Technical Field
This invention related to automobile manufacturing technical field, especially related to a kind of welding robot and its welding method.
Background Technology
Robot is the machine device to execute work automatically. It can accept human command, but also can run pre-programmed procedures, can also be based on artificial intelligence technology to develop the principles of action. Its task is to assist or replace the work of human work, such as production, construction, or dangerous work.
Modern automobile industry is developing rapidly, the model renews day by day, the product quality is continuously improved, the production scale is bigger and bigger. Many of the past done by the artificial to complete the manufacturing process is gradually to achieve by the advanced mechanical automation equipment, which led to more and more demands of the mechanical automation of manufacturing equipment and production lines. How to make the welding robot to replace the artificial completely and also can well guarantee the welding quality, it is one of the current research directions.
Therefore, the current technology remains to be improved and developed.
Invention Content
In view of above mentioned deficiencies of the current technology, it is a purpose of the current invention to provide a welding robot and its welding method, thereof, which are intended to solve the problem of low production efficiency by manual welding in the conventional automobile welding process.
Technical Plan of this invention is as below:
A welding robot, setting up on automobile welding production line, of which including: Robot body, welding gun, fixture, robot control device and PLC control device. Robot body connect to welding gun & robot control device, PLC control device connect to fixture & robot control device.
The welding robot, robot control device and robot body are connected by motor power supply cable & encoder cable.
The welding robot, of which welding gun is servo gun.
The welding robot including:
Initialization module, it is to initialize the robot;
Zero point confirmation module, used to confirm the accuracy of the robot axis angle, zero point;
An address allocation module for setting the master network address of the robot control device, the slave network address of the robot, and defining the Cartesian coordinates according to the actual needs to determine the coordinates of the welding gun;
Robot programming module is to set the working trajectory of the welding gun and interactive program of between the I / O signal and the outside world;
A communication module for interacting with the PLC control device and commanding the PLC control device to control the welding gun for welding;
Welding control module, it is for presetting the working trajectory of welding gun to control movement of welding gun and fixture to complete welding.
The above initialization module, zero point confirmation module, address allocation module, robot programming module, communication module and welding control module are connected in turn.
A method of welding a roller-hemming robot as described above, wherein the method including the following steps:
Step1、Welding robot assembled in the welding station of automobile welding production line.
Step2、Initializing welding robot after power on;
Step3、Confirm the accuracy of the robot axis angle, zero point;
Step4、Setting up master network address of robot control device, slave network address of robot, and defining the Cartesian coordinates according to the actual needs to determine the coordinates of the welding gun;
Step5、Correct the preset trajectory and actual deviation of welding gun;
Step6、Debugging and optimizing welding trajectory, communication with PLC control device, control movement of welding gun & fixture, completing welding.
Beneficial Effects: This invention provide welding robot and its welding method, which are capable of completing the welding process automatically, and control the speed of the welding speed by the PL level control device. Meanwhile, compared with the traditional manual welding, the effective improve automation level & product quality of the welding process, reduce the operator's labor intensity, saving time, reducing costs, has strong market competitiveness.
Description with Picture
Picture 1is the struction diagram of this welding robot
Picture 2 is the flow diagram of the welding method of this welding robot
Actual implementation Way
This invention provides a welding robot and welding method, in order to present the purpose, technical proposal & effect to be clearer, below will be further detail reference to this invention. It is to be understood that the specific examples described herein are merely illustrative of the invention and are not intended to limit the invention.
Please take reference of Picture 1, this is the structure diagram of welding robot of this invention. As it shows in the picture the welding robot including: robot body 100, welding gun 200, fixture 300, robot control device 400 & PLC control device 500. Robot body100 connect to welding gun200 & robot control device400, PLC control device500 connect to fixture300 & robot control device400.
Specifically, the robot body 100 is to perform actions to drive the connected welding gun 200 to welding the parts (in this implementation, the welding gun as a servo gun) in accordance with the instruction issued by the robot control device 400. The fixture 300 is used to secure the parts, including clamping and positioning, to engage the welding gun 200 for welding operations. The PLC control device directs the fixture to complete the clamping and opening operation by collecting the interaction signal between the robot control device and the PLC control device. The PLC (Programmable Logic Controller) is a programmable logic controller. It uses a class of programmable memory for its internal storage of programs, execution of user-oriented instructions such as logical operations, sequential control, timing, counting and arithmetic operations, and control of various types of machinery via digital or analog input / output Or the production process.
Furthermore, robot control device and robot body are connected through the motor power supply cable and encoder, PLC control device and described the robot control device for the communication between each other can be connected via Devicenet. Devicenet was a low-cost, high-performance communication network developed in the mid-90s based on CAN (Controller Area Network) technology, originally developed by the US. Rockwell company. It is a low-cost communication bus. It will connect the industrial equipment to the network (such as: limit switches, photoelectric sensors, valve groups, motor starter, process sensors, barcode readers, variable frequency drives, panel display and operator interface), thereby eliminating the expensive cost of hard wiring. Direct interconnection improves the communication between devices and provides a fairly important device level diagnostic function, which is difficult to achieve through hard wiring I/O interfaces. It also reduces the cost and time of wiring and installing industrial automation equipment while providing interchangeability between multiple suppliers of similar components. DeviceNet connects and communicates with each other not only by a cable, but also by the diagnostic function of the device that it brings to the system. This functionality is difficult to implement on traditional I/O.
In addition, the welding robot further includes: initialization module, zero-point confirmation module, address assignment module, robot programming module, communication module and welding control module. The initialization module, zero point confirmation module, address assignment module, robot programming module, communication module and welding control module are connected in turn. The initialization module is used to initialize the robot (usually after the welding robot is electrically charged);The zero confirmation module is used to confirm whether the axial angle and zero point of the robot are accurate. The address distribution module is used to set the master network address of the robot control device, the slave network address of robot, and the cartesian coordinates are defined according to the actual needs, and confirm the coordinates of the welding gun. The robot programming module is used to set the trajectory of the welding gun and set the I/O signal to interact with the outside world. The communication module is used for the interaction signal with PLC control device, and the PLC control device is directed to control the welding gun to weld. The welding control module is used to control the welding gun and clamping motion according to the preset welding gun movement trajectory.
The following section provides a code to explain how these functions are implemented: it should be understood that other forms of code can be used to implement, not limited to the examples.
MOVJ C00010 BC00010 EC00010 VJ=100.00 PL=3 The axis movement, includes 7 axle slipper, the position level of the for servo welding gun is 2.
'WAIT DROP
DOUT OT#(4) ON No interference with the work station, the fixture in the station can move freely
DOUT OT#(10) ON No interference with other 1 robot, other 1 robot can move freely.
DOUT OT#(11) ON No interference with other 2 robot, other 2 robot can move freely.
DOUT OT#(33) ON The robot requests PLC for a welding
WAIT IN#(33)=ON The fixture position and other conditions, the position is correct, can carry on the welding
DOUT OT#(41) OFF Enter station area, fixture doesn′t allow any further action.
DOUT OT#(5) OFF Have interference with station area, no further action is allowed.
MOVJ C00011 BC00011 EC00011 VJ=100.00 PL=2 The axis movement, includes 7 axle slipper, servo welding gun, speed 100%, the position level 2.
MOVJ C00012 BC00012 EC00012 VJ=100.00 PL=1
MOVJ C00013 BC00013 EC00013 VJ=100.00 PL=1
MOVL C00014 BC00014 EC00014 V=400.0 PL=0 Rectilinear movement, includes 7 axle slipper, servo welding gun, speed 400mm/s, the position level 2.
'DROP
DOUT OT#(34) ON Request for 2nd welding after 1st welding finished, need the corresponding clamping action.
WAIT IN#(37)=ON Allow to proceed 2nd welding
MOVL C00015 BC00015 EC00015 V=166.7 PL=0 Rectilinear movement, includes 7 axle slipper, servo welding gun, speed 166.7mm/s, the position level 2.
MOVJ C00016 BC00016 EC00016 VJ=100.00 PL=2
MOVJ C00017 BC00017 EC00017 VJ=100.00 PL=2
MOVJ C00018 BC00018 EC00018 VJ=100.00 PL=3
DOUT OT#(33) OFF 2 nd time enter fixture area, no more action of the fixture.
'WAIT WELD
MOVJ C00019 BC00019 EC00019 VJ=100.00 PL=3
MOVJ C00020 BC00020 EC00020 VJ=100.00 PL=2
MOVJ C00021 BC00021 EC00021 VJ=100.00 PL=2
MOVJ C00022 BC00022 EC00022 VJ=100.00 PL=0
In addition, the invention also provides a welding method for the above welding robot, as shown in picture 2, which includes the following steps:
S1、Welding robot is installed in welding work station of welding production line.
S2、After welding robot power on, initialized;
S3、Verify if the axes angle and zero point of the robot are accurate;
S4、Set up the master network address of the robot control device, the robot slave network address, and define the cartesian coordinates according to the actual needs, and verify the coordinates of the welding gun;
S5、Rectify pre-set trajectory of the welding gun and actual deviation;
S6、Debugging and optimized welding trajectory, communicate with PLC control device, control the welding gun and fixture motion, and finish the welding.
In summary, this invention provide welding robot and the method of its welding, welding robot is described including: the robot itself, welding gun, fixture, robot control system and PLC control device, welding gun connected with the described robot, robot control system, connecting fixture and robot control device to the described PLC control device. The welding robot and its welding method provided by the invention can automatically complete the welding process and can control the speed of welding speed by the PL control device. At the same time, compared with the traditional welding by artificial, effectively enhance the automation level of welding process and the quality of the products, reduce the labor intensity of operators, saves time and reduces the cost, with strong market competitiveness.
We should understand that the application of the present invention is not limited to the example above, to the technical staff in this area, they can improve or change according to the above instructions, all these improvements and transformation should belong to the extent protection of this invention.