Cutting and welding integrated mechanical arm and control method

Abstract

The invention provides a cutting and welding integrated mechanical arm and a control method. The cutting and welding integrated mechanical arm comprises a multi-degree-of-freedom mechanical arm and a composite arm connected to the multi-degree-of-freedom mechanical arm. The multi-degree-of-freedom mechanical arm comprises a base and a plurality of rotating arms which are connected to the base and can rotate relatively. The composite arm comprises an arm body, a cutting assembly and a welding assembly, wherein the cutting assembly and the welding assembly are connected with the arm body in a sliding mode. The cutting assembly and the welding assembly are arranged on the two sides of the arm body respectively. The multi-degree-of-freedom robot further comprises a control system, the control system automatically recognizes machining lines drawn by an operator and generates a machining track and a machining control instruction to control the multi-degree-of-freedom mechanical arm and the composite arm to conduct cutting or welding operation, and meanwhile the cutting and welding operation requirements are met.

Description

Technical Field

[0001] The invention relates to the field of mechanical automation, and in particular to a cutting and welding integrated mechanical arm and a control method. Background Art

[0002] With the continuous development of automation technology, the processing of batch parts has gradually realized automation or control. However, for many small processing companies, the processing of some scattered parts still cannot be realized through automation.

[0003] Especially in the production process of some simple tooling or auxiliary processing parts, it is necessary to cut the metal raw materials first and then weld the cut parts. Although the processing process may be relatively simple, it still requires the operator to have certain professional skills. Especially for small processing companies, due to the small amount of such operations, there are no relevant talent reserves. When there is a demand for such operations, they are troubled by the high cost of temporary labor or the inability to find suitable operators temporarily.

[0004] Based on the above problems, the present application provides an integrated cutting and welding robot arm and a control method to solve the temporary cutting and welding operation needs of some enterprises. Summary of the invention

[0005] The purpose of the present invention is to provide a cutting and welding integrated robot arm and a control method to address the defects in the above-mentioned technology, so as to realize the automated processing of cutting and welding in non-batch operations.

[0006] The object of the present invention is achieved in that:

[0007] On the one hand, a cutting and welding integrated robot arm is provided, the cutting and welding integrated robot arm comprising: a multi-degree-of-freedom robot arm, and a composite arm connected to the multi-degree-of-freedom robot arm; wherein,

[0008] The multi-degree-of-freedom mechanical arm comprises a base, and a plurality of relatively rotatable rotating arms connected to the base;

[0009] The composite arm comprises an arm body, and a cutting assembly and a welding assembly slidably connected to the arm body; wherein the cutting assembly and the welding assembly are respectively disposed on both sides of the arm body;

[0010] It also includes a control system, which is used to control the multi-degree-of-freedom robotic arm and the compound arm.

[0011] In the above scheme, the composite arm slides to connect the cutting assembly and the welding assembly, and selects the cutting assembly or the welding assembly for operation through the control system, thereby meeting the requirements of both cutting and welding operations, and is suitable for the processing of non-batch processed parts, solving the problem of difficulty in hiring workers and high labor costs in some enterprises.

[0012] In the above structure, the composite arm includes a first cavity and a second cavity arranged in parallel; the first cavity is slidably connected to the cutting assembly, and the second cavity is slidably connected to the welding assembly; and it also includes a driving mechanism, which is used to drive the cutting group to slide relative to the first cavity and the welding assembly to slide relative to the second cavity.

[0013] In the above structure, the cutting assembly includes a first sliding arm; a cutting blade is provided at one end of the first sliding arm away from the multi-degree-of-freedom mechanical arm, and a first motor is placed inside the first sliding arm for driving the cutting blade to rotate;

[0014] The first sliding arm is slidably connected to the first cavity.

[0015] In the above structure, the welding assembly includes a second slide arm; a welding gun is provided at one end of the second slide arm away from the multi-degree-of-freedom robot arm;

[0016] A first rotating shaft and a second rotating shaft are also provided between the welding gun and the second sliding arm, and the first rotating shaft is perpendicular to the second rotating shaft;

[0017] The first rotating shaft is rotatably connected to the second sliding arm, and is provided with a second motor for driving the first rotating shaft to rotate relative to the second sliding arm;

[0018] The second rotating shaft is rotatably connected to the first rotating shaft, and is provided with a third motor for driving the second rotating shaft to rotate relative to the first rotating shaft.

[0019] In the above structure, the end of the second slide arm connected to the first rotating shaft is also provided with a receiving groove, and the receiving groove is used to receive the second rotating shaft. When the second rotating shaft is located in the receiving groove, the welding gun and the second slide arm are folded relative to each other.

[0020] On the other hand, the present application provides a control method applicable to the integrated cutting and welding robot arm as described in any one of claims 1 to 5;

[0021] The control system includes a control module, a visual recognition module, a sensing module and a switching module;

[0022] The control method comprises:

[0023] The visual recognition module recognizes the processing lines drawn by the operator on the surface of the workpiece, processes the recognized processing lines, and generates a processing path;

[0024] The operator confirms the processing path, and after confirming that the processing path is correct, selects the processing mode as cutting or welding through the switching module;

[0025] The control module generates a processing instruction according to the selected processing mode and processing path, and controls the operation of the cutting and welding integrated robot arm through the processing instruction;

[0026] During the operation of the integrated cutting and welding robot arm, the position information of the cutting component or the welding component relative to the workpiece is obtained in real time through the sensing module.

[0027] In the above technical solution, the operator can directly draw processing lines on the surface of the workpiece, and generate a processing path after the processing lines on the surface of the workpiece are recognized by the visual recognition module. The processing instructions for controlling the operation of the integrated cutting and welding robot arm are generated through the generated processing path, and the robot arm is controlled to automatically operate for cutting or welding. This method effectively reduces the difficulty of operation and is suitable for cutting and welding operations of simple parts.

[0028] In the above method, the visual recognition module includes an image acquisition device and an image processing module; the image acquisition device includes one or more cameras;

[0029] The image processing module performs background noise removal and smoothing processing on the processed lines collected by the image collection device to improve the recognizability of the path.

[0030] In the above method, when the processing lines on the surface of the workpiece are composed of multiple lines, when generating the processing path, processing numbers are generated for the multiple lines, and the operator arranges the processing numbers to generate a processing order for the multiple lines.

[0031] In the above method, the sensing module includes a laser positioning system; the laser positioning system includes a transmitter and a receiver;

[0032] The transmitter emits a laser beam to the surface of the workpiece, and the receiver receives the laser signal reflected by the surface of the workpiece, and calculates the angle and distance between the laser beam and the surface of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The three-dimensional structure of the integrated cutting and welding robot arm of the present invention is shown in FIG. Figure 1 ;

[0034] Figure 2 The three-dimensional structure of the integrated cutting and welding robot arm of the present invention is shown in FIG. Figure 2 ;

[0035] Figure 3 The three-dimensional structure of the composite arm of the present invention is shown in FIG. Figure 1 ;

[0036] Figure 4 The three-dimensional structure of the composite arm of the present invention is shown in FIG. Figure 2 ;

[0037] Figure 5 The three-dimensional structure of the composite arm of the present invention is shown in FIG. Figure 3 ;

[0038] Figure 6 It is a schematic diagram of the control system of the present invention. DETAILED DESCRIPTION

[0039] The present application provides an integrated cutting and welding robot arm and a control method. In the integrated cutting and welding robot arm, the cutting and welding operation trajectory requirements of the composite arm are realized through the multiple rotating arms of the multi-degree-of-freedom robot arm. The workpiece can be selectively cut through the cutting assembly, and the workpiece can be welded through the welding assembly, while meeting the work requirements of cutting and welding operations. The control system automatically identifies the processing lines drawn by the operator on the workpiece and generates a processing trajectory. The operator then selects the operation mode as cutting operation or welding operation, and finally controls the robot arm through the control module to complete the relevant operations, thereby realizing the automatic control of the integrated cutting and welding robot arm. It solves the problem in the prior art that some enterprises have difficulty in processing non-batch cutting and welding workpieces due to insufficient personnel and technical reserves, and meets the needs of cutting and welding operations.

[0040] In order to facilitate the understanding of the technical solution of this application, its application scenario is explained below: The integrated cutting and welding robot arm in this application is mainly used for non-batch cutting and welding operations of some enterprises where relevant personnel and technical reserves are insufficient, so as to reduce the processing costs of the enterprise.

[0041] The following is a further description of this implementation case in conjunction with the accompanying drawings:

[0042] Depend on Figure 1 — Figure 6 It can be seen that, on the one hand, the present application provides a cutting and welding integrated robotic arm, which includes: a multi-degree-of-freedom robotic arm 1, and a composite arm 2 connected to the multi-degree-of-freedom robotic arm 1. The multi-degree-of-freedom robotic arm 1 includes a base 11, and a plurality of relatively rotatable rotating arms 12 connected to the base 11. It should be noted that the specific number and shape of the rotating arms 12 in the multi-degree-of-freedom robotic arm 1 in the present application are not limited, as long as they can meet the running trajectory of driving the composite arm 2 to complete the cutting operation and welding operation.

[0043] The multi-degree-of-freedom mechanical arm 1 in this embodiment can be in two specific forms, one is a fixed type and the other is a mobile type. Figure 1 , Figure 2 , Figure 1 , Figure 2The structural form and shape of the multi-degree-of-freedom manipulator 1 shown are mainly suitable for mobile structures. Specifically, the main difference between the mobile and fixed types is that: while ensuring the strength, the mobile type reduces the radial dimensions of the multiple rotating arms 12 as much as possible to reduce its weight, making it convenient to move and use in different positions, and its base 11 can be fixed by a detachable fixing form such as a strong magnet or bolts, which is mainly suitable for low-intensity working conditions such as cutting and welding of thin-walled parts, and has stronger mobility; on the basis of the mobile type, the fixed type appropriately increases the radial dimensions of the multiple rotating arms 12 to make it have better rigidity, which can be used for high-intensity operations of parts with thicker walls, and at the same time, its base 11 can also be fixedly connected to the installation foundation prefabricated in advance on the site to further improve the overall rigidity.

[0044] It should be understood that the mobile and fixed types described in this embodiment may mainly depend on the operation scenario. For example, if the factory has sufficient processing space and the demand for such cutting and welding operations is large, it is recommended to use the fixed type. For some small processing plants, the production space itself is limited, and the demand for such processing operations is not large. At this time, the mobile type is suitable, which can save space and reduce costs. Mobile transportation can be completed with the help of tools such as cranes, forklifts, and flatbed carts.

[0045] In the present application, the composite arm 2 includes an arm body 21, and a cutting assembly 22 and a welding assembly 23 slidably connected to the arm body 21, wherein the cutting assembly 22 and the welding assembly 23 are respectively placed on both sides of the arm body 21. In order to realize the combination of the two working assemblies of the cutting assembly 22 and the welding assembly 23 to the same arm body and ensure that they do not interfere with each other during the operation. In this embodiment, the cutting assembly 22 and the welding assembly 23 are slidably connected to the arm body 21 respectively. When the cutting assembly 22 is required to operate, the cutting assembly 22 slides a certain distance relative to the arm body in the direction close to the workpiece, and the welding assembly 23 slides a certain distance in the opposite direction of the sliding direction of the cutting assembly 22, so that the cutting assembly 22 and the welding assembly 23 are staggered to leave enough working space to prevent mutual interference.

[0046] In order to improve the automation of cutting and welding operations, the present application also provides a control system, through which the multi-degree-of-freedom robot arm and the compound arm are controlled to work. The control system can be composed of programmable electronic devices such as embedded systems, single-chip microcomputers, PLCs, and additional components such as sensors, as long as automatic cutting and welding operations can be achieved.

[0047] From the above description, it can be seen that the composite arm of the present application slides to connect the cutting component and the welding component, and selects the cutting component or the welding component to operate through the control system, thereby meeting the requirements of both cutting and welding operations, and is suitable for the processing of non-batch processed parts, thereby solving the problem of difficulty in hiring workers and high labor costs in some enterprises.

[0048] In some optional embodiments, the composite arm 2 includes a first cavity and a second cavity arranged in parallel. The first cavity and the second cavity are arranged in parallel on the arm body 21, the cutting assembly 22 is slidably connected to the first cavity, and the second cavity is slidably connected to the welding assembly 23. The sliding connection between the cutting assembly 22, the welding assembly 23 and the first cavity can directly limit the sliding of the cutting assembly 22 and the welding assembly 23 through the cavity wall of the cavity, or can be realized by setting a sliding member, such as by setting a slide rail slider and other structures. As an example, in this embodiment, a slide groove 201 is set on both sides of the cutting assembly 22 and the welding assembly 23, and a slider or a slide rail is fixedly set in the first cavity and the second cavity corresponding to the slide groove 201, and the sliding connection of the cutting assembly 22 and the welding assembly 23 with the first cavity and the second cavity is realized by sliding the slide groove 201 on the slider or the slide rail, and the connection stability is improved, the accuracy of the operation of the cutting assembly 22 and the welding assembly 23 is improved, and the error is reduced.

[0049] In order to realize the sliding of the cutting assembly 22 and the welding assembly 23 relative to the arm body 21, the present application is provided with a driving mechanism, which is used to drive the cutting group 22 to slide relative to the first cavity and the welding assembly 23 to slide relative to the second cavity. The driving mechanism includes a driving member and a transmission assembly, and the driving member drives the transmission assembly to drive the cutting assembly 22 and the welding assembly 23 to slide relative to the arm body 21. The driving member is fixedly connected to the arm body 21, and the driving member can be a power member such as a motor, a pneumatic motor, and a cylinder; the transmission assembly can be a screw thread sleeve mechanism, which drives the screw to rotate through a motor or a pneumatic motor, and the thread sleeve is connected to the cutting assembly 22 and the welding assembly 23, and the thread sleeve is displaced along the axis direction of the screw through the screw, thereby driving the cutting assembly 22 and the welding assembly 23 to slide relative to the arm body.

[0050] As an example, in order to achieve precise control of the sliding of the cutting assembly 22 and the welding assembly 23, the driving member is a first driving motor 241 and a second driving motor 242 fixedly connected to the arm body 21 and correspondingly arranged with the first cavity and the second cavity. The first driving motor 241 and the second driving motor 242 are connected to the lead screw, and the thread sleeve is fixedly connected to the cutting assembly 22 and the welding assembly 23, and the thread sleeve is displaced by the rotation of the lead screw to achieve the sliding of the cutting assembly 22 and the welding assembly 23 relative to the arm body 21.

[0051] In order to accurately control the sliding distance of the cutting assembly 22 and the welding assembly 23 relative to the arm body 21, in this embodiment, the first drive motor 241 and the second drive motor 242 can be a stepper motor, a servo motor, etc., and the controller controls the number of rotations of the first drive motor 241 and the second drive motor 242, and the sliding distance is accurately known through the lead screw pitch. In order to ensure the accuracy of the transmission, a lead screw and a thread sleeve with high processing accuracy can be selected to form a precise transmission.

[0052] The sliding state of the cutting assembly 22 and the welding assembly 23 is shown in FIG. Figure 3 , Figure 4 First refer to Figure 3 When the selected processing mode is cutting, the cutting assembly 22 slides out of the first cavity, and the welding assembly 23 partially slides and retracts into the second cavity. At this time, the extension length of the cutting assembly 22 relative to the arm body 21 is greater than the extension length of the welding assembly 23, and the cutting assembly 22 can perform the cutting operation without being affected by the welding assembly 23. Figure 4 When welding is selected, the cutting assembly 22 partially slides and retracts into the first cavity, and the welding assembly 23 slides out from the second cavity. At this time, the extended length of the welding assembly 23 is greater than the extended length of the cutting assembly 22, and the welding assembly 23 can perform welding without the cutting assembly 22 interfering with its operation.

[0053] In some optional embodiments, the cutting assembly 22 includes a first slide arm 221; a cutting blade 222 is provided at one end of the first slide arm 221 away from the multi-degree-of-freedom robot arm 1, and a first motor is placed inside the first slide arm 221 for driving the cutting blade 222 to rotate, and the first slide arm 221 is slidably connected to the first cavity. The cutting blade 222 is detachably connected to the first slide arm 221, and can be replaced when the cutting blade 222 is damaged. In addition, several cutting blades 222 of different specifications can also be provided to meet the cutting requirements of different materials. In order to ensure the accuracy of the cutting operation, when the specifications of the cutting blade 222 are changed, the size information of the cutting blade 222 can be input into the control system.

[0054] In some optional embodiments, the welding assembly 23 includes a second slide arm 231; a welding gun 232 is provided at one end of the second slide arm 231 away from the multi-degree-of-freedom manipulator 1. The methods of setting welding wire and shielding gas for the welding gun 232 are all prior art and are not described here. A first rotating shaft 233 and a second rotating shaft 234 are also provided between the welding gun 232 and the second slide arm 231, and the first rotating shaft 233 is perpendicular to the second rotating shaft 234. The first rotating shaft 233 is rotatably connected to the second slide arm 231, and a second motor is provided for driving the first rotating shaft 233 to rotate relative to the second slide arm 231. The second rotating shaft 234 is rotatably connected to the first rotating shaft 233, and a third motor is provided for driving the second rotating shaft 234 to rotate relative to the first rotating shaft 233. The second motor and the third motor can be respectively arranged inside the first rotating shaft and the second rotating shaft, so that the appearance is more concise.

[0055] By setting the first rotating shaft 233 and the second rotating shaft 234 perpendicular to each other, the freedom of the welding gun 232 is increased, thereby improving its operation flexibility to meet a wider range of welding needs. In addition, when the cutting operation is selected, the welding gun 232 can be overlapped with the second sliding arm 231 by rotating the first rotating shaft 233 and the second rotating shaft 234, such as Figure 3 After the welding gun 232 and the second slide arm 231 are stacked, a larger operating space can be reserved for the cutting assembly 22, and the welding gun 232 can be prevented from scratching other components during the cutting operation.

[0056] In order to make the welding gun 232 and the second slide arm 231 fit better after being stacked, the end of the second slide arm 231 connected to the first rotating shaft 233 is also provided with a receiving groove 235, and the receiving groove 235 is used to receive the second rotating shaft 234. When the second rotating shaft 234 is located in the receiving groove 235, the welding gun 232 and the second slide arm 231 are folded relative to each other, and a good folding degree can be ensured.

[0057] On the other hand, the present application provides a control method applicable to the above-mentioned integrated cutting and welding robot arm. In order to meet the needs of automatic control, the control system includes a control module 304 , a visual recognition module 301 , a sensing module 302 and a switching module 303 .

[0058] The control method includes: the visual recognition module 301 identifies the processing lines drawn by the operator on the surface of the workpiece, and processes the identified processing lines to generate a processing path. It should be noted that the processing lines described in this application are processing lines drawn by the operator in advance on the surface of the workpiece to be cut or welded, and the color is obviously different from the workpiece. For example, if a square iron plate with a side length of 300mm needs to be cut on a sheet, the operator needs to use a drawing tool with a color that is obviously different from the color of the sheet to draw a square with a side length of 300mm on the sheet, then the visual recognition module 301 will identify the drawn square with a side length of 300mm, and further process the identified pattern to generate a processing path. If welding work is required, the operator needs to splice the sheets to be welded, and the splicing degree is based on the requirements of the welding work, and some auxiliary tooling can be used for positioning when necessary. Then on the surface of the spliced ​​workpiece, the processing lines for welding are drawn along the welds to be welded. The visual recognition module 301 will identify and process the drawn processing lines and generate a processing path. Among them, the processing lines drawn in the cutting operation should not be too wide or too thin. Generally, 1.5-3mm is sufficient on the basis of clear lines, which is conducive to the accurate extraction of the path and ensuring the accuracy of the cutting operation of the cutting component 22; the processing lines in the welding operation process generally need to be drawn based on the specific situation, mainly determined by referring to information such as plate thickness and weld width.

[0059] The visual recognition module 301 can use any visual recognition technology currently available on the market that can meet the requirements of the above-mentioned processing line recognition and extraction to generate processing trajectories, such as visual recognition technology based on algorithms such as support vector machines or neural networks.

[0060] The operator confirms the processing path, and when the processing path is confirmed to be correct, the operator selects the processing mode as cutting or welding through the switching module 303. The switching module 303 is mainly used for the operator to select the cutting or welding operation mode according to the needs.

[0061] When the operator selects the cutting or welding operation mode, the control module 304 generates a processing instruction according to the selected processing mode and processing path, and controls the operation of the cutting and welding integrated mechanical arm through the processing instruction. During the operation of the cutting and welding integrated mechanical arm, the sensing module 302 obtains the position information of the cutting component 22 or the welding component 23 relative to the workpiece in real time, and feeds it back to the control module 304 to control the distance between the cutting blade 222 or the welding gun 232 and the surface of the workpiece.

[0062] In addition, a simulation module can also be provided in the technical solution of the present application. When the processing instruction is generated, the operator can choose to run the simulation module. At this time, the cutting component 22 or the welding component 23 is at a certain height from the surface of the workpiece to simulate the processing trajectory. The operator can observe whether the simulation operation path is correct. If it is correct, the next processing is carried out. If it is not correct, the processing instruction is corrected.

[0063] When the operation mode is selected as welding operation, the operator can also select parameters such as welding current, voltage, welding speed, etc. through the control module 304. When the operation mode is selected as cutting operation, parameters such as cutting speed and feed amount can be selected.

[0064] In the above technical solution, the operator can directly draw processing lines on the surface of the workpiece, and generate a processing path after the processing lines on the surface of the workpiece are recognized by the visual recognition module 301. The processing instructions for controlling the operation of the integrated cutting and welding robot arm are generated through the generated processing path, and the robot arm is controlled to automatically operate for cutting or welding operations. This method effectively reduces the difficulty of operation and is suitable for cutting and welding operations of simple parts.

[0065] Specifically, the visual recognition module 301 in the present application includes an image acquisition device and an image processing module;

[0066] The image acquisition device includes one or more cameras 5. The camera 5 can be fixedly set above the base 11, the composite arm 2, etc., and the processing lines on the surface of the workpiece are extracted through the set camera 5. During operation, after the light is irradiated to the workpiece, the surface of the workpiece will reflect or absorb the light to form different light and dark areas. After these reflected light rays enter the lens of the camera, they are refracted and focused by optical elements to focus the light on the image sensor. The image sensor is composed of many photosensitive units, each of which corresponds to a pixel. When light is irradiated to the photosensitive unit, the photosensitive unit converts the light signal into an electrical signal, and the intensity of the electrical signal is proportional to the intensity of the light. This process can be regarded as photoelectric conversion, which converts the optical image into an electrical signal.

[0067] Next, these electrical signals are fed into the image processing module to convert the analog signals into digital signals. The digital signals are processed by the image processing module, including background denoising, smoothing, etc., to improve the image quality. Finally, the processed digital signals are converted into image files.

[0068] As an example, the image processing module can adopt the following processing methods: after the image acquisition is completed, the image processing module removes background noise, smoothes the image, improves the contrast, etc., to further enhance the clarity of the path lines. In this process, graying, edge detection and other algorithms are usually used to ensure the accurate extraction of the path edge; the edge detection algorithm is used to extract the contour of the path and generate complete path boundary information. After edge detection, the continuous curve of the path is fitted using algorithms such as Hough transform, and it is converted into a digital point set or vector information for subsequent processing. Since the extracted path is usually discrete point set data, the system vectorizes the path and converts it into a smooth continuous curve. At the same time, Bezier curve or spline curve algorithm is applied to smooth the path to ensure the smoothness of the arm movement.

[0069] In order to ensure the accuracy of the path, the possible recognition errors and noise points are filtered out by comparing the distance and angle between adjacent points to ensure the accuracy and consistency of the path. The path can also be fine-tuned according to the predetermined cutting or welding accuracy requirements.

[0070] The image coordinates of the processing path are then converted to the coordinate system of the robot. Based on the actual position and viewing angle of the robot, the actual size and position of the path are calculated to ensure the physical alignment of the path with the work area. The coordinate conversion algorithm is usually based on image transformation and arm position sensor data to ensure that the trajectory after path recognition matches the actual work area.

[0071] In the above method, when the processing lines on the surface of the workpiece are composed of multiple lines, when generating the processing path, processing numbers are generated for the multiple lines, and the operator arranges the processing numbers to generate a processing order for the multiple lines. Among them, when the control system generates the processing number, it automatically generates a processing priority arranged as a sequence number by default. When the operator selects, the automatically generated priority can be selected by default, or it can be rearranged. The default priority can be determined according to the length of the path, such as the larger the default length, the higher the priority; or the larger the length, the lower the priority. It is also possible to take the shortest running path of the compound arm 2 during the processing as the highest priority.

[0072] In the above method, the sensing module 302 includes a laser positioning system 6, which is mainly arranged at the ends of the cutting assembly 22 and the welding assembly 23 of the composite arm 2. The laser positioning system includes a transmitter and a receiver. The transmitter transmits a laser beam to the surface of the workpiece, and then the receiver receives the laser signal reflected by the surface of the workpiece, and calculates the angle and distance between the laser beam and the surface of the workpiece.

[0073] As an example, a laser positioning system 6 on the welding assembly 23 of the present application can be set at the end of the second rotating shaft 234, and its optical path coincides with the welding end of the welding gun 232 to accurately obtain the distance between the welding gun 232 and the workpiece. The laser positioning system 6 of the cutting assembly 22 can be set at the end of the second sliding arm along the circumferential direction of the cutting blade 222.

[0074] In addition, the present application may also be provided with a coordinate system correction module. Since the robot arm in the present application can be used as a mobile type, due to the uncertainty of the movement process or the installation foundation, the coordinate system of the present application may have certain deviations during use. At this time, the coordinate system correction module can be enabled to correct the deviation of the coordinate system.

[0075] As an example, a fixed identification point can be set on the compound arm 2. After the base 11 is fixed, the user operates the compound arm 2 to run to multiple points, and the fixed identification point on the compound arm 2 is identified by the visual recognition module 301 (at this time, the visual recognition module 301 needs to be relatively fixedly connected to the base 11) to determine the precise position and posture of the compound arm 2 relative to the base 11. According to the position of the fixed identification point and the current position of the base 11, the transformation relationship of the compound arm coordinate system relative to the base coordinate system can be calculated. Through the rotation matrix and the translation vector, the current coordinate system of the compound arm is converted into a fixed coordinate system relative to the base, and the coordinate system of the robotic arm is corrected using the calculated coordinate transformation relationship. Automatic correction of the coordinate system is achieved to improve processing accuracy.

[0076] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0077] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. Cutting and welding integrated robot arm, characterized in that: It includes a multi-degree-of-freedom mechanical arm, and a composite arm connected to the multi-degree-of-freedom mechanical arm; wherein, The multi-degree-of-freedom mechanical arm comprises a base, and a plurality of relatively rotatable rotating arms connected to the base; The composite arm comprises an arm body, and a cutting assembly and a welding assembly slidably connected to the arm body; wherein The cutting assembly and the welding assembly are respectively placed on two sides of the arm body; It also includes a control system, which is used to control the multi-degree-of-freedom robotic arm and the compound arm.

2. The cutting and welding integrated robot arm according to claim 1, characterized in that: The composite arm comprises a first cavity and a second cavity arranged in parallel; the first cavity is slidably connected to the cutting assembly, and the second cavity is slidably connected to the welding assembly; It also includes a driving mechanism, which is used to drive the cutting group to slide relative to the first cavity and the welding assembly to slide relative to the second cavity.

3. The cutting and welding integrated robot arm according to claim 2, characterized in that: The cutting assembly comprises a first sliding arm; a cutting blade is provided at one end of the first sliding arm away from the multi-degree-of-freedom mechanical arm, and a first motor is disposed inside the first sliding arm for driving the cutting blade to rotate; The first sliding arm is slidably connected to the first cavity.

4. The cutting and welding integrated robot arm according to claim 2, characterized in that: The welding assembly comprises a second slide arm; a welding gun is arranged at one end of the second slide arm away from the multi-DOF robot arm; a first rotating shaft and a second rotating shaft are arranged between the welding gun and the second slide arm, and the first rotating shaft is perpendicular to the second rotating shaft; The first rotating shaft is rotatably connected to the second sliding arm, and is provided with a second motor for driving the first rotating shaft to rotate relative to the second sliding arm; The second rotating shaft is rotatably connected to the first rotating shaft, and is provided with a third motor for driving the second rotating shaft to rotate relative to the first rotating shaft.

5. The cutting and welding integrated robot arm according to claim 4, characterized in that: An end of the second slide arm connected to the first rotating shaft is further provided with a receiving groove, and the receiving groove is used to receive the second rotating shaft. When the second rotating shaft is located in the receiving groove, the welding gun and the second slide arm are folded relative to each other.

6. A control method, characterized in that: Applicable to the cutting and welding integrated robot arm according to any one of claims 1 to 5; The control system includes a control module, a visual recognition module, a sensing module and a switching module; The control method comprises: The visual recognition module recognizes the processing lines drawn by the operator on the surface of the workpiece, processes the recognized processing lines, and generates a processing path; The operator confirms the processing path, and after confirming that the processing path is correct, selects the processing mode as cutting or welding through the switching module; The control module generates a processing instruction according to the selected processing mode and processing path, and controls the operation of the cutting and welding integrated robot arm through the processing instruction; During the operation of the integrated cutting and welding robot arm, the position information of the cutting component or the welding component relative to the workpiece is obtained in real time through the sensing module.

7. The control method according to claim 6, characterized in that: The visual recognition module includes an image acquisition device and an image processing module; The image acquisition device includes one or more cameras; The image processing module performs background noise removal and smoothing processing on the processed lines collected by the image collection device to improve the recognizability of the path.

8. The control method according to claim 6, characterized in that: When the processing lines on the surface of the workpiece are composed of multiple lines, when generating a processing path, processing numbers are generated for the multiple lines, and the operator arranges the processing numbers to generate a processing sequence for the multiple lines.

9. The control method according to claim 6, characterized in that: The sensing module includes a laser positioning system; the laser positioning system includes a transmitter and a receiver; The transmitter emits a laser beam to the surface of the workpiece, and the receiver receives the laser signal reflected by the surface of the workpiece, and calculates the angle and distance between the laser beam and the surface of the workpiece.

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