Multi-axis cooperative control automatic welding robot

Abstract

The invention is suitable for the technical field of automatic welding, and provides a multi-axis cooperative control automatic welding robot which comprises a machine base, a multi-axis welding manipulator is arranged on one side of the machine base, the multi-axis cooperative control automatic welding robot further comprises a jacking assembly, a mounting position is arranged in the middle of the machine base, the jacking assembly comprises a base located in the mounting position, and a lifting driving part is arranged on the base; the output end of the lifting driving piece is a top table located on the top of the lifting driving piece. And the collaborative welding assemblies are arranged on the two sides of the jacking assembly correspondingly, each collaborative welding assembly comprises a transverse sliding structure arranged on the machine base, a stand column is arranged on each transverse sliding structure, a clamping piece facing the side of the top table is arranged at the top of each stand column, and each stand column is further provided with a rotation driving piece used for driving the corresponding clamping piece to rotate. The automatic feeding and discharging device has the beneficial effects that the automatic feeding and discharging device can be effectively combined with an existing conveying device, efficient welding work can be completed, and feeding and discharging efficiency is higher.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic welding, and in particular relates to an automatic welding robot with multi-axis collaborative control. Background Art

[0002] The automated welding robot is an intelligent device that integrates advanced control technology, sensor technology and mechanical design, and is widely used in modern industrial manufacturing. It can efficiently and accurately complete various welding tasks, significantly improving production efficiency and product quality.

[0003] A multi-axis welding robot is a robot with multiple degrees of freedom. It can flexibly adjust the angle of the welding gun head according to the different shapes of the workpiece, and can also rotate and adjust the workpiece. In conjunction with existing production conveyor lines and gripping manipulators, automatic welding robots can achieve efficient assembly line welding operations.

[0004] In practical applications, automatic welding robots usually require two production conveyor lines to complete continuous welding operations, and also need to cooperate with manipulators to carry out loading and unloading grabbing actions, which will affect the overall production efficiency. In addition, since two production conveyor lines are required to cooperate, the installation of a welding workstation with welding robots as the main body also needs to consider site, space and other conditions. Therefore, a multi-axis collaboratively controlled automatic welding robot is proposed to solve the above problems. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a multi-axis collaboratively controlled automated welding robot, aiming to solve the problems mentioned in the above background technology.

[0006] The embodiment of the present invention is implemented as follows: a multi-axis cooperatively controlled automated welding robot includes a base, a multi-axis welding manipulator is provided on one side of the base, and further includes: A top delivery component, wherein a mounting position is arranged in the middle of the machine base, the top delivery component comprises a base located in the mounting position, a lifting drive member is arranged on the base, and an output end of the lifting drive member is a top platform located on the top of the top platform, and the top delivery component cooperates with the conveying devices arranged on both sides of the top platform; The cooperative welding assembly is disposed on both sides of the top delivery assembly. The cooperative welding assembly includes a transverse sliding structure disposed on the machine base. A column is disposed on the transverse sliding structure. The transverse sliding structure is used to drive the column to move along the length direction of the machine base. A clamping piece facing the top platform side is disposed on the top of the column. A rotating driving piece for driving the clamping piece to rotate is also disposed on the column. When the top platform is in an initial state, the top platform is located between the conveying devices and the top platform is located at the bottom of the workpiece conveyed on the conveying devices.

[0007] Preferably, the base includes a driving platform fixed in the installation position, a rotating platform is arranged on the top of the driving platform, the driving platform is used to drive the rotating platform to rotate, the lifting driving member is installed on the rotating platform, and the multi-axis welding manipulator is provided with an industrial control camera; During welding, the workpiece image of the workpiece on the conveying device captured by the industrial control camera is transmitted to the industrial control computer, which processes the workpiece image. The specific steps include: Extract the contour features of the conveyed workpiece according to the workpiece image and measure its plane dimension data; Determine the maximum dimension of the length and width of the workpiece according to the plane dimension data of the workpiece; Marking the workpiece image according to the position of the collaborative welding component to obtain the reference line and analyze the workpiece orientation; When the maximum size of the workpiece is in the same direction as the reference mark, the lifting drive is controlled by the industrial computer to move the top table in the vertical direction to drive the workpiece out of the conveying device; When the maximum size of the workpiece is different from the direction of the reference mark, the industrial computer controls the drive table and the lifting drive member to work, so that the top table drives the workpiece to separate from the conveying device and then the rotating platform rotates to adjust the direction of the workpiece.

[0008] Preferably, the plane dimension data includes length dimension and length dimension, and the step of measuring the plane dimension data specifically includes: Marking the length direction in the workpiece image according to the direction in which the conveying device transports the workpiece; The length dimension is obtained by calculating the distance in the length direction according to the contour features of the workpiece; Determining a width direction in the workpiece image according to the marked length direction, wherein the width direction is perpendicular to the length direction; The width dimension is obtained by calculating the distance in the width direction according to the contour features of the workpiece.

[0009] Preferably, a plurality of telescopic pipe fittings arranged around the lifting drive member are fixedly connected to the rotating platform, the telescopic pipe fittings are composed of a plurality of straight pipe sleeves of different sizes, and the straight pipes are sealed. A plurality of adsorption holes corresponding to the positions of the telescopic pipe fittings are opened on the top platform. When the workpiece is located on the top platform and the adsorption holes are closed, the interior of the telescopic pipe fitting is a sealed space.

[0010] Preferably, a contact pad matching the shape of the top platform is fixedly connected to the top platform, the adsorption hole extends and is opened on the contact pad, and the contact pad is made of a flexible material.

[0011] Preferably, the transverse sliding structure includes two slide rails fixedly connected to the machine base and spaced apart, the direction of the slide rails is the same as the length direction of the machine base, a movable frame capable of automatic sliding is arranged between the two slide rails, and the column is installed on the movable frame.

[0012] Preferably, the clamping member comprises a column which is rotatably connected to the top of the column and is disposed transversely, the rotary driving member is located on the other side of the column and is used to drive the column to rotate, and a mechanical claw is disposed at one end of the column.

[0013] An embodiment of the present invention provides a multi-axis collaboratively controlled automated welding robot, which has the following beneficial effects: The present invention is mainly used for welding of large plates. Because of their large size, these workpieces are usually transported by conveying devices arranged at intervals. After the workpiece is moved to the top of the top platform, the lifting drive can drive the workpiece to move upward, and then the workpiece can be fixed from both ends by using the clamping parts. The workpiece can be welded by cooperating with the rotation of the clamping parts and the multi-axis welding manipulator. After welding is completed, the workpiece falls back to the conveying device for continued transportation under the support of the top platform. Therefore, the present invention can be effectively combined with the existing conveying device, not only to complete efficient welding work, but also to be more efficient in loading and unloading. The requirements for site space for the installation of the welding robot will also be further reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A three-dimensional structural diagram of a multi-axis collaboratively controlled automated welding robot provided by an embodiment of the present invention; Figure 2 A front view of a multi-axis collaboratively controlled automated welding robot provided by an embodiment of the present invention; Figure 3 A three-dimensional structural diagram of a top delivery assembly provided in an embodiment of the present invention; Figure 4 A three-dimensional structural diagram of a cooperative welding assembly provided in an embodiment of the present invention; Figure 5 A schematic diagram of the cooperation between the welding robot, the conveying device and the workpiece provided in an embodiment of the present invention; Figure 6 A flow chart of processing a workpiece image by an industrial computer provided in an embodiment of the present invention; Figure 7 A flow chart for measuring the planar dimension data provided by an embodiment of the present invention.

[0015] In the attached drawings: 1. machine base; 2. multi-axis welding robot; 3. top delivery assembly; 301. base; 3011. drive platform; 3012. rotating platform; 302. lifting drive member; 303. top platform; 4. mounting position; 5. collaborative welding assembly; 501. lateral sliding structure; 5011. slide rail; 5012. mobile frame; 502. column; 503. clamping member; 5031. column; 5032. mechanical claw; 504. rotating drive member; 6. telescopic pipe fitting; 7. adsorption hole; 8. contact pad; 9. conveying device; 10. workpiece. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0018] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, an embodiment of the present invention provides a multi-axis cooperatively controlled automatic welding robot, including a base 1, a multi-axis welding manipulator 2 is provided on one side of the base 1, and further includes: A top delivery component 3 is provided with a mounting position 4 in the middle of the base 1. The top delivery component 3 includes a base 301 located in the mounting position 4. A lifting drive member 302 is provided on the base 301. The output end of the lifting drive member 302 is a top platform 303 located on the top of the top platform. The top delivery component 3 cooperates with the conveying device 9 disposed on both sides of the top platform 303. The lifting drive member 302 can adopt a structural form such as a hydraulic telescopic rod, an electric push rod, etc., as long as it can push the top platform 303 to move along the conveying direction, so that the workpiece 10 can be separated from the conveying device 9 or fall back onto the conveying device 9; The cooperative welding assembly 5 is disposed on both sides of the top delivery assembly 3. The cooperative welding assembly 5 includes a transverse sliding structure 501 disposed on the machine base 1. A column 502 is disposed on the transverse sliding structure 501. The transverse sliding structure 501 is used to drive the column 502 to move along the length direction of the machine base 1. A clamping member 503 facing the top platform 303 is disposed on the top of the column 502. A rotating driving member 504 for driving the clamping member 503 to rotate is also disposed on the column 502; When the top platform 303 is in an initial state, the top platform 303 is located between the conveying devices 9 and the top platform 303 is located at the bottom of the workpiece 10 conveyed on the conveying device 9 .

[0019] In one embodiment of the present invention, the present invention is mainly used for welding work of large plates. Because of the large size of these workpieces 10, they are usually transported by a conveying device 9 arranged at intervals. After the workpiece 10 moves to the top of the top platform 303, the lifting drive 302 can drive the workpiece 10 to move upward, and then the clamping member 503 can be used to fix the workpiece 10 from both ends. The workpiece 10 can be welded by the rotation of the clamping member 503 and the multi-axis welding manipulator 2. After welding is completed, the workpiece falls back to the conveying device 9 under the support of the top platform 303 for continued transportation. Therefore, the present invention can be effectively combined with the existing conveying device 9, not only to complete efficient welding work, but also to be more efficient in loading and unloading. The requirements for site space for the installation of this welding robot will also be further reduced.

[0020] It should be noted that the conveying device 9 used in the present invention is a conventional method in the prior art. For example, automobile door panels and steel structure plates are transported by two separately arranged conveying devices 9, and the workpieces 10 are placed horizontally on the two conveying devices 9, so as to minimize the space occupied by the conveying devices 9. In conventional methods, a manipulator is used to grab the workpiece 10 on one conveyor line and place it on the top platform 303. After welding is completed, the manipulator will grab the workpiece 10 and move it to another conveyor line. Figure 4 As shown, the lateral sliding structure 501 includes two slide rails 5011 fixedly connected to the machine base 1 and arranged at intervals, the direction of the slide rails 5011 is the same as the length direction of the machine base 1, and a moving frame 5012 capable of automatic sliding is arranged between the two slide rails 5011, the column 502 is installed on the moving frame 5012, and the moving frame 5012 is provided with an independent power source, such as a motor, a driving motor, etc., which can independently control the column 502 to move horizontally, and at the same time, the clamping member 503 includes a column 5031 rotatably connected to the top of the column 502 and arranged horizontally itself, the rotating driving member 504 is located on the other side of the column 502 and is used to drive the column 5031 to rotate, and a mechanical claw 5032 is arranged at one end of the column 5031, the rotating driving member 504 can be in the form of a motor, of course, it can also be in the form of a hydraulic motor, as long as it can drive the mechanical claw 5032 to rotate, the main purpose is to enable the workpiece 10 to rotate, so that the multi-axis welding robot 2 can perform all-round welding work.

[0021] like Figure 3 and Figure 5As shown, as a preferred embodiment of the present invention, the base 301 includes a driving platform 3011 fixed in the installation position 4, a rotating platform 3012 is arranged on the top of the driving platform 3011, the driving platform 3011 is used to drive the rotating platform 3012 to rotate, the lifting driving member 302 is installed on the rotating platform 3012, and the multi-axis welding manipulator 2 is provided with an industrial control camera; When welding, Figure 6 As shown, the image of the workpiece 10 on the conveying device 9 collected by the industrial control camera will be transmitted to the industrial control computer, and the industrial control computer processes the workpiece image. The specific steps include: S100, extracting contour features of the transported workpiece 10 and measuring its plane dimension data according to the workpiece image; S200, determining the maximum dimension of the length and width of the workpiece 10 according to the plane dimension data of the workpiece 10; S300, marking the workpiece image according to the position of the cooperative welding component 5 to obtain a reference mark line and analyzing the orientation of the workpiece 10; S400, when the maximum size of the workpiece 10 is in the same direction as the reference mark, the lifting drive 302 is controlled by the industrial computer to operate, so that the top table 303 moves in the vertical direction to drive the workpiece 10 away from the conveying device 9; S500, when the maximum size of the workpiece 10 is different from the direction of the reference mark, the industrial computer controls the driving platform 3011 and the lifting driving member 302 to work, so that the top platform 303 drives the workpiece 10 to separate from the conveying device 9 and then the rotating platform 3012 rotates to adjust the direction of the workpiece 10.

[0022] In one case of the present embodiment, the multi-axis welding robot is mainly responsible for some complex welding tasks, so it is impossible to perform welding on one side of the workpiece 10. However, even if there are multiple degrees of freedom, there is still a problem of limited welding angles. Therefore, it is necessary to increase the rotation adjustment of the workpiece 10 on the basis of the multi-axis. For the sake of convenience, for example, if the workpiece 10 is a rectangular plate, it can generally be clamped and welded directly after the workpiece 10 is lifted. During the welding process, the workpiece 10 will be rotated and adjusted. When the workpiece 10 rotates, the multi-axis welding manipulator 2 needs to avoid it. At this time, there are two situations. If the clamping part is the short side of the workpiece 10, it means that the rotation of the workpiece 10 requires a larger space. It is directly reflected in that the space that the multi-axis manipulator needs to avoid is greatly increased. If the clamped part is the long side of the workpiece 10, it means that the space that the multi-axis manipulator needs to avoid is smaller. In this embodiment, the length and width of the workpiece 10 are identified by image processing technology, thereby determining the posture of the workpiece 10 on the conveying device 9. The workpiece 10 can be rotated horizontally by rotating the top table 303, so that the orientation of the workpiece 10 can be changed, further ensuring that the longitudinal space occupied by the rotation adjustment of the workpiece 10 during the welding process is minimized, so that the multi-axis welding manipulator 2 after avoiding can reach the welding position more quickly, and the welding efficiency can also be improved in this way.

[0023] like Figure 7 As shown, as a preferred embodiment of the present invention, the plane dimension data includes length dimension and length dimension, and the step of measuring the plane dimension data specifically includes: S101, marking the length direction in the workpiece image according to the direction in which the conveying device 9 transports the workpiece 10; S102, calculating the distance in the length direction according to the contour features of the workpiece 10 to obtain the length dimension; S103, determining a width direction in the workpiece image according to the marked length direction, wherein the width direction is perpendicular to the length direction; S104, calculating the distance in the width direction according to the contour features of the workpiece 10 to obtain the width dimension.

[0024] In one case of the present embodiment, the length and width of the workpiece 10 are not the length and width in the conventional sense. The length and width of the workpiece 10 in the present embodiment are defined according to the movement direction of the workpiece 10. Therefore, there is no need to directly identify the specific length and width distribution of the workpiece 10. Instead, it is only necessary to measure the dimensional data in two directions to facilitate determination of the state of the workpiece 10 for welding, which can reduce the complexity of data processing.

[0025] like Figure 3As shown, as a preferred embodiment of the present invention, a plurality of telescopic pipe fittings 6 arranged around the lifting drive member 302 are fixedly connected to the rotating platform 3012, the telescopic pipe fittings 6 are composed of a plurality of straight pipe sleeves of different sizes, and the straight pipes are sealed with each other, and a plurality of adsorption holes 7 corresponding to the positions of the telescopic pipe fittings 6 are opened on the top platform 303. When the workpiece 10 is located on the top platform 303 and the adsorption holes 7 are closed, the interior of the telescopic pipe fittings 6 is a sealed space.

[0026] In one case of the present embodiment, when the workpiece 10 contacts the top platform 303, as the top platform 303 rises, if there is a flat surface on the surface of the workpiece 10, one or more adsorption holes 7 will be closed. At this time, the telescopic tube 6 in the extended state can play an adsorption role. When the top platform 303 drives the workpiece 10 to rotate and adjust the direction, this adsorption effect can provide a certain fixing function, which can prevent the workpiece 10 from slipping on the top platform 303. However, even if the number of adsorption holes 7 is increased, it is very likely that all adsorption holes 7 cannot be closed. Therefore, a contact pad 8 that matches the shape of the top platform 303 is fixedly connected to the top platform 303, and the adsorption holes 7 extend on the contact pad 8, and the contact pad 8 is made of flexible material. The contact pad 8 can be made of materials such as rubber, silicone, etc., mainly to enable the contact pad 8 to have a certain deformation function and further increase the probability of the adsorption holes 7 being closed by the surface of the workpiece 10.

[0027] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying 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 the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0029] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An automatic welding robot with multi-axis coordinated control, comprising a base (1), a multi-axis welding manipulator (2) being arranged on one side of the base (1), characterized in that: Also includes: A top delivery component (3), wherein a mounting position (4) is arranged in the middle of the base (1), the top delivery component (3) comprises a base (301) located in the mounting position (4), a lifting drive member (302) is arranged on the base (301), an output end of the lifting drive member (302) is a top platform (303) located on the top of the lifting drive member (302), and the top delivery component (3) cooperates with a conveying device (9) arranged on both sides of the top platform (303); A collaborative welding assembly (5), the collaborative welding assembly (5) is disposed on both sides of the top delivery assembly (3), the collaborative welding assembly (5) comprises a transverse sliding structure (501) disposed on the machine base (1), a column (502) is disposed on the transverse sliding structure (501), the transverse sliding structure (501) is used to drive the column (502) to move along the length direction of the machine base (1), a clamping member (503) facing the top platform (303) is disposed on the top of the column (502), and a rotating driving member (504) for driving the clamping member (503) to rotate is also disposed on the column (502); When the top platform (303) is in an initial state, the top platform (303) is located between the conveying devices (9) and the top platform (303) is located at the bottom of the workpiece (10) conveyed on the conveying device (9).

2. The multi-axis coordinated controlled automated welding robot according to claim 1, characterized in that: The base (301) includes a driving platform (3011) fixed in the installation position (4), a rotating platform (3012) is arranged on the top of the driving platform (3011), the driving platform (3011) is used to drive the rotating platform (3012) to rotate, the lifting drive member (302) is installed on the rotating platform (3012), and the multi-axis welding manipulator (2) is provided with an industrial control camera; When welding is performed, the workpiece image of the workpiece (10) on the conveying device (9) collected by the industrial control camera is transmitted to the industrial control computer, and the industrial control computer processes the workpiece image. The specific steps include: Extracting contour features of the transported workpiece (10) and measuring its plane dimension data according to the workpiece image; Determining the maximum dimension of the length and width of the workpiece (10) according to the plane dimension data of the workpiece (10); Marking the workpiece image according to the position of the cooperative welding component (5) to obtain a reference line and analyzing the orientation of the workpiece (10); When the maximum size of the workpiece (10) is in the same direction as the reference mark, the lifting drive member (302) is controlled by the industrial computer to operate, so that the top platform (303) moves in the vertical direction to drive the workpiece (10) away from the conveying device (9); When the maximum size of the workpiece (10) is different from the orientation of the reference mark, the industrial computer controls the driving platform (3011) and the lifting driving member (302) to work, so that the top platform (303) drives the workpiece (10) to separate from the conveying device (9), and then the rotating platform (3012) rotates to adjust the orientation of the workpiece (10).

3. The multi-axis coordinated controlled automated welding robot according to claim 2, characterized in that: The plane dimension data includes length dimension and length dimension, and the step of measuring the plane dimension data specifically includes: marking a length direction in the workpiece image according to the direction in which the conveying device (9) transports the workpiece (10); Calculating the distance in the length direction according to the contour features of the workpiece (10) to obtain the length dimension; Determining a width direction in the workpiece image according to the marked length direction, wherein the width direction is perpendicular to the length direction; The width dimension is obtained by calculating the distance in the width direction according to the contour features of the workpiece (10).

4. The multi-axis coordinated controlled automated welding robot according to claim 2, characterized in that: The rotating platform (3012) is fixedly connected with a plurality of telescopic pipes (6) arranged around the lifting drive member (302); the telescopic pipes (6) are composed of a plurality of straight pipes of different sizes connected together, and the straight pipes are sealed with each other; the top platform (303) is provided with a plurality of adsorption holes (7) corresponding to the positions of the telescopic pipes (6); when the workpiece (10) is located on the top platform (303) and the adsorption holes (7) are closed, the interior of the telescopic pipes (6) is a sealed space.

5. The multi-axis coordinated controlled automated welding robot according to claim 4, characterized in that: A contact pad (8) having a shape matching that of the top platform (303) is fixedly connected to the top platform (303), the adsorption hole (7) is extended and opened on the contact pad (8), and the contact pad (8) is made of a flexible material.

6. The multi-axis coordinated controlled automated welding robot according to claim 1, characterized in that: The transverse sliding structure (501) comprises two slide rails (5011) fixedly connected to the machine base (1) and arranged at intervals, the orientation of the slide rails (5011) being the same as the length direction of the machine base (1), a movable frame (5012) capable of automatic sliding being arranged between the two slide rails (5011), and the column (502) being mounted on the movable frame (5012).

7. The multi-axis coordinated controlled automated welding robot according to claim 1, characterized in that: The clamping member (503) includes a column (5031) which is rotatably connected to the top of the column (502) and is arranged transversely. The rotating driving member (504) is located on the other side of the column (502) and is used to drive the column (5031) to rotate. A mechanical claw (5032) is arranged at one end of the column (5031).

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