CN112775936B - Butt welding device and method based on flexible tool and visual positioning - Google Patents

Abstract

The invention discloses a butt welding device and a butt welding method based on flexible tools and visual positioning, wherein the butt welding device comprises a positioning butt welding tool and a visual unit which are connected on a multi-degree-of-freedom mechanical arm, and the multi-degree-of-freedom mechanical arm is connected with a pickup butt welding tool and the positioning butt welding tool through quick-change tools; the electric controller controls the position group to control the existence of magnetism of the tooling and the pick-up welding tooling; the mechanical arm controller controls the multi-degree-of-freedom mechanical arm to move and be respectively connected with the pickup assembly welding tool or the positioning assembly tool, so that the welding structural member is picked up and assembled. The invention has the characteristics of automatic assembly and accurate assembly, and saves a great deal of manpower and time; the flexible production of the welding link is realized, and the welding quality and consistency of the welding structural part are improved.

Description

A butt welding device and method based on flexible tooling and visual positioning

Technical field

The invention relates to the field of automatic robot processing, and in particular to a butt welding device and method based on flexible tooling and visual positioning, which is used to automatically realize the positioning assembly of welded structural parts before spot welding and improve the assembly and positioning accuracy.

Background technique

With the rapid development of domestic modern industry, welding production tends to be specialized and large-scale. Many welded structural members with complex structures are widely used in various fields, such as energy, construction, heavy and general machinery, etc. They are all welded from many parts and components. In order to determine the positional relationship between the components of the welded structural parts, the fixture used to spot weld the welded structural parts is called positioning assembly tooling. The positioning group tooling can well ensure the positional relationship of each component of the weldment and its assembly relationship with other parts. At the same time, it can avoid the marking process of many welded structural parts, so it can greatly improve labor productivity. However, there is no simple and versatile positioning assembly tooling for existing welded components. Most assembly and positioning tooling are targeted at specific industries. In addition, the current installation of positioning assembly tooling relies on workers' manual operations, which results in high labor intensity.

Therefore, designing a positioning assembly tooling with a simple structure, strong versatility, no need for manual assembly and installation, and high positioning accuracy has become an urgent problem to be solved in the field of automated processing.

Contents of the invention

In order to solve the above-mentioned defects in the prior art, the purpose of the present invention is to provide a positioning group pair tailor welding device and method that can be picked up by a robot. The program controls the tooling to generate magnetic attraction, realizes flexible production of the welding link, and improves the welding structure. Welding quality and consistency of parts.

The present invention is achieved through the following technical solutions.

The invention provides a butt welding device based on flexible tooling and visual positioning, which includes a multi-degree-of-freedom robotic arm, a picking and tailoring tooling, a vision unit, a positioning assembly and matching tooling, a robotic arm controller and an electric controller;

The multi-degree-of-freedom manipulator is connected to a positioning group pairing tooling and a vision unit. The multi-degree-of-freedom manipulator is connected to the picking-up and welding tooling and the positioning group pairing tooling through a quick-change tool; the positioning group pairing tooling and pick-up and welding tooling are controlled by an electronic controller. Whether the welding equipment is magnetic;

The robot arm controller controls the movement of the multi-degree-of-freedom robot arm to connect and pick up the tailor-welding tooling or positioning group pairing tooling to pick up and assemble the welded structural parts.

As a further preference, it also includes a loading and unloading area for placing welded structural parts, finished welded structural parts, a welding platform for assembling welded structural parts, and a quick-change system bracket for installing quick-change tools.

As a further preference, the quick-change tool includes a quick-change tool B provided on the multi-degree-of-freedom robotic arm and a quick-change tool A provided on the positioning group pairing tool and the pick-up tailor-welding tool.

As a further preference, the vision unit is located on the top of the multi-degree-of-freedom robotic arm and is in the same direction as the pick-up and tailor-welding tooling and the positioning group alignment tool that are located at the end of the multi-degree-of-freedom robotic arm.

As a further preference, the positioning assembly tooling includes a power-on permanent magnet suction cup, a power-down permanent magnet suction cup and a bracket. The quick-change tool A is connected to the tail of the bracket, and the power-on permanent magnet suction cup and the power-down permanent magnet suction cup are respectively located in front of the bracket. top and bottom.

As a further preference, the powered-on permanent magnetic chuck and the powered-off permanent magnetic chuck can be controlled by an electronic controller program to be magnetic when working normally and non-magnetic when not working.

As a further preference, the positioning group is arranged vertically or tilted upward to the powered permanent magnetic chuck of the tooling.

As a further preference, the pick-up and tailor-welding tooling includes a quick-change tool A and an electro-permanent magnetic suction cup connected through a connecting pipe, and the electro-permanent magnetic suction cup is arranged vertically.

As a further preference, the multi-degree-of-freedom robotic arm is a six-degree-of-freedom industrial robot.

Correspondingly, the present invention also provides a butt welding method based on flexible tooling and visual positioning of the device, including:

1) Import the 3D model of the finished welded structural part into the robot arm controller;

2) Connect the positioning group tooling to the multi-degree-of-freedom robotic arm, and then place the positioning group tooling on the welding platform; control the positioning group tooling through the electronic controller to magnetically attract the power-off permanent magnetic chuck of the positioning group tooling to the welding platform. ;

3) Connect the pick-up and tailor-welding tooling to the multi-degree-of-freedom robotic arm, identify and position the welding structural parts through the vision unit, and control the electric permanent magnet suction cup of the pick-up and tailor-welding tool to magnetically pick up the welding structural parts;

4) The multi-degree-of-freedom manipulator identifies and positions the positioning group and the tooling through the vision unit, and moves the picked-up welding structural parts to the positioning group on the welding platform near the tooling; the positioning group is controlled by the electronic controller to magnetically attract the welding structure of the tooling. parts; the positioning and assembly of the first welded structural part is completed;

5) The multi-degree-of-freedom manipulator moves to the quick-change system bracket, puts down the pick-up tailor-welding tooling, picks up the positioning group pairing tooling, and repeats step 2) to accurately place the positioning group pairing tooling;

6) The multi-degree-of-freedom robotic arm moves to the quick-change system bracket, connects and picks up the tailor-welding tooling, and repeats steps 3)-4) to accurately pick up and assemble welded structural parts;

7) Repeat steps 2)-4) until the entire welded structural part is assembled.

Due to the adoption of the above technical solutions, the present invention has the following beneficial effects:

1) The present invention can quickly complete the fixation of tooling and welding structural parts by controlling the presence or absence of magnetism through a program, saving a lot of manpower and time compared with traditional positioning groups for tailor-welded tooling.

2) By cooperating with robots and combined with visual recognition, the present invention can complete the picking and assembly of welded structural parts, with high positioning accuracy;

3) The present invention uses robots to complete the placement of tooling and the assembly of welded structural parts, effectively improving the efficiency of assembly operations, realizing flexible production of welding links, and improving the welding quality and consistency of welded structural parts.

Description of the drawings

The accompanying drawings described here are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute an improper limitation of the present invention. In the accompanying drawings:

Figure 1 is a schematic diagram of a butt welding device based on flexible tooling and visual positioning according to the present invention;

Figure 2 is a schematic diagram of the coupling connection between the positioning group tool I and the multi-degree-of-freedom robotic arm according to the present invention;

Figure 3 is a schematic structural diagram of the positioning group tooling I of the present invention;

Figure 4 is a schematic diagram of the multi-degree-of-freedom robot arm of the present invention placing the positioning group tool I on the welding platform;

Figure 5 is a schematic structural diagram of the positioning assembly tool II of the present invention;

Figure 6 is a schematic diagram of the matching connection between the pick-up and tailor-welding tooling and the multi-degree-of-freedom robotic arm according to the present invention;

Figure 7 is a schematic structural diagram of the pick-up and tailor-welding tooling of the present invention;

Figure 8 is a schematic diagram of the multi-degree-of-freedom robotic arm of the present invention picking up and welding structural parts through picking up and welding tooling.

In the picture: 1. Multi-degree-of-freedom robotic arm; 2. Picking and tailoring tooling; 3. Vision unit; 4. Positioning group alignment tool II; 5. Welding platform; 6. Positioning group alignment tool I; 7. Robotic arm controller ; 8. Electric controller; 9. Loading and unloading area; 10. Finished welded structural parts; 11. Welded structural parts; 12. Quick change system bracket; 13. Quick change tool A; 14. Quick change tool B; 15. Upper Electro-permanent magnet chuck; 16. Bracket; 17. Power-down permanent magnet chuck; 18. Electro-permanent magnet chuck; 19. Connecting tube.

Detailed ways

The present invention will be described in detail below with reference to the drawings and specific embodiments. The schematic embodiments and descriptions of the present invention are used to explain the present invention, but are not used to limit the present invention.

As shown in Figure 1, the embodiment of the present invention provides a butt welding device based on flexible tooling and visual positioning, including a multi-degree-of-freedom robotic arm 1, a picking and welding tool 2, a vision unit 3, a positioning group and matching tool II 4, Welding platform 5, positioning group tooling I6, robot arm controller 7, electric controller 8, loading and unloading area 9, finished welded structural parts 10, welded structural parts 11 and quick change system bracket 12.

A positioning group pair tooling and a vision unit 3 are connected to the multi-degree-of-freedom manipulator 1. The multi-degree-of-freedom manipulator 1 is connected to pick up the tailor-welding tool 2 and the positioning group pair tooling I6 and II4 through a quick-change tool; the positioning is controlled by the electric controller 8 Check whether the tooling I6 and II4 and the pick-up and tailor-welding tooling 2 are magnetic; the loading and unloading area 9 is located on the side of the welding platform 5, which is used to place the welding structural parts 11 and the finished welding structural parts 10; the welding platform 5 is used for assembly and welding Structural component; quick change system bracket 12 is used to replace quick change tools A13 and B14. The multi-degree-of-freedom robotic arm 1 adopts a six-degree-of-freedom industrial robot and is located between the loading and unloading area 9 and the welding platform 5 .

The device controls the movement of the multi-degree-of-freedom robotic arm 1 through the robotic arm controller 7 to respectively connect the pick-up and tailor-welding tooling 2 or the positioning group pairing tooling I6 and II4 to pick up and assemble the welding structural parts 11.

As shown in Figure 2, the quick-change tool A13 is connected to the quick-change tool B14 at the end of the multi-degree-of-freedom robotic arm 1, and the vision unit 3 is installed at the end of the multi-degree-of-freedom robotic arm 1. The vision unit 3 is located on the top of the multi-degree-of-freedom robotic arm 1, and is in the same direction as the picking and welding tool 2 and the positioning group alignment tool I6 and II4 located at the end of the multi-degree-of-freedom robotic arm 1.

As shown in Figure 3, it is a schematic structural diagram of the positioning assembly tool I6 of the present invention; it includes a powered-on permanent magnetic chuck 15, a powered-off permanent magnetic chuck 17 and a bracket 16. The quick-change tool A13 is connected to the end of the bracket 16. The powered-on permanent magnetic chuck 15 and the power-off permanent magnetic chuck 17 are respectively provided at the front and bottom of the bracket 16. When the power is turned on, the permanent magnetic sucker 15 is set vertically. The power-on permanent magnet sucker 15 and the power-off permanent magnet sucker 17 can control the presence or absence of their magnetic attraction through the program of the electronic controller 8. They are magnetic when working normally and are not magnetic when not working. The electro-permanent magnetic chuck instantly magnetizes or demagnetizes or demagnetizes by turning on or off power. It does not lose magnetism even if the power is suddenly cut off, which can form better power-off protection.

As shown in Figure 4, the program control of tooling I6 by the positioning group can adopt the currently mature industrial automatic control system, that is, after the multi-degree-of-freedom robotic arm 1 carries the positioning group and moves the tooling I6 into place under the guidance of the vision unit 3, it passes through I Under the control of /O signal, the electro-permanent magnetic chuck is turned on and off to achieve the magnetic state, thereby fixing the positioning group tooling I6 on the welding platform 5.

In order to meet the positioning assembly requirements when the welding structural parts are not vertically welded, the tooling can also be designed as the positioning assembly tooling II 4 shown in Figure 5. The permanent magnetic chuck 15 is tilted upward when the power is turned on. The positioning team makes a bracket 16 that meets the requirements of the tailor-welding tooling according to the welding requirements, and then installs the power-on permanent magnet chuck 15 and the power-down permanent magnet chuck 17. The program control and control of the power-on permanent magnet chuck and the power-down permanent magnet chuck are The positioning group is the same for tooling I6.

The quick-change tool A13 is connected to the quick-change tool B14 at the end of the multi-degree-of-freedom robotic arm 1. As shown in Figure 6, the vision unit 3 is installed at the end of the multi-degree-of-freedom robotic arm 1.

As shown in Figure 7, the pick-up and tailor-welding tool 2 includes a quick-change tool A13 and an electro-permanent magnetic chuck 18 connected through a connecting pipe 19. The electro-permanent magnetic chuck 18 is arranged vertically. The electro-permanent magnetic chuck 18 controls the presence or absence of its magnetic attraction through a program. It is magnetic when working normally and non-magnetic when not working.

The program control of the pick-up and tailor-welding tool 2 adopts the currently mature industrial automatic control system. That is, after the multi-degree-of-freedom robotic arm identifies and positions the welding structural part 11 through the vision unit 3, the multi-degree-of-freedom robot arm moves with the pick-up and tailor-weld tool 2. After it is in place, its I/O signal is used to control the turn-on of the electro-permanent magnetic chuck to pick up the workpiece, as shown in Figure 8.

By importing the three-dimensional model of the finished welded structural part 10 in advance, the present invention enables the multi-degree-of-freedom robotic arm 1 to cooperate with the assembly vision unit 3 by fixing different positioning assembly tools I 6 or positioning according to the structural characteristics of the finished welded structural part 10 The assembly tool II 4 and the pick-up and tailor-welding tool 2 use a program to control the magnetic attraction of the electric permanent magnet chucks on each tool on the welding platform 5 to complete the picking, precise positioning and assembly of the welding structural parts 11. The quick-change system bracket 12 can Different tooling is placed for use by the multi-degree-of-freedom robotic arm 1 to complete the positioning, assembly and assembly process of the welded structural parts 11.

The butt welding process based on flexible tooling and visual positioning using the device of the present invention is as follows:

1) Import the overall three-dimensional model of the finished welded structural part 10 into the multi-degree-of-freedom robotic arm 1 system in advance;

2) The multi-degree-of-freedom manipulator 1 is connected to the quick-change tool A13 through the quick-change system bracket 12; connect the positioning group tooling I6 to the multi-degree-of-freedom manipulator 1, and then connect the positioning group Place the tool I6 on the welding platform 5; through program control, the positioning group generates magnetic attraction to the power-down permanent magnetic chuck 17 of the tool I6 and fixes it on the welding platform 5;

3) The multi-degree-of-freedom robotic arm 1 then moves to the quick-change system bracket 12, and is connected through the quick-change tool B14 and the quick-change tool A13. The picking and welding tool 2 is connected to the multi-degree-of-freedom robotic arm 1. Through the vision unit 3. Identify and position the welding structural part 11, move the pick-up and tailor-welding tool 2 to the position of the welding structure 11, and use program control to make the electro-permanent magnetic chuck 18 of the pick-up and weld tool 2 generate magnetic attraction to pick up the welding structure 11;

4) The multi-degree-of-freedom robotic arm 1 picks up the welding structural part 11 and moves it to the vicinity of the positioning group tooling I6 on the welding platform 5. After identifying and positioning the positioning group tooling I6 through the vision unit 3, the welding structural parts are accurately placed. 11 Go to the positioning group to align the tooling I6; through program control, the positioning group generates magnetic attraction for the powered permanent magnet chuck 15 of the tooling I6 to fix the welding structural component 11; at this time, the positioning assembly of the first welding structural component is completed;

5) The multi-degree-of-freedom robotic arm 1 moves to the quick-change system bracket 12, puts down the pick-up tailor-welding tool 2, picks up the positioning group tool I6, and repeats step 2) to accurately place the positioning group tool I6;

6) The multi-degree-of-freedom robotic arm 1 moves to the quick-change system bracket 12, connects to the pick-up and tailor-welding tool 2, and repeats steps 3) and 4) to accurately pick up and assemble the welded structural parts 11;

7) Repeat steps 2) to 4) until the entire welded structural member 11 is assembled.

Among them, in the assembling step 2), according to the assembly needs of the welded structural parts 11, the multi-degree-of-freedom robotic arm 1 can call the positioning group at any time to perform operations on the tooling II 4.

The present invention is not limited to the above embodiments. On the basis of the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some of the technical features without any creative work based on the disclosed technical content. Modifications, these substitutions and modifications are within the protection scope of the present invention.

Claims (6)

1. A butt welding device based on flexible tooling and visual positioning, which is characterized by including a multi-degree-of-freedom robotic arm (1), a picking and tailoring tooling (2), a vision unit (3), a positioning group and matching tooling I, Ⅱ (6, 4), robot arm controller (7) and electric controller (8); The positioning group pair of tooling I and II (6, 4) includes a power-on permanent magnetic suction cup (15), a power-off permanent magnet suction cup (17) and a bracket (16). The quick-change tool A (13) is connected to the bracket (16). ) tail, the power-on permanent magnet sucker (15) and the power-off permanent magnet sucker (17) are respectively located at the front and bottom of the bracket (16); The powered-on permanent magnetic chuck (15) and the powered-off permanent magnetic chuck (17) are controlled by the electronic controller (8) program to be magnetic when working normally and non-magnetic when not working; The positioning group sets the powered permanent magnetic chucks (15) of tooling I and II (6, 4) vertically or tilted upward; The pick-up and tailor-welding tool (2) includes a quick-change tool A (13) and an electro-permanent magnetic chuck (18) connected through a connecting pipe (19). The electro-permanent magnetic chuck (18) is arranged vertically; The multi-degree-of-freedom robotic arm (1) is connected to a positioning group pairing tooling and a vision unit (3). The multi-degree-of-freedom robotic arm (1) is connected to the pick-up and tailor-welding tooling (2) and the positioning group pairing tooling I through a quick-change tool. , Ⅱ (6, 4); through the electric controller (8), the positioning group controls the presence or absence of magnetism of the tooling Ⅰ, Ⅱ (6, 4) and the pick-up and tailor-welding tooling (2); The multi-degree-of-freedom robot arm (1) is controlled by the robot arm controller (7) to move and pick up the tailor welding tooling (2) or the positioning group tooling I and II (6, 4) respectively, and pick up the welding structural parts (11) and assembly. 2. A butt welding device based on flexible tooling and visual positioning according to claim 1, characterized in that it also includes a loading and unloading area (9) for placing welding structural parts (11) and finished welding structural parts (10) ), a welding platform (5) for assembling welding structural parts (11) and a quick-change system bracket (12) for installing quick-change tools. 3. A butt welding device based on flexible tooling and visual positioning according to claim 1, characterized in that the quick-change tool includes a quick-change tool B ( 14) and the quick-change tool A (13) located in the positioning group pairing tooling I and II (6, 4) and the pick-up and tailor-welding tooling (2). 4. A butt welding device based on flexible tooling and visual positioning according to claim 1, characterized in that the vision unit (3) is located on the top of the multi-degree-of-freedom robotic arm (1) and is connected to the The picking and welding tooling (2) at the end of the multi-degree-of-freedom manipulator (1) is in the same direction as the positioning group pairing tools I and II (6, 4). 5. The butt welding device based on flexible tooling and visual positioning according to claim 1, characterized in that the multi-degree-of-freedom robotic arm (1) is a six-degree-of-freedom industrial robot. 6. A butt welding method based on flexible tooling and visual positioning based on the device according to any one of claims 1 to 5, characterized in that it includes: 1) Import the 3D model of the finished welded structural parts into the robotic arm control system; 2) Connect the positioning group tooling to the multi-degree-of-freedom robotic arm, and then place the positioning group tooling on the welding platform; control the positioning group tooling through the electronic controller to magnetically attract the power-off permanent magnetic chuck of the positioning group tooling to the welding platform. ; 3) Connect the pick-up and tailor-welding tooling to the multi-degree-of-freedom robotic arm, identify and position the welding structural parts through the vision unit, and control the electric permanent magnetic chuck of the pick-up and tailor-welding tool to magnetically pick up the welding structural parts through the control of the electronic controller; 4) The multi-degree-of-freedom manipulator identifies and positions the positioning group and the tooling through the vision unit, and moves the picked-up welding structural parts to the vicinity of the positioning group and the tooling on the welding platform; the positioning group is controlled by the electronic controller to magnetically attract the welding structure of the tooling. parts; the positioning and assembly of the first welded structural part is completed; 5) The multi-degree-of-freedom robotic arm moves to the quick-change system bracket, puts down the pick-up tailor-welding tooling, picks up the positioning group pairing tooling, and repeats step 2) to accurately place the positioning group pairing tooling; 6) The multi-degree-of-freedom robotic arm moves to the quick-change system bracket, connects and picks up the tailor-welding tooling, and repeats steps 3)-4) to accurately pick up and assemble welded structural parts; 7) Repeat steps 2)-4) until the entire welded structural part is assembled.