CN108311832A - A kind of processing method and processing device of spot welding robot's working terminal welder's part - Google Patents

Abstract

The invention provides a spot welding robot workstation welding workpiece processing method and device, including a spot welding robot body (1), a robot controller (2), a servo robot welding tongs (3), a spot welding controller (4), System control cabinet (5), industrial chiller (6), electrode dresser (7), robot installation base (8), connecting member (9), pneumatic sliding table (10), electric control fixture (11), all The spot welding robot body (1) described above is installed on the upper part of the robot installation base (8), the servo robot welding tongs (3) are installed on the spot welding robot body (1), and the robot installation base (8) is connected with the connecting member (9) Pneumatic sliding table (10) links to each other. The present invention completes the corresponding spot welding work by executing a series of steps. The present invention has the advantages of convenient control, orderly spot welding work, and automatic robot spot welding of automobile products can be realized.

Description

A method and device for processing workpieces welded by a spot welding robot workstation

technical field

The invention belongs to the field of industrial automation, and in particular relates to a method and a device for processing workpieces welded by a spot welding robot workstation.

Background technique

Application number 201610863810.9, application publication number CN10627126A, discloses an intelligent control method in robot spot welding. Wherein, the robot and the PLC are bidirectionally connected, the PLC is bidirectionally connected with the host computer and the welding controller, and the PLC is bidirectionally connected with the host computer and the welding controller; the output terminal of the host computer is connected with the display screen; the welding controller The input end is connected with the output end of the current sensor; the station tooling of the robot is provided with 2, and the operation button of the robot is provided on the station tooling; the artificial load rate module and the spot welding quality are provided in the described PLC monitoring module. Compared with the existing technology, the scientific calculation arranges the workload of manpower, ensures the scientificity of the work intensity of the personnel, reduces the waste of manpower, enables the manpower to meet the output requirements of the production line, and improves the efficiency and competitiveness of the enterprise. The quality problems that arise can be dealt with in time to reduce subsequent quality problems.

However, it fails to consider the actual production situation. In the actual production situation, the number of tooling stations is more than the number of spot welding robots. After spot welding a pneumatic station, the spot welding robot moves to other pneumatic stations. Welding the workpiece may not be the best way of working; if there is a welding workpiece with high priority, the welding process cannot be adjusted well, and there will be collisions between two or more spot welding robot bodies during the welding process.

Therefore, it is necessary to propose a new welding robot workstation and welding control method that meets the requirements of the existing welding methods, which can optimize the existing welding operation procedures, and propose a time-saving, labor-saving, safe and efficient welding control method.

Contents of the invention

The object of the present invention is to solve the above-mentioned defects in the prior art, and provide a processing method and device for welding workpieces at the spot welding robot workstation, which can optimize the welding process of the spot welding robot body, weld the workpieces, and optimize the movement route to avoid two A collision accident occurred when the body of a spot welding robot moved to a station at the same time.

A spot welding robot workstation device, including a spot welding robot body 1, a robot controller 2, a servo robot welding tongs 3, a spot welding controller 4, a system control cabinet 5, an industrial chiller 6, an electrode dresser 7, and a robot installation Base 8, connecting member 9, pneumatic slide table 10, electric control fixture 11;

The spot welding robot body 1 is installed on the top of the robot mounting base 8, the servo robot welding tongs 3 are installed on the spot welding robot body 1, the robot mounting base 8 is connected with the pneumatic slide table 10 through the connecting member 9, and the electric control fixture 11 is installed On the pneumatic sliding table 10, the rear side of the spot welding robot body 1 is provided with a robot controller 2, a spot welding controller 4, a system control cabinet 5, and an industrial chiller 6, and the left rear side of the spot welding robot body 1 is provided with an electrode repairing machine. The grinder 7 and the safety fence 12 surround all components to realize the safety isolation of man and machine;

The system control cabinet 5 is provided with a PLC controller for optimizing the welding procedure, the system control cabinet 5 controls the electric control fixture 11 to clamp the workpiece, and controls the electric control fixture 11 to move on the pneumatic slide table 10 along the connecting member 9, The robot controller 2 controls the welding robot body 1 to rotate on the installation base 8, the spot welding controller 4 controls the servo robot welding tongs 3 to rotate on the robot body 1 to realize the welding of the workpiece, and the industrial chiller 11 is used to provide water supply to the welding point Cooling, the electrode dresser 7 is used for grinding the electrode of the servo robot welding tongs 3 .

As a preference of this technical solution, a robot body 1 is installed on the robot installation base 8, and four connecting members 9 are respectively connected with the spot welding robot body 1, and each connecting member 9 is respectively provided with a pneumatic slide table 10. An electric control fixture 11 is installed on each pneumatic slide table 10 .

As a preferred option of this technical solution, the workstation is provided with two installation bases 8, a robot body 1 is installed on each installation base 8, two connecting members 9 are installed on one robot body 1, and a pneumatic slide table is respectively arranged on each connecting member 9 10. An electric control fixture 11 is installed on each pneumatic slide table 10 .

A method for processing workpieces welded by a spot welding robot workstation, comprising:

S1. Divide the workpiece to be spot welded into 4 steps of process according to the spot welding process, and design a special electric control fixture 11 for each process;

S2. Install the electric control fixtures 11 corresponding to the four processes on the four pneumatic sliding tables 10 respectively;

S3. The control cabinet 5 controls the electric control fixture 11 to clamp the workpiece to be spot welded, and automatically sends it into the working range of the spot welding robot body 1 through the pneumatic slide table 10;

S4. The robot controller 2 controls the spot welding robot body 1 to move to the corresponding station of the pneumatic slide table 10 according to the reservation queuing mechanism and the time-sharing operation control mode, and the spot welding controller 4 controls the servo robot welding tongs 3 to adjust the corresponding angle, Realize the welding of the workpiece to be welded by the servo robot welding tongs 3;

a. If there is a station with a high priority pneumatic slide table, manually operate the control cabinet 5 to cancel the reservation queue, and then re-set the movement sequence of the pneumatic slide table 10 in the control cabinet 5 according to the priority level;

b. If not, weld according to the normal set priority order;

S6. After the workpiece on the pneumatic sliding table 10 is welded, the system automatically sends the sliding table out of the operation area to the manual operation area, and automatically releases the electric control fixture 11 to manually remove the workpiece.

S7. Re-clamp on the pneumatic sliding table 10 of the welding station of the next process, repeat the above process until the welding of the entire workpiece to be welded is completed;

S8. Remove the welded workpiece, clamp a new workpiece to be welded, and repeat the above steps.

A further preferred technical solution is that the spot welding process is divided into four steps, the first step is to select two parts of the combined workpieces to be welded; the second step is to select the remaining one from the remaining combined workpieces The workpiece is welded and spliced with the workpiece welded in the first step. The third step is to select the remaining 1 workpiece from the remaining combined workpieces to weld and splice with the workpiece welded in the second step. The fourth step is to select from the remaining combined workpieces The remaining 1 workpiece is welded and spliced with the workpiece welded in the third step.

A further preferred technical solution is to divide the priority according to the number of workpieces to be welded, and the greater the number, the higher the priority.

A further preferred technical solution is to divide the priority according to the number of welding points to be welded on the welding workpiece, and the more the number of welding points to be welded, the higher the priority.

A further preferred technical solution is to divide the priority according to the number of workpieces to be welded and the number of welded spots. In the case of different output, the priority of the quantity of workpieces to be welded is higher than the priority of the number of welded spots. Under the same output , the higher the priority is, the more points to be welded.

The present invention provides a method for processing workpieces welded by a spot welding robot workstation, which can optimize the welding process of the spot welding robot body to weld the workpiece, and optimize the movement route to avoid the collision of two spot welding robot bodies moving to a station at the same time Accidents; Realize the separation of robot operation and manual operation area, with higher safety.

Description of drawings

Fig. 1 is the structural representation of embodiment 1 of the present invention;

Fig. 2 is the structural representation of embodiment 2 of the present invention;

Fig. 3 is a program flow chart of the present invention;

Fig. 4 is a schematic flow chart of the welding steps of the present invention.

In the figure: 1-spot welding robot body, 2-robot controller, 3-servo robot welding tongs, 4-spot welding controller, 5-system control cabinet, 6-industrial chiller, 7-electrode grinder, 8- Robot installation base, 9-connecting member, 10-pneumatic slide table, 11-electric control fixture.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the following technical solutions in the present invention are clearly and completely described. Obviously, the described embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Embodiment 1 Embodiment 1 is the spot welding robot workstation of multi-station, single spot welding robot body 1

As shown in Figure 1, a spot welding robot workstation device includes a spot welding robot body 1, a robot controller 2, a servo robot welding tongs 3, a spot welding controller 4, a system control cabinet 5, an industrial chiller 6, an electrode repair Mill 7, robot installation base 8, connecting member 9, pneumatic slide table 10, electric control fixture 11;

Described spot welding robot body 1 is installed on robot mounting base 8 tops, and described robot mounting base 8 is equipped with 1 robot body 1, and 4 connecting members 9 are connected with spot welding robot body 1 respectively, and each connects A pneumatic sliding table 10 is respectively arranged on the component 9, and an electric control fixture 11 is installed on each pneumatic sliding table 10, and the rear side of the spot welding robot body 1 is provided with a robot controller 2, a spot welding controller 4, and a system control cabinet 5 , industrial chiller 6, the electrode dresser 7 is provided on the left rear side of the spot welding robot body 1, and the safety fence 12 surrounds all components to realize the safety isolation of man and machine;

The system control cabinet 5 is provided with a PLC controller for optimizing the welding procedure, the system control cabinet 5 controls the electric control fixture 11 to clamp the workpiece, and controls the electric control fixture 11 to move on the pneumatic slide table 10 along the connecting member 9, The robot controller 2 controls the welding robot body 1 to rotate on the installation base 8, the spot welding controller 4 controls the servo robot welding tongs 3 to rotate on the robot body 1 to realize the welding of the workpiece, and the industrial chiller 11 is used to provide cooling water for welding Point water cooling, the electrode dresser 7 is used for grinding the electrodes of the welding tongs 3 of the servo robot.

Embodiment 2 The spot welding robot workstation of multi-station, multi-spot welding robot body 1 is as shown in Figure 2, a kind of spot welding robot workstation device, comprises spot welding robot body 1, robot controller 2, servo robot welding tongs 3, Spot welding controller 4, system control cabinet 5, industrial chiller 6, electrode dresser 7, robot installation base 8, connecting member 9, pneumatic slide table 10, electric control fixture 11;

The workstation is provided with two mounting bases 8, and a robot body 1 is installed on each mounting base 8, and two connecting members 9 are installed on each robot body 1, and each connecting member 9 is respectively provided with a pneumatic slide table 10, and each pneumatic slide An electric control fixture 11 is installed on the platform 10, and the rear side of the spot welding robot body 1 is provided with a robot controller 2, a spot welding controller 4, a system control cabinet 5, and an industrial chiller 6, and the left rear side of the spot welding robot body 1 is provided with There is an electrode dresser 7, and a safety fence 12 surrounds all components to realize safe isolation of man and machine;

The system control cabinet 5 is provided with a PLC controller for optimizing the welding procedure, the system control cabinet 5 controls the electric control fixture 11 to clamp the workpiece, and controls the electric control fixture 11 to move on the pneumatic slide table 10 along the connecting member 9, The robot controller 2 controls the welding robot body 1 to rotate on the installation base 8, the spot welding controller 4 controls the servo robot welding tongs 3 to rotate on the robot body 1 to realize the welding of the workpiece, and the industrial chiller 11 is used to provide cooling water for welding Point water cooling, the electrode dresser 7 is used for grinding the electrodes of the welding tongs 3 of the servo robot.

Embodiment 3 Embodiment 3 determines the priority according to the quantity of products for the present invention

As shown in Figures 3 and 4, a method for processing workpieces welded by a spot welding robot workstation, including

S1. Divide the workpiece to be spot welded into 4 steps of process according to the spot welding process, and design a special electric control fixture 11 for each process;

S2. Install the electric control fixtures 11 corresponding to the four processes on the four pneumatic sliding tables 10 respectively;

S3. The control cabinet 5 controls the electric control fixture 11 to clamp the workpiece to be spot welded, and automatically sends it into the working range of the spot welding robot body 1 through the pneumatic slide table 10;

S4. The robot controller 2 controls the spot welding robot body 1 to move to the corresponding station of the pneumatic slide table 10 according to the reservation queuing mechanism and the time-sharing operation control mode, and the spot welding controller 4 controls the servo robot welding tongs 3 to adjust the corresponding angle, Realize the welding of the workpiece to be welded by the servo robot welding tongs 3;

a. If there is a station with a high priority pneumatic slide table, manually operate the control cabinet 5 to cancel the reservation queue, and then re-set the movement sequence of the pneumatic slide table 10 in the control cabinet 5 according to the priority level;

Prioritize according to the number of workpieces to be welded, the more the number, the higher the priority;

b. If not, weld according to the normal set priority order;

S6. After the workpiece on the pneumatic sliding table 10 is welded, the system automatically sends the sliding table out of the operation area to the manual operation area, and automatically releases the electric control fixture 11 to manually remove the workpiece.

S7. Re-clamp on the pneumatic sliding table 10 of the welding station of the next process, repeat the above process until the welding of the entire workpiece to be welded is completed;

S8. Remove the welded workpiece, clamp a new workpiece to be welded, and repeat the above steps.

A further preferred technical solution is that the spot welding process is divided into 4 steps of process, the spot welding process is divided into 4 steps of process, the first step is to select two parts of the combination workpiece to be welded for welding; the second The first step is to select the remaining 1 workpiece from the remaining combined workpieces for welding splicing with the workpiece welded in the first step, and the third step is to select the remaining 1 workpiece from the remaining combined workpieces to weld with the workpiece welded in the second step Splicing, the fourth step is to select the remaining 1 workpiece from the remaining combined workpieces and weld the workpieces that have been welded in the third step.

Of course, according to the number of components of the combined workpiece, the welding process can be divided into 2 steps, 3 steps, 5 steps and above, and the welding method is consistent with the 4-step process.

Embodiment 4 Embodiment 4 is that the present invention determines the priority according to the number of product welding points

As shown in Figures 3 and 4, a method for processing workpieces welded by a spot welding robot workstation, including

S1. Divide the workpiece to be spot welded into 4 steps of process according to the spot welding process, and design a special electric control fixture 11 for each process;

S2. Install the electric control fixtures 11 corresponding to the four processes on the four pneumatic sliding tables 10 respectively;

S3. The control cabinet 5 controls the electric control fixture 11 to clamp the workpiece to be spot welded, and automatically sends it into the working range of the spot welding robot body 1 through the pneumatic slide table 10;

S4. The robot controller 2 controls the spot welding robot body 1 to move to the corresponding station of the pneumatic slide table 10 according to the reservation queuing mechanism and the time-sharing operation control mode, and the spot welding controller 4 controls the servo robot welding tongs 3 to adjust the corresponding angle, Realize the welding of the workpiece to be welded by the servo robot welding tongs 3;

a. If there is a station with a high priority pneumatic slide table, manually operate the control cabinet 5 to cancel the reservation queue, and then re-set the movement sequence of the pneumatic slide table 10 in the control cabinet 5 according to the priority level;

The priority is divided according to the number of welding points to be welded, the more the number of welding points, the higher the priority;

b. If not, weld according to the normal set priority order;

S6. After the workpiece on the pneumatic sliding table 10 is welded, the system automatically sends the sliding table out of the operation area to the manual operation area, and automatically releases the electric control fixture 11 to manually remove the workpiece.

S7. Re-clamp on the pneumatic sliding table 10 of the welding station of the next process, repeat the above process until the welding of the entire workpiece to be welded is completed;

S8. Remove the welded workpiece, clamp a new workpiece to be welded, and repeat the above steps.

A further preferred technical solution is that the spot welding process is divided into four steps, the first step is to select two parts of the combined workpieces to be welded; the second step is to select the remaining one from the remaining combined workpieces The workpiece is welded and spliced with the workpiece welded in the first step. The third step is to select the remaining 1 workpiece from the remaining combined workpieces to weld and splice with the workpiece welded in the second step. The fourth step is to select from the remaining combined workpieces The remaining 1 workpiece is welded and spliced with the workpiece welded in the third step.

Of course, according to the number of components of the combined workpiece, the welding process can be divided into 2 steps, 3 steps, 5 steps and above, and the welding method is consistent with the 4-step process.

Embodiment 5 Embodiment 5 determines the priority according to the number of products and the number of welding points for the present invention

As shown in Figures 3 and 4, a method for processing workpieces welded by a spot welding robot workstation, including

S1. Divide the workpiece to be spot welded into 4 steps of process according to the spot welding process, and design a special electric control fixture 11 for each process;

S2. Install the electric control fixtures 11 corresponding to the four processes on the four pneumatic sliding tables 10 respectively;

S3. The control cabinet 5 controls the electric control fixture 11 to clamp the workpiece to be spot welded, and automatically sends it into the working range of the spot welding robot body 1 through the pneumatic slide table 10;

S4. The robot controller 2 controls the spot welding robot body 1 to move to the corresponding station of the pneumatic slide table 10 according to the reservation queuing mechanism and the time-sharing operation control mode, and the spot welding controller 4 controls the servo robot welding tongs 3 to adjust the corresponding angle, Realize the welding of the workpiece to be welded by the servo robot welding tongs 3;

a. If there is a station with a high priority pneumatic slide table, manually operate the control cabinet 5 to cancel the reservation queue, and then re-set the movement sequence of the pneumatic slide table 10 in the control cabinet 5 according to the priority level;

According to the number of workpieces to be welded and the number of welding points to be prioritized, when the output is different, the priority of the number of workpieces to be welded is higher than the priority of the number of welding points to be welded. the higher the priority;

b. If not, weld according to the normal set priority order;

S6. After the workpiece on the pneumatic sliding table 10 is welded, the system automatically sends the sliding table out of the operation area to the manual operation area, and automatically releases the electric control fixture 11 to manually remove the workpiece.

S7. Re-clamp on the pneumatic sliding table 10 of the welding station of the next process, repeat the above process until the welding of the entire workpiece to be welded is completed;

S8. Remove the welded workpiece, clamp a new workpiece to be welded, and repeat the above steps.

A further preferred technical solution is that the spot welding process is divided into four steps, the first step is to select two parts of the combined workpieces to be welded; the second step is to select the remaining one from the remaining combined workpieces The workpiece is welded and spliced with the workpiece welded in the first step. The third step is to select the remaining 1 workpiece from the remaining combined workpieces to weld and splice with the workpiece welded in the second step. The fourth step is to select from the remaining combined workpieces The remaining 1 workpiece is welded and spliced with the workpiece welded in the third step.

Of course, according to the number of components of the combined workpiece, the welding process can be divided into 2 steps, 3 steps, 5 steps and above, and the welding method is consistent with the 4-step process.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (8)

1. a kind of spot welding robot's workstation device, it is characterised in that：Including spot welding machine human body (1), robot controller (2), servo robot soldering turret (3), spot welding controller (4), system control cabinet (5), Cool-water Machine for Industry (6), electrode grinding device (7), robot mounting seat (8), connecting elements (9), Pneumatic slid platform (10), automatically controlled fixture (11)；

The spot welding machine human body (1) is installed on robot mounting seat (8) top, servo robot soldering turret (3) installation In on spot welding machine human body (1), robot mounting seat (8) is connected by connecting elements (9) with Pneumatic slid platform (10), automatically controlled Fixture (11) is installed on Pneumatic slid platform (10), and robot controller (2), point are provided on rear side of spot welding machine human body (1) Controller (4), system control cabinet (5), Cool-water Machine for Industry (6) are welded, spot welding machine human body (1) left rear side is provided with electrode dressing Device (7), safe fence (12) surround all components and realize man-machine safety isolation；

The PLC controller of optimization welding procedure is provided in the system control cabinet (5), system control cabinet (5) control is automatically controlled Fixture (11) clamps workpiece, and controls automatically controlled fixture (11) and moved on Pneumatic slid platform (10) along connecting elements (9), robot Controller (2) control welding robot human body (1) rotates in mounting seat (8), and spot welding controller (4) controls servo robot Soldering turret (3) rotates the welding realized to workpiece on robot body (1), and Cool-water Machine for Industry (11) is for providing cooling water, electricity Pole coping device (7) is for the reconditioning to servo robot soldering turret (3) electrode.

2. a kind of spot welding robot's workstation device according to claim 1, which is characterized in that the robot installation 1 robot body (1) is installed on pedestal (8), 4 connecting elements (9) are connected with spot welding machine human body (1) respectively, A Pneumatic slid platform (10) is respectively set on each connecting elements (9), installation one is automatically controlled on each Pneumatic slid platform (10) Fixture (11).

3. a kind of spot welding robot's workstation device according to claim 1, which is characterized in that 2 peaces are arranged in work station Pedestal (8) is filled, a robot body (1) is installed in each mounting seat (8), 2 are installed on a robot body (1) A Pneumatic slid platform (10) is respectively set on each connecting elements (9), on each Pneumatic slid platform (10) in connecting elements (9) One automatically controlled fixture (11) is installed.

4. a kind of processing method of spot welding robot's working terminal welder's part, which is characterized in that including

S1. the workpiece for waiting for spot welding is divided into 4 step process processes by spot-welding technology, and each process is distributed dedicated automatically controlled Fixture (11)；

S2. the corresponding automatically controlled fixture (11) of 4 processes is separately mounted on 4 Pneumatic slid platforms (10)；

S3. switch board (5) controls the Workpiece clamping that automatically controlled fixture (11) will wait for spot welding, and is sent into automatically by Pneumatic slid platform (10) Into spot welding machine human body (1) job area；

S4. robot controller (2) control spot welding machine human body (1) is according to appointment and queuing mechanism and time-sharing operation control mode The station of corresponding Pneumatic slid platform (10) is moved to, spot welding controller (4) controls servo robot soldering turret (3) and adjusts corresponding angle Degree realizes that servo robot soldering turret (3) is treated welding workpiece and welded；

If a. there is the station of the high Pneumatic slid platform of priority, manual operation switch board (5) cancels reservation queue, presses again excellent The mobile sequencing of first rank setting Pneumatic slid platform (10) in switch board (5)；

If b. nothing, welded according to the priority orders normally set；

Slide unit is sent out operating area by the workpiece on Pneumatic slid platform (10) after S6. having welded, system automatically, reaches manual operation Region, and automatically controlled fixture (11) is unclamped automatically, manually remove workpiece.

S7. it is clamped on the Pneumatic slid platform (10) of the welding post of subsequent processing, repeats the above process again, until entire to be welded The workpiece welding connect is completed；

S8. the workpiece being welded is removed, the new workpiece to be welded of clamping repeats the above steps.

5. a kind of processing method of spot welding robot's working terminal welder's part according to claim 1, it is characterised in that：Institute It states spot-welding technology and is divided into 4 step process processes, the first step is that the two of which component of selection combination workpiece to be welded is welded；The Two steps are that remaining 1 workpiece is selected to carry out welding splicing, third with the workpiece that the first step has been welded from remaining combination workpiece Step carries out welding splicing, the 4th step for the workpiece for selecting remaining 1 workpiece and second step to weld from remaining combination workpiece Welding splicing is carried out to select remaining 1 workpiece and third to walk the workpiece welded from remaining combination workpiece.

6. a kind of processing method of spot welding robot's working terminal welder's part according to claim 4, it is characterised in that：Root Priority is divided according to the quantity of workpiece to be welded, quantity more multipriority is higher.

7. a kind of processing method of spot welding robot's working terminal welder's part according to claim 4, it is characterised in that：Root Wait for that number of welds divides priority according to welding workpiece, number of connections to be welded more multipriority is higher.

8. a kind of processing method of spot welding robot's working terminal welder's part according to claim 4, which is characterized in that root According to workpiece to be welded quantity and wait for that number of welds divides priority, under yield different situations, the quantity of workpiece to be welded it is excellent First grade is higher than the priority more than number of connections to be welded, and under yield same case, the priority more than number of connections to be welded is higher.