阅读说明：本技术 一种多类型焊接专用机器人及其自检方法 (A kind of polymorphic type welding special purpose robot and its self checking method ) 是由 鲁立 杨佳 徐忠峰 赵建仓 于 2019-08-05 设计创作，主要内容包括：本发明涉及一种多类型焊接专用机器人,包括控制器系统、多个焊接机器人,控制器系统包括执行控制器、工控机以及电源,执行控制器分别与多个焊接机器人相连接,工控机、电源均与执行控制器相连接。其自检方法包括在执行控制器内部搭载物理硬件识别结构A,在焊接机器人内部搭载不同的物理硬件识别结构B,通过物理硬件识别结构A物理硬件识别结构B配合检验,根据物理硬件识别结构B的不同特性,执行控制器可识别出当前与之连接的焊接机器人得型号,实现自检。本发明使用一台通用的执行控制器控制各种规格的焊接机器人,降低了经济成本；而且执行控制器可识别出当前与之连接的焊接机器人的型号,实现自检,降低了误操作风险。(The present invention relates to a kind of polymorphic types to weld special purpose robot, including controller system, multiple welding robots, controller system includes executing controller, industrial personal computer and power supply, executes controller and is connected respectively with multiple welding robots, and industrial personal computer, power supply are connected with execution controller.Its self checking method, which is included in execute, carries physics hardware identification structure A inside controller, different physical hardware identification structure B is carried inside welding robot, identify that structure A physical hardware identifies that structure B cooperation is examined by physical hardware, the different characteristics of structure B are identified according to physical hardware, executing controller may recognize that the welding robot being currently attached thereto obtains model, realize self-test.The present invention reduces economic cost using a general welding robot for executing controller control various specifications；And execute controller and may recognize that the model for the welding robot being currently attached thereto, it realizes self-test, reduces maloperation risk.)

1. a kind of polymorphic type welds special purpose robot, it is characterised in that: described including controller system, multiple welding robots Controller system include executing the execution controller of welding movement, for described for issuing to the welding robot Welding robot the weld information industrial personal computer and power supply that are acquired, the execution controller respectively with it is multiple described Welding robot is connected, and the industrial personal computer, power supply are connected with the execution controller.

2. a kind of polymorphic type according to claim 1 welds special purpose robot, it is characterised in that: the welding robot It include: self-melt welding robot, four axis caliper brake welding robots, four axis clamp-type welding robots, the weldering of rail mounted multiaxis Welding robot, narrow gap rail mounted multiaxis welding robot.

3. a kind of polymorphic type according to claim 1 welds special purpose robot, it is characterised in that: the execution controller It is connect with the industrial personal computer by serial communication, is connected between execution controller and the power supply by bus communication It connects.

4. a kind of polymorphic type according to claim 1 welds special purpose robot, it is characterised in that: the controller system Described in execution controller, industrial personal computer and power supply only be arranged one.

5. a kind of according to claim 1 to the self-test of the welding special purpose robot of polymorphic type described in any one of 4 claims Method, it is characterised in that: including carrying physics hardware identification structure A inside the execution controller, in the welding Robot interior carries different physical hardware identification structure B, when the welding robot and the execution controller connect When connecing, the physical hardware identification structure A executed inside controller and the physical hardware inside the welding robot It identifies that structure B cooperation is examined, the different characteristics of structure B is identified according to the physical hardware of the welding robot, described holds Line control unit may recognize that the welding robot being currently attached thereto obtains model, realize self-test.

6. the self checking method of polymorphic type welding special purpose robot according to claim 5 a kind of, it is characterised in that: described Physical hardware identification structure A is the motor driver executed in controller.

7. the self checking method of polymorphic type welding special purpose robot according to claim 5 a kind of, it is characterised in that: described Physical hardware identification structure B is motor type and quantity in corresponding welding robot.

8. the self checking method of polymorphic type welding special purpose robot according to claim 7 a kind of, it is characterised in that: described Physical hardware identifies between structure A, physical hardware identification structure B by checking motor type and number of motors, realizes cooperation inspection It tests.

Technical field

The present invention relates to welding technology field, special purpose robot is welded more particularly to a kind of polymorphic type and its from procuratorial organ Method.

Background technique

In robot automation's welding field, due to welded piece sample diversified in specifications, thus applicable welding robot is each It is not identical, it is generally divided into self-melt welding robot, four axis caliper brake welding robots, four axis clamp-type welding robots, rail Road formula multiaxis welding robot, narrow gap rail mounted multiaxis welding robot.The function of being realized due to each welding robot It is different, thus controller is also different.Existing a set of welding robot system include a controller, a power supply with And a welding robot, controller and welding robot are one-to-one relationships；The workpiece of welding different size every time, needs Corresponding controller is purchased, economic cost is increased, and the problems such as there is wrong more changer controllers in use process, is increased Time cost.

On the whole, existing welding robot system include there is a problem of it is following:

(1), every kind of welding robot must use corresponding controller, increase investment；

(2), the problems such as system complex, there is wrong more changer controllers in use process, time cost is increased；

(3), equipment identification function, i.e. self-test be can not achieve between controller and welding robot；If with the control of non-corresponding Device is easy scaling loss welding robot.

Summary of the invention

It is an object of the present invention to provide a kind of polymorphic types to weld special purpose robot.

In order to achieve the above objectives, the technical solution adopted by the present invention is that:

A kind of polymorphic type welding special purpose robot, including controller system, multiple welding robots, the controller system packet It includes and executes the execution controller of welding movement, for the welding robot weldering for issuing to the welding robot The industrial personal computer and power supply that information is acquired are connect, the execution controller is connected with multiple welding robots respectively It connects, the industrial personal computer, power supply are connected with the execution controller.

Preferably, the welding robot includes: self-melt welding robot, four axis caliper brake welding robots, four Axis clamp-type welding robot, rail mounted multiaxis welding robot, narrow gap rail mounted multiaxis welding robot.

Preferably, the execution controller is connect with the industrial personal computer by serial communication, and described executes control It is connected between device and the power supply by bus communication.

Preferably, execution controller, industrial personal computer and power supply described in the controller system are only arranged one.

It is a further object to provide the self checking methods of polymorphic type welding special purpose robot a kind of.

In order to achieve the above objectives, the technical solution adopted by the present invention is that:

A kind of self checking method of polymorphic type welding special purpose robot, including carrying physical hardware inside the execution controller It identifies structure A, different physical hardware identification structure B is carried inside the welding robot, when the welding robot When people connect with the execution controller, the physical hardware identification structure A executed inside controller and the weldering Physical hardware identification structure B cooperation inside welding robot is examined, and is identified and is tied according to the physical hardware of the welding robot The different characteristics of structure B, the execution controller may recognize that the welding robot being currently attached thereto obtains model, realize certainly Inspection.

Preferably, physical hardware identification structure A is the motor driver executed in controller.

Preferably, physical hardware identification structure B is the motor type and quantity in corresponding welding robot.

It is further preferred that by checking electric machinery between the physical hardware identification structure A, physical hardware identification structure B Type and number of motors realize that cooperation is examined.

Since above-mentioned technical proposal is used, the present invention has following advantages and effect compared with prior art:

The present invention carries out the workpiece welding of different size, the skill using a kind of polymorphic type welding special purpose robot and its self checking method Art reduces economic cost using a general welding robot for executing controller control various specifications；And execute control Device processed may recognize that the model for the welding robot being currently attached thereto, and realizes self-test, reduces maloperation risk.

Detailed description of the invention

Attached drawing 1 is the schematic diagram that polymorphic type welds special purpose robot in the present embodiment.

Wherein: 1, executing controller；2, industrial personal computer；3, power supply；40, self-melt welding robot；41, four axis caliper brakes weld Welding robot；42, four axis clamp-type welding robot；43, rail mounted multiaxis welding robot；44, narrow gap rail mounted multiaxis Welding robot.

Specific embodiment

With reference to the accompanying drawing and case study on implementation the invention will be further described:

A kind of polymorphic type as shown in Figure 1 welds special purpose robot, including controller system, multiple welding robots.Wherein:

Controller system includes going out to execute the execution controller 1 of welding movement for butt welding machine device human hair, for butt welding machine The industrial personal computer 2 and power supply 3 that device people's weld information is acquired execute controller 1 and are connected respectively with multiple welding robots, Industrial personal computer 2, power supply 3 are connected with execution controller 1.In the present embodiment: execution controller, industrial personal computer in controller system 2 and power supply 3 only be arranged one.It executes controller 1 to connect with industrial personal computer 2 by serial communication, executes controller 1 and power supply It is then connected by bus communication between 3.

Welding robot includes: self-melt welding robot 40, four axis caliper brake welding robots 41, the weldering of four axis clamp-types Welding robot 42, rail mounted multiaxis welding robot 43, narrow gap rail mounted multiaxis welding robot 44.Wherein:

Self-melt welding robot 40 is less than the medium and small sheet-metal duct of 3mm, self-melt bonding machine for 6 ~ 120mm of outer diameter, wall thickness Device people 40 is using the self-melt welding not filled silk.When self-melt welds, entire weld seam is enclosed in self-melt welding robot, interior Under the action of protective gas, head and road to be welded form electric arc in portion, realize connection by fusing pipeline.

Four axis caliper brake welding robots 41 are 25 ~ 200mm, the middle small pipeline of wall thickness 3-30mm, four axis cards for outer diameter Jaw type welding robot 41 uses filler wire welding.The four-axle type structure of four axis caliper brake welding robots 41, i.e. walking axle, wire feed Axis, head swinging axle and head arc voltage tracking axis；Caliper brake structure is to be cooperated using fixed caliper, adjusting clamp, is passed through Bikini clamping mode is fixed in road to be welded.

Four axis clamp-type welding robots 42 are 25-300mm for outer diameter, and wall thickness 3-19mm's is in small space Small pipeline, four axis clamp-type welding robots 42 use filler wire welding.The four-axle type structure of four axis clamp-type welding robots 42, That is walking axle, wire feeding axis, head swinging axle and head arc voltage tracking axis；Clamp-type structure be by with road to be welded outer diameter phase The fuselage matched is clamped in road to be welded.

Rail mounted multiaxis welding robot 43 is 30-360mm, the big pipeline of wall thickness≤3-19mm, rail mounted for outer diameter Multiaxis welding robot 43 uses filler wire welding.The multiaxis of rail mounted multiaxis welding robot 43 is five axis structures, that is, is walked Axis, wire feeding axis, head swinging axle, head arc voltage tracking axis and tungsten electrode swinging axle；Rail mounted structure is to be fixed by circular orbit In road to be welded, the connection of welding executing agency is in orbit and can complete to weld along track travel.

Narrow gap rail mounted multiaxis welding robot 44 is more than 350mm for outer diameter, and wall thickness is more than 30mm, is belonged to big, thick Wall pipeline.Narrow gap rail mounted multiaxis welding robot 44 uses filler wire welding.Narrow gap rail mounted multiaxis welding robot 44 Multiaxis be five axis structures, i.e. walking axle, wire feeding axis, head swinging axle, head arc voltage tracking axis and tungsten electrode swinging axle, track Formula structure is fixed in road to be welded by circular orbit.Road to be welded generally uses Narrow sloping-glot structure, in welding process, Head is deep into groove, carries out welding in layer, until entire groove is filled completion.

Illustrate that the self checking method of lower the present embodiment polymorphic type welding special purpose robot, the present embodiment are each to weld in detail below For class pipeline, comprising:

(1), welding robot is determined:

According to pipeline specifications and welding technique condition, selection is suitable for the welding robot of such pipeline from following type.

Welding robot type: self-melt welding robot 40, four axis caliper brake welding robots 41, the weldering of four axis clamp-types Welding robot 42, rail mounted multiaxis welding robot 43, narrow gap rail mounted multiaxis welding robot 44

(2), welding robot system is established:

Prepare corresponding welding robot in the power supply 3 of industrial personal computer 2, one of execution controller 1, one and (1).Execute control It is to need the welding robot of work to power, while controlling welding robot and executing welding movement, industry control that device 1 processed, which controls power supply 3, Machine butt welding machine device people's weld information is acquired；Controller 1 will be executed to connect with industrial personal computer 2 by serial communication, execute control Device 1 processed is connect with power supply 3 by bus communication, then, by control line and all kinds of interfaces, establishes welding robot system.

(3), welding robot system carries out self-test:

When execution controller 1 is connect with welding robot, passes through the physical hardware for executing and carrying inside controller and identify structure A The physical hardware different with carrying inside welding robot identifies structure B, carries out cooperation inspection, in which: physical hardware identification knot Structure A is the motor driver executed in controller 1, and physical hardware identification structure B is the motor type in corresponding welding robot And quantity, executing controller 1 may recognize that the motor type and number of motors of the welding robot being currently attached thereto, and realization is matched It closes and examines, complete self-test.

(4), welding robot system works:

After the completion of polymorphic type welds special robot system's foundation and self-test, according to pipeline welding technique parameter and equipment operation Specification, carries out the welding of corresponding pipeline.

The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.