate;

[0058] The specific operation of step S2 is: the weld tracker tracks the weld between the base plate and the rib plate and sends the obtained weld data to the second controller, and the second controller controls the movement of the second manipulator body according to the weld data to drive the welding assembly to move and weld the weld between the rib plate and the base plate through the welding assembly.

[0059] After adopting the above technical solution, ribs of various shapes and types can be transported to the loading tray by the AGV vehicle for storage. The handling robot can pick up the ribs on the loading tray and transport the picked-up ribs to the positioning mechanism for positioning. Then the handling robot picks up the positioned ribs on the positioning mechanism and transports the ribs to be assembled on the bottom plate. The handling and assembly of the ribs can be automatically completed. Then the ribs are welded to the bottom plate by the welding robot to complete automatic welding. The automation is higher and the use is more convenient. In addition, due to the accuracy limitation, the first image taken by the first industrial camera has a certain accuracy error. Therefore, after the handling robot picks up the ribs on the loading tray according to the first image, it is necessary to transport the ribs to the positioning mechanism for secondary positioning. The positioning mechanism can guide the ribs to be placed in a specific posture and then accurately position the ribs. Then, when the handling robot picks up the ribs on the positioning mechanism again, the position accuracy of the ribs is improved, and then the position of the ribs is more accurate when they are assembled on the bottom plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A top view of the robot team spot welding workstation of the present invention;

[0061] Figure 2 It is a structural schematic diagram of one side of the robot team spot welding workstation of the present invention;

[0062] Figure 3 It is a structural schematic diagram of the other side of the robot team spot welding workstation of the present invention;

[0063] Figure 4 It is a structural schematic diagram of the positioning mechanism of the present invention;

[0064] Figure 5 It is a structural schematic diagram of the handling robot of the present invention;

[0065] Figure 6 It is a structural schematic diagram of the end picker of the present invention. DETAILED DESCRIPTION

[0066] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0067] Embodiment 1

[0068] like Figures 1 to 6 As shown, a robot team spot welding workstation is used to weld a rib plate 1 to a base plate 2, and includes a loading tray 3, a gantry device 4, a positioning mechanism 5, a first industrial camera 6, a second industrial camera 7, a handling robot 8 and a welding robot 9;

[0069] The loading tray 3 is used to place the rib plate 1;

[0070] The gantry device 4 is arranged to move along the front-rear direction, and a welding position is provided below the gantry device 4, and the bottom plate 2 is located in the welding position;

[0071] The positioning mechanism 5 is connected to the gantry device 4, and the positioning mechanism 5 is used to receive the rib plate 1 and guide the rib plate 1 to be placed to a specific posture so as to position the rib plate 1;

[0072] The first industrial camera 6 is used to photograph the rib plate 1 on the loading tray 3 to obtain a first image;

[0073] The second industrial camera 7 is used to photograph the base plate 2 in the welding position to obtain a second image;

[0074] The handling robot 8 is connected to the gantry device 4, and is used to pick up the rib plate 1 on the loading tray 3 according to the first image and carry the picked-up rib plate 1 to the positioning mechanism 5. The handling robot 8 is also used to pick up the rib plate 1 on the positioning mechanism 5 and carry the rib plate 1 to be assembled on the bottom plate 2 according to the second image;

[0075] The welding robot 9 is connected to the gantry device 4 and is used to weld the weld between the rib plate 1 and the bottom plate 2 so as to weld the rib plate 1 to the bottom plate 2 .

[0076] Specifically, rib plates 1 of various shapes and types can be transported to the loading tray 3 for storage by the AGV vehicle. The transport robot 8 can pick up the rib plates 1 on the loading tray 3 and transport the picked up rib plates 1 to the positioning mechanism 5 for positioning. Then the transport robot 8 picks up the positioned rib plates 1 on the positioning mechanism 5 and transports the rib plates 1 to be assembled on the base plate 2. The transport and assembly of the rib plates 1 can be automatically completed. Then the welding robot 9 can weld the rib plates 1 to the base plate 2 to complete automatic welding. The automation level is higher and the use is more convenient.

[0077] To be more specific, due to accuracy limitations, the first image captured by the first industrial camera 6 has a certain accuracy error. Therefore, after the handling robot 8 picks up the rib plate 1 on the loading tray 3 according to the first image, it is necessary to transport the rib plate 1 to the positioning mechanism 5 for secondary positioning. The rib plate 1 can be guided to a specific posture on the positioning mechanism 5 to accurately position the rib plate 1. Then, when the handling robot 8 picks up the rib plate 1 on the positioning mechanism 5 again, the position accuracy of the rib plate 1 is improved, and then when the rib plate 1 is assembled on the base plate 2, the position is more accurate.

[0078] like Figure 4 As shown, the positioning mechanism 5 may include a support plate 10, a first support bar 11 and a second support bar 12;

[0079] The support plate 10 is connected to the gantry device 4, and the support plate 10 is tilted and used to support one side of the rib plate 1;

[0080] The first support bar 11 is obliquely connected to the support plate 10 and is used to support a side edge of the rib plate 1;

[0081] The second support bar 12 is obliquely connected to the support plate 10 and is used to support the other side of the rib plate 1 .

[0082] like Figures 1 to 3As shown, the handling robot 8 may include a first manipulator body 13, a first controller and an end picker 14;

[0083] The end tool 14 is connected to the first manipulator body 13 and is used to pick up the rib plate 1;

[0084] The first manipulator body 13 is connected to the gantry device 4 and is used to drive the end picker 14 to move;

[0085] The first industrial camera 6 is connected to the first controller and is used to send the captured first image to the first controller, and the second industrial camera 7 is connected to the first controller and is used to send the captured second image to the first controller;

[0086] The first controller is respectively connected to the first manipulator body 13 and the end picker 14, and the first controller is used to control the movement of the first manipulator body 13 to drive the end picker 14 to move, and the first controller is also used to control the end picker 14 to pick up or release the rib plate 1; specifically, after the first industrial camera 6 sends the captured first image to the first controller, the first controller can identify the shape, type and position of the rib plate 1 in the first image, and then the first controller can control the movement of the first manipulator body 13 to drive the end picker 14 to move to the loading tray 3, and then control the end picker 14 to pick up the rib plate 1 on the loading tray 3, and then control the first manipulator body 13 to drive the end picker 14 to move to the positioning mechanism 5, and then control the end picker 14 to release the picked up rib plate 1 so that the rib plate 1 falls on the positioning mechanism 5. One side of the rib plate 1 that falls on the positioning mechanism 5 is supported by the tilted support plate 10. Under the action of gravity, the rib plate 1 slides downward along the tilted support plate 10 until the first support bar 11 and the second support bar 12 respectively support the two adjacent sides of the rib plate 1. At this time, the rib plate 1 is guided to be placed in a specific posture to achieve the positioning of the rib plate 1. Then, under the control of the first controller, the end picker 14 picks up the rib plate 1 on the positioning mechanism 5 again, and then the first manipulator body 13 drives the end picker 14 to move to move the rib plate 1 on the end picker 14 to be assembled on the bottom plate 2.

[0087] like Figures 1 to 3 As shown, the welding robot 9 may include a second manipulator body 15, a second controller, a welding assembly 16 and a weld tracker;

[0088] The second manipulator body 15 is connected to the gantry device 4;

[0089] The welding assembly 16 is connected to the second manipulator body 15 and is used to weld the weld between the rib plate 1 and the bottom plate 2;

[0090] The weld tracker is connected to the second manipulator body 15, and the weld tracker is connected to the second controller and is used to track the weld between the base plate 2 and the rib plate 1 and send the obtained weld data to the second controller;

[0091] The second controller is connected to the second manipulator body 15 and is used to control the movement of the second manipulator body 15 according to the weld data to drive the welding assembly 16 to move, and then weld the rib plate 1 to the base plate 2 through the welding assembly 16; specifically, the specific structures of the first manipulator body 13, the second manipulator body 15, the weld tracker and the welding assembly 16 are all existing technologies well known to those skilled in the art, and are not described in detail in this embodiment. The welding assembly 16 includes a welding gun.

[0092] like Figures 1 to 3 As shown, the first manipulator body 13 is slidably connected to the gantry device 4 along the left-right direction, and the gantry device 4 is also provided with a first driving mechanism connected to the first manipulator body 13 and used to drive the first manipulator body 13 to move left-right;

[0093] The first driving mechanism includes a first motor 17, a first gear and a first rack;

[0094] The first rack is connected to the gantry device 4, the first gear is connected to the first motor 17 and meshes with the first rack, the first motor 17 is connected to the first manipulator body 13, and the first motor 17 is used to drive the first gear to rotate and then drive the first manipulator body 13 to move in the left and right direction on the gantry device 4;

[0095] The second manipulator body 15 is slidably connected to the gantry device 4 along the left-right direction;

[0096] The gantry device 4 is also provided with a second driving mechanism connected to the second manipulator body 15 and used to drive the second manipulator body 15 to move left and right;

[0097] The second driving mechanism includes a second motor 18, a second gear and a second rack;

[0098] The second rack is connected to the gantry device 4, the second gear is connected to the second motor 18 and meshes with the second rack, the second motor 18 is connected to the second manipulator body 15, and the second motor 18 is used to drive the second gear to rotate and thereby drive the second manipulator body 15 to move in the left and right directions on the gantry device 4.

[0099] In this embodiment, the end tool 14 may include a base plate 19, an electromagnetic chuck 20, and at least one elastic component, wherein the elastic component includes a guide column 21, a guide sleeve 22, and a spring 23;

[0100] The substrate 19 is connected to the first robot body 13;

[0101] The guide sleeve 22 is connected to the base plate 19;

[0102] The guide post 21 is slidably connected in the guide sleeve 22;

[0103] The electromagnetic chuck 20 is connected to the lower end of the guide column 21, and the upper end of the guide column 21 is provided with a limiting step portion protruding radially outward, and the limiting step portion is used to abut against the top surface of the guide sleeve 22;

[0104] The spring 23 is sleeved on the outside of the guide column 21, the upper end of the spring 23 is against the guide sleeve 22, and the lower end of the spring 23 is against the electromagnetic suction cup 20. Specifically, driven by the elastic force of the spring 23, the guide column 21 slides relative to the guide sleeve 22 so that the limiting step is against the top surface of the guide sleeve 22; when picking up the rib plate 1, the first manipulator body 13 drives the substrate 19 to move and then drives the electromagnetic suction cup 20 to move. When the electromagnetic suction cup 20 contacts the rib plate 1, the substrate 19 continues to press down so that the spring 23 is compressed. Driven by the spring 23, the electromagnetic suction cup 20 is tightly attached to the rib plate 1, and then the electromagnetic suction cup 20 is energized to generate magnetic force and then adsorb the rib plate 1; specifically, the specific structure of the electromagnetic suction cup 20 is a prior art well known to those skilled in the art, and will not be described in detail in this embodiment.

[0105] like Figures 1 to 3 As shown, the robot team spot welding workstation may further include a ground rail, and the gantry device 4 may include a gantry body and a third driving mechanism;

[0106] The gantry body is slidably connected to the ground rail along the front-rear direction, and the welding position is located below the gantry body;

[0107] The third driving mechanism is connected to the ground rail and the gantry body respectively and is used to drive the gantry body to move along the front-rear direction on the ground rail;

[0108] The ground rail may include a left rail body 24 and a right rail body 25, and the gantry body may include a left vertical frame 26, a right vertical frame 27 and a mounting platform 28;

[0109] One end of the mounting platform 28 is connected to the left stand 26, and the other end of the mounting platform 28 is connected to the right stand 27;

[0110] The left stand 26 is slidably connected to the left rail body 24 along the front-to-back direction, and the right stand 27 is slidably connected to the right rail body 25 along the front-to-back direction; specifically, the first manipulator body 13 and the second manipulator body 15 are both slidably connected to the mounting platform 28 along the left-right direction, the first rack and the second rack are both connected to the mounting platform 28, a welding machine connected to the welding assembly 16 is also connected to the mounting platform 28, and the support plate 10 is connected to the right stand 27;

[0111] The third driving mechanism may include a left motor 29, a left gear, a left rack 30, a right motor, a right gear and a right rack;

[0112] The left rack 30 is connected to the left rail body 24, the left gear is connected to the left motor 29 and meshes with the left rack 30, the left motor 29 is connected to the left stand 26, and the left motor 29 is used to drive the left gear to rotate and then drive the left stand 26 to move along the front and rear direction on the left rail body 24;

[0113] The right rack is connected to the right rail body 25, the right gear is connected to the right motor and meshes with the right rack, the right motor is connected to the right vertical frame 27, and the right motor is used to drive the right gear to rotate and thereby drive the right vertical frame 27 to move along the front-to-back direction on the right rail body 25; specifically, the left motor 29 and the right motor rotate synchronously and thereby can drive the gantry body as a whole to move along the front-to-back direction.

[0114] In this embodiment, the left stand 26 is connected to a first left guide wheel and a second left guide wheel, the first left guide wheel abuts against the left end of the left rail body 24, and the second left guide wheel abuts against the right end of the left rail body 24, thereby preventing the left stand 26 from slipping off the left rail body 24. The right stand 27 is connected to a first right guide wheel and a second right guide wheel, the first right guide wheel abuts against the left end of the right rail body 25, and the second right guide wheel abuts against the right end of the right rail body 25, thereby preventing the right stand 27 from slipping off the right rail body 25.

[0115] like Figures 1 to 3 As shown, the robot team spot welding workstation can also include a fixed mounting rod 31, the first industrial camera 6 is connected to the mounting rod 31 and is located above the loading tray 3, and the second industrial camera 7 is connected to the gantry body; specifically, the first industrial camera 6 can be a 3D vision camera, and the second industrial camera 7 can be a 2D vision camera.

[0116] Embodiment 2

[0117] Another robot team spot welding workstation, the robot team spot welding workstation of this embodiment is basically the same as the embodiment 1, except that: the first industrial camera 6 and the second industrial camera 7 are both connected to the substrate 19 in the end picker 14.

[0118] Embodiment 3

[0119] A working method of a robot team spot welding workstation as described in Embodiment 1, the method comprising the following steps:

[0120] S1: the gantry device 4 moves to the material picking position, and uses the first industrial camera 6 to photograph the rib plate 1 on the loading tray 3 to obtain a first image. The handling robot 8 picks up the rib plate 1 on the loading tray 3 according to the first image, and then the handling robot 8 transports and places the picked-up rib plate 1 on the positioning mechanism 5 and then picks up the rib plate 1 on the positioning mechanism 5 again. The gantry device 4 moves to the rib plate 1 installation position, and uses the second industrial camera 7 to photograph the bottom plate 2 in the welding position to obtain a second image. The handling robot 8 transports the picked-up rib plate 1 to be assembled on the bottom plate 2 according to the second image;

[0121] S2: The welding robot 9 welds the weld between the rib plate 1 and the bottom plate 2 to weld the rib plate 1 to the bottom plate 2 .

[0122] Specifically, the steps of the method include:

[0123] S0: cutting the bottom plate 2 and marking a rib plate installation identification line on the bottom plate 2, and then transporting the bottom plate 2 to the welding position;

[0124] Among them, in step S1, the second industrial camera 7 obtains a second image with the rib plate installation identification line after photographing the base plate 2 in the welding position, and the transport robot 8 transports the picked up rib plate 1 to the rib plate installation identification line installed on the base plate 2 according to the second image.

[0125] In this embodiment, due to the accuracy limitation, the first image captured by the first industrial camera 6 has a certain accuracy error. Therefore, after the handling robot 8 picks up the rib plate 1 on the loading tray 3 according to the first image, it is necessary to carry the rib plate 1 to the positioning mechanism 5 for secondary positioning. On the positioning mechanism 5, the rib plate 1 can be guided to be placed in a specific posture to accurately position the rib plate 1. Then, when the handling robot 8 picks up the rib plate 1 on the positioning mechanism 5 again, the position accuracy of the rib plate 1 is improved, and then when the rib plate 1 is assembled on the bottom plate 2, the position is more accurate. In this embodiment, since the bottom plate 2 is very long, about 8 meters, if the positioning is achieved by relying solely on the outer contour of the bottom plate 2 in the second image captured by the second industrial camera 7, there will be a large deviation. Therefore, in step S0, a rib plate installation identification line is drawn on the bottom plate 2, and the rib plate 1 is carried to the rib plate installation identification line assembled on the bottom plate 2. In this way, the installation and positioning of the rib plate 1 is very accurate, which greatly improves the assembly accuracy of the rib plate 1, eliminates the assembly error, and meets the rib plate 1 assembly requirements of the shipbuilding industry. More specifically, the bottom plate 2 is transported to the welding position by a transport mechanism, and the specific structure of the transport mechanism is a prior art well known to those skilled in the art, and will not be described in detail in this embodiment. More specifically, in step S0, the bottom plate 2 is cut by laser, and the rib plate installation identification line is formed by laser scribing, and the rib plate installation identification line includes a line with an arrow to distinguish the installation direction, and the position of the rib plate installation identification line is the position where the rib plate 1 needs to be installed.

[0126] In this embodiment, the specific operation of step S1 is: the gantry device 4 moves to the material picking position, and the first industrial camera 6 is used to shoot the rib plate 1 on the loading tray 3 to obtain a first image and send it to the first controller, the first controller identifies the shape, type and position of the rib plate 1 in the first image and controls the first manipulator body 13 to drive the end picker 14 to move to the loading tray 3 and controls the end picker 14 to pick up the rib plate 1 on the loading tray 3; then, under the control of the first controller, the first manipulator body 13 drives the end picker 14 to move to the positioning mechanism 5, and the end picker The end picker 14 releases the picked up rib plate 1 so that the rib plate 1 falls on the positioning mechanism 5, and then the end picker 14 picks up the rib plate 1 on the positioning mechanism 5 again. The gantry device 4 moves to the installation position of the rib plate 1, and the second industrial camera 7 shoots the base plate 2 in the welding position to obtain a second image with a rib plate installation identification line and sends it to the first controller. The first controller identifies the position of the rib plate installation identification line in the second image and controls the first manipulator body 13 to drive the end picker 14 to move to transport the rib plate 1 picked up by the end picker 14 to the rib plate installation identification line installed on the base plate 2.

[0127] In this embodiment, the specific operation of step S2 is: the weld tracker tracks the weld between the base plate 2 and the rib plate 1 and sends the obtained weld data to the second controller, and the second controller controls the movement of the second manipulator body 15 according to the weld data to drive the welding assembly 16 to move and weld the weld between the rib plate 1 and the base plate 2 through the welding assembly 16.

[0128] To summarize, rib plates 1 of various shapes and types can be transported to the loading tray 3 for storage by the AGV vehicle, and the transport robot 8 can pick up the rib plates 1 on the loading tray 3 and transport the picked up rib plates 1 to the positioning mechanism 5 for positioning, and then the transport robot 8 picks up the positioned rib plates 1 on the positioning mechanism 5 and transports the rib plates 1 to be assembled on the base plate 2, which can automatically complete the transportation and assembly of the rib plates 1, and then the welding robot 9 can weld the rib plates 1 to the base plate 2 to complete automatic welding, which has a higher degree of automation and is more convenient to use. In addition, due to accuracy limitations, the first image taken by the first industrial camera 6 has a certain accuracy error. Therefore, after the handling robot 8 picks up the rib plate 1 on the loading tray 3 according to the first image, it is necessary to transport the rib plate 1 to the positioning mechanism 5 for secondary positioning. On the positioning mechanism 5, the rib plate 1 can be guided to be placed to a specific posture and then the rib plate 1 can be accurately positioned. Then, when the handling robot 8 picks up the rib plate 1 on the positioning mechanism 5 again, the position accuracy of the rib plate 1 is improved, and then when the rib plate 1 is assembled on the base plate 2, the position is more accurate.

[0129] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot team spot welding workstation, characterized in that: It is used to weld a rib plate (1) onto a base plate (2), and comprises a loading tray (3), a gantry device (4), a positioning mechanism (5), a first industrial camera (6), a second industrial camera (7), a handling robot (8) and a welding robot (9); The loading tray (3) is used to place the rib plate (1); The gantry device (4) is arranged to move in the front-rear direction, a welding position is provided below the gantry device (4), and the bottom plate (2) is located in the welding position; The positioning mechanism (5) is connected to the gantry device (4), and the positioning mechanism (5) is used to receive the rib plate (1) and guide the rib plate (1) to be placed in a specific posture so as to position the rib plate (1); The first industrial camera (6) is used to photograph the rib plate (1) on the loading tray (3) to obtain a first image; The second industrial camera (7) is used to photograph the base plate (2) in the welding position to obtain a second image; The transport robot (8) is connected to the gantry device (4), and is used to pick up the rib plate (1) on the loading tray (3) according to the first image and transport the picked up rib plate (1) to the positioning mechanism (5). The transport robot (8) is also used to pick up the rib plate (1) on the positioning mechanism (5) and transport the rib plate (1) to be assembled on the base plate (2) according to the second image; The welding robot (9) is connected to the gantry device (4) and is used to weld the weld between the rib plate (1) and the base plate (2).

2. The robot team spot welding workstation according to claim 1, characterized in that: The positioning mechanism (5) comprises a support plate (10), a first support bar (11) and a second support bar (12); The support plate (10) is connected to the gantry device (4), and the support plate (10) is arranged at an angle and is used to support one side of the rib plate (1); The first support bar (11) is obliquely connected to the support plate (10) and is used to support a side edge of the rib plate (1); The second support bar (12) is obliquely connected to the support plate (10) and is used to support the other side edge of the rib plate (1).

3. The robot team spot welding workstation according to claim 1, characterized in that: The handling robot (8) comprises a first manipulator body (13), a first controller and an end picker (14); The end picker (14) is connected to the first manipulator body (13) and is used to pick up the rib plate (1); The first manipulator body (13) is connected to the gantry device (4) and is used to drive the end picker (14) to move; The first industrial camera (6) is connected to the first controller and is used to send the captured first image to the first controller, and the second industrial camera (7) is connected to the first controller and is used to send the captured second image to the first controller; The first controller is connected to the first manipulator body (13) and the end picker (14) respectively, and the first controller is used to control the movement of the first manipulator body (13) to drive the end picker (14) to move, and the first controller is also used to control the end picker (14) to pick up or release the rib plate (1); The welding robot (9) comprises a second manipulator body (15), a second controller, a welding assembly (16) and a weld tracker; The second manipulator body (15) is connected to the gantry device (4); The welding assembly (16) is connected to the second manipulator body (15) and is used to weld the weld between the rib plate (1) and the bottom plate (2); The weld tracker is connected to the second manipulator body (15), the weld tracker is connected to the second controller and is used to track the weld between the base plate (2) and the rib plate (1) and send the acquired weld data to the second controller; The second controller is connected to the second manipulator body (15) and is used to control the movement of the second manipulator body (15) according to the welding seam data so as to drive the welding assembly (16) to move.

4. The robot team spot welding workstation according to claim 3, characterized in that: The first manipulator body (13) is slidably connected to the gantry device (4) in the left-right direction; The gantry device (4) is also provided with a first driving mechanism connected to the first manipulator body (13) and used for driving the first manipulator body (13) to move left and right; The first driving mechanism comprises a first motor (17), a first gear and a first rack; The first rack is connected to the gantry device (4), the first gear is connected to the first motor (17) and meshes with the first rack, the first motor (17) is connected to the first manipulator body (13), and the first motor (17) is used to drive the first gear to rotate and thereby drive the first manipulator body (13) to move in the left and right directions on the gantry device (4); The second manipulator body (15) is slidably connected to the gantry device (4) in the left-right direction; The gantry device (4) is also provided with a second driving mechanism connected to the second manipulator body (15) and used for driving the second manipulator body (15) to move left and right; The second driving mechanism comprises a second motor (18), a second gear and a second rack; The second rack is connected to the gantry device (4), the second gear is connected to the second motor (18) and meshes with the second rack, the second motor (18) is connected to the second manipulator body (15), and the second motor (18) is used to drive the second gear to rotate and thereby drive the second manipulator body (15) to move in the left and right directions on the gantry device (4).

5. The robot team spot welding workstation according to claim 3, characterized in that: The end tool (14) comprises a base plate (19), an electromagnetic chuck (20) and at least one elastic component, wherein the elastic component comprises a guide column (21), a guide sleeve (22) and a spring (23); The substrate (19) is connected to the first robot body (13); The guide sleeve (22) is connected to the base plate (19); The guide post (21) is slidably connected in the guide sleeve (22); The electromagnetic suction cup (20) is connected to the lower end of the guide column (21), and the upper end of the guide column (21) is provided with a limiting step portion protruding radially outward, and the limiting step portion is used to abut against the top surface of the guide sleeve (22); The spring (23) is sleeved on the outer side of the guide column (21), the upper end of the spring (23) abuts against the guide sleeve (22), and the lower end of the spring (23) abuts against the electromagnetic chuck (20); The first industrial camera (6) and the second industrial camera (7) are both connected to a substrate (19) in the end tool (14).

6. The robot team spot welding workstation according to claim 1, characterized in that: It also includes a ground rail, and the gantry device (4) includes a gantry body and a third driving mechanism; The gantry body is slidably connected to the ground rail along the front-rear direction, and the welding position is located below the gantry body; The third driving mechanism is connected to the ground rail and the gantry body respectively and is used to drive the gantry body to move along the front-rear direction on the ground rail; Wherein, the ground rail comprises a left rail body (24) and a right rail body (25), and the gantry body comprises a left vertical frame (26), a right vertical frame (27) and a mounting platform (28); One end of the mounting platform (28) is connected to the left stand (26), and the other end of the mounting platform (28) is connected to the right stand (27); The left stand (26) is slidably connected to the left rail body (24) along the front-back direction, and the right stand (27) is slidably connected to the right rail body (25) along the front-back direction; The third driving mechanism comprises a left motor (29), a left gear, a left rack (30), a right motor, a right gear and a right rack; The left rack (30) is connected to the left rail body (24), the left gear is connected to the left motor (29) and meshes with the left rack (30), the left motor (29) is connected to the left stand (26), and the left motor (29) is used to drive the left gear to rotate and then drive the left stand (26) to move along the front-rear direction on the left rail body (24); The right rack is connected to the right rail body (25), the right gear is connected to the right motor and meshes with the right rack, the right motor is connected to the right stand (27), and the right motor is used to drive the right gear to rotate and then drive the right stand (27) to move along the front-rear direction on the right rail body (25).

7. The robot team spot welding workstation according to claim 6, characterized in that: It also includes a fixed mounting rod (31), the first industrial camera (6) is connected to the mounting rod (31) and is located above the loading tray (3), and the second industrial camera (7) is connected to the gantry body.

8. A working method of a robot team spot welding workstation as claimed in any one of claims 1 to 7, characterized in that: The steps of the method include: S1: the gantry device (4) moves to the material picking position, and uses the first industrial camera (6) to photograph the rib plate (1) on the loading tray (3) to obtain a first image. The transport robot (8) picks up the rib plate (1) on the loading tray (3) according to the first image. Then, the transport robot (8) transports the picked up rib plate (1) to the positioning mechanism (5) and then picks up the rib plate (1) on the positioning mechanism (5) again. The gantry device (4) moves to the rib plate (1) installation position, and uses the second industrial camera (7) to photograph the base plate (2) in the welding position to obtain a second image. The transport robot (8) transports the picked up rib plate (1) to assemble it on the base plate (2) according to the second image. S2: The welding robot (9) welds the weld between the rib plate (1) and the base plate (2) to weld the rib plate (1) to the base plate (2).

9. The working method according to claim 8, characterized in that: The steps of the method include: S0: cutting the base plate (2) and marking a rib plate installation identification line on the base plate (2), and then transporting the base plate (2) to the welding position; Among them, in step S1, the second industrial camera (7) obtains a second image with the rib plate installation identification line after photographing the base plate (2) in the welding position, and the transport robot (8) transports the picked up rib plate (1) to the rib plate installation identification line installed on the base plate (2) according to the second image.

10. The working method according to claim 9, characterized in that: The handling robot (8) comprises a first manipulator body (13), a first controller and an end picker (14); The end picker (14) is connected to the first manipulator body (13) and is used to pick up the rib plate (1); The first manipulator body (13) is connected to the gantry device (4) and is used to drive the end picker (14) to move; The first industrial camera (6) is connected to the first controller and is used to send the captured first image to the first controller, and the second industrial camera (7) is connected to the first controller and is used to send the captured second image to the first controller; The first controller is connected to the first manipulator body (13) and the end picker (14) respectively, and the first controller is used to control the movement of the first manipulator body (13) to drive the end picker (14) to move, and the first controller is also used to control the end picker (14) to pick up or release the rib plate (1); The welding robot (9) comprises a second manipulator body (15), a second controller, a welding assembly (16) and a weld tracker; The second manipulator body (15) is connected to the gantry device (4); The welding assembly (16) is connected to the second manipulator body (15) and is used to weld the weld between the rib plate (1) and the bottom plate (2); The weld tracker is connected to the second manipulator body (15), the weld tracker is connected to the second controller and is used to track the weld between the base plate (2) and the rib plate (1) and send the acquired weld data to the second controller; The second controller is connected to the second manipulator body (15) and is used to control the movement of the second manipulator body (15) according to the welding seam data so as to drive the welding assembly (16) to move; The specific operation of step S1 is as follows: the gantry device (4) moves to the material picking position, and the first industrial camera (6) photographs the rib plate (1) on the loading tray (3) to obtain a first image and sends it to the first controller; the first controller identifies the shape, type and position of the rib plate (1) in the first image and controls the first manipulator body (13) to drive the end picker (14) to move to the loading tray (3) and controls the end picker (14) to pick up the rib plate (1) on the loading tray (3); then, under the control of the first controller, the first manipulator body (13) drives the end picker (14) to move to the positioning mechanism (5), and the end picker (14) ) releases the picked-up rib plate (1) so that the rib plate (1) falls on the positioning mechanism (5), and then the end picker (14) picks up the rib plate (1) on the positioning mechanism (5) again, and the gantry device (4) moves to the installation position of the rib plate (1), and uses the second industrial camera (7) to photograph the base plate (2) in the welding position to obtain a second image with a rib plate installation identification line and sends it to the first controller, the first controller identifies the position of the rib plate installation identification line in the second image and controls the first manipulator body (13) to drive the end picker (14) to move so as to transport the rib plate (1) picked up by the end picker (14) to the rib plate installation identification line installed on the base plate (2); The specific operation of step S2 is as follows: the weld tracker tracks the weld between the base plate (2) and the rib plate (1) and sends the obtained weld data to the second controller, and the second controller controls the movement of the second manipulator body (15) according to the weld data to drive the welding assembly (16) to move and weld the weld between the rib plate (1) and the base plate (2) through the welding assembly (16).

Images