阅读说明：本技术 一种焊接机器人对原点检测装置及检测方法 (A kind of welding robot is to origin detection device and detection method ) 是由 金荣乭 于 2019-07-06 设计创作，主要内容包括：本发明涉及一种焊接机器人对原点检测装置及检测方法,包括焊接机器人,焊接机器人包括机械臂和与其转动连接的焊接头,焊接头内设有焊丝,还包括检测部,检测部上设有标准原点,检测部设有经过标准原点的检测孔,检测孔与焊丝相适配,检测部上设有传感器,传感器用于检测焊丝是否进入检测孔并将检测的电信号输出,传感器依次连接比较器、控制器和报警装置,控制器用于接收比较器输出电压并控制报警装置的工作状态。本发明能够快速、准确地检测出焊接机器人的对原点情况,并能对检测情况实时报警,具有方便、快捷、实用、准确,成本低及检测时间短的特点。(The present invention relates to a kind of welding robots to origin detection device and detection method, including welding robot, welding robot includes mechanical arm and the plumb joint that is rotatablely connected with it, welding wire is equipped in plumb joint, it further include test section, test section is equipped with standard origin, test section is equipped with the detection hole by standard origin, detection hole is adapted with welding wire, test section is equipped with sensor, sensor is used to detect the electric signal output whether welding wire enters detection hole and will test, sensor is sequentially connected comparator, controller and warning device, controller is used to receive comparator output voltage and controls the working condition of warning device.The present invention can quickly and accurately detect welding robot to origin situation, and can to detection case Realtime Alerts, have convenient, fast, practical, accurate, at low cost and short detection time feature.)

1. a kind of welding robot is to origin detection device, including welding robot, the welding robot include mechanical arm and The plumb joint being rotatablely connected with it, the plumb joint is interior to be equipped with welding wire, which is characterized in that and it further include test section, the test section It is equipped with standard origin, the test section is equipped with the detection hole by the standard origin, the detection hole and the welding wire phase Adaptation, the test section are equipped with sensor, and the sensor is for detecting whether the welding wire enters detection hole and will test Electric signal output, the sensor is sequentially connected comparator, controller and warning device, and the controller is described for receiving Comparator output voltage and the working condition for controlling the warning device.

2. welding robot as described in claim 1 is to origin detection device, which is characterized in that the test section includes setting Vertical column on the table, the upper end of the column are equipped with vertical round table-like reference head, and the standard origin is arranged in institute Reference head upper end is stated, the detection hole runs through the reference head through the standard origin vertically and reaches deep down into the column Interior, the column top is equipped with the lateral mounting hole communicated with the detection hole lower end, the installation sensing in the mounting hole Device.

3. welding robot as described in claim 1 is to origin detection device, which is characterized in that the sensor is disconnected for photoelectricity Continuous device, the comparator are voltage comparator；When the welding wire is inserted into detection hole, the photoelectric interrupter output electric signal is passed The voltage comparator is given, the voltage comparator is by input signal compared with the reference voltage in the voltage comparator Afterwards, low level is exported；When the welding wire is not inserted into detection hole, the photoelectric interrupter output electric signal sends the electricity to Press comparator, the voltage comparator by input signal with the reference voltage in the voltage comparator compared with after, output is high electric It is flat.

4. welding robot as claimed in claim 3 is to origin detection device, which is characterized in that the warning device includes bee Ring device, red eye and greensignal light；When controller receives the high level signal of voltage comparator, the controller control The red eye is made to shine while the buzzer sounding；When the controller receives the low electricity of the voltage comparator Ordinary mail number, the controller control the greensignal light and shine, and the buzzer does not work.

5. a kind of detection method of welding robot according to any one of claims 1-4 to origin detection device, feature It is, comprising the following steps:

1) standard origin is selected；

2) the coordinate input of standard origin, inputs the position coordinates of the standard origin on the operation panel of welding robot；

3) welding robot is to origin, and when the welding wire on the plumb joint is inserted into detection hole, the origin of the welding robot is quasi- Really, when the welding wire on the plumb joint is inserted not into the detection hole, the origin inaccuracy of welding robot.

6. welding robot as claimed in claim 5 is to the detection method of origin detection device, which is characterized in that step 1) In, the selected of the standard origin is to first pass through to obtain after mechanical origin aligning tool is calibrated the origin of welding robot It arrives.

7. welding robot as claimed in claim 5 is to the detection method of origin detection device, which is characterized in that step 3) In, when the origin of welding robot is accurate, the greensignal light of the warning device is bright；When the origin of welding robot is inaccurate When true, the red eye of the warning device is bright while buzzer sounding.

Technical field

The present invention relates to welding technology fields, more particularly, to a kind of welding robot to origin detection device and detection side Method.

Background technique

Usually manually carry out weld job when, due to by technical level, degree of fatigue etc. it is objective and it is subjective influenced, It is difficult to keep the stability and consistency of welding, and the operating condition of weld job is severe.

Occurs welding robot with advances in technology, welding robot is engaged in welding (including cutting and spraying) Industrial robot.Belong to the definition of standard welding robot, industrial machine according to International Organization for standardization (ISO) industrial robot People is a kind of automatic control operation machine (Manipulator) of multiduty, repeatable programming, programmable with three or more Axis, be used for industrial automation.Welding robot substitutes human weld in some fields, reduces manpower, Product jointing Consistency is good, and product quality is high, is suitble to produce in enormous quantities, can reduce production cost, improves production efficiency.

But welding robot is in operation if encounter the power device for replacing each axis, axis is collided, powered off all The mechanical origin that may cause each axis of welding robot is lost, if mechanical origin is lost, each axis of welding robot just can not Playback, the coordinate values of setting be it is inaccurate, it is random so as to cause welding point dislocation, need each axis of butt welding machine device people again Carry out mechanical origin correction.

Mechanical arm collides when welding robot prepares to start to work and in the course of work, the feelings such as power-off Shape needs to check whether welding robot origin is accurate to guarantee welding quality, to carry out next procedure.

So the origin of butt welding machine device people carries out fast and accurately detection and becomes particularly important.

Summary of the invention

The object of the present invention is to provide a kind of welding robots to origin detection device, can quickly and accurately detect The original point position situation of welding robot, and have real-time prompting warning function, there is convenient, fast, practical, accurate, cost It is low, the short feature of detection time.

Foregoing invention purpose of the invention has the technical scheme that

For a kind of welding robot of the present invention to origin detection device, including welding robot, the welding robot includes machinery Arm and the plumb joint being rotatablely connected with it, it further includes test section, the test section is equipped with mark that the plumb joint is interior, which to be equipped with welding wire, Quasi- origin, the test section are equipped with the detection hole by the standard origin, and the detection hole is adapted with the welding wire, described Test section is equipped with sensor, and the sensor is for detecting whether the welding wire enters detection hole and the electric signal that will test is defeated Out, the sensor is sequentially connected comparator, controller and warning device, and the controller is for receiving the comparator output Voltage and the working condition for controlling the warning device.

Above-mentioned welding robot is to origin detection device, wherein the test section includes that setting is vertical on the table Column, the upper end of the column is equipped with vertical round table-like reference head, and the standard origin is arranged in the reference head upper end, institute It states detection hole to run through the reference head vertically through the standard origin and reach deep down into the column, the column top is set There is the lateral mounting hole communicated with the detection hole lower end, the installation sensor in the mounting hole.

Above-mentioned welding robot is to origin detection device, wherein the sensor is photoelectric interrupter, the comparator For voltage comparator；When the welding wire is inserted into detection hole, the photoelectric interrupter output electric signal sends the voltage ratio to Compared with device, the voltage comparator by input signal compared with the reference voltage in the voltage comparator after, export low level；When When the welding wire is not inserted into detection hole, the photoelectric interrupter output electric signal sends the voltage comparator, the electricity to Press comparator by input signal with the reference voltage in the voltage comparator compared with after, output high level.

Above-mentioned welding robot is to origin detection device, wherein the warning device includes buzzer, red eye And greensignal light；When controller receives the high level signal of voltage comparator, the controller controls the danger signal Lamp shines while the buzzer sounding；When the controller receives the low level signal of the voltage comparator, the control Device processed controls the greensignal light and shines, and the buzzer does not work.

A kind of detection method of welding robot to origin detection device, comprising the following steps:

1) standard origin is selected；

2) the coordinate input of standard origin, inputs the position coordinates of the standard origin on the operation panel of welding robot；

3) welding robot is to origin, and when the welding wire on the plumb joint is inserted into detection hole, the origin of the welding robot is quasi- Really, when the welding wire on the plumb joint is inserted not into the detection hole, the origin inaccuracy of welding robot.

Detection method of the above-mentioned welding robot to origin detection device, wherein in step 1), the standard origin Selected is to first pass through after mechanical origin aligning tool is calibrated the origin of welding robot to obtain.

Detection method of the above-mentioned welding robot to origin detection device, wherein in step 3), when welding robot When origin is accurate, the greensignal light of the warning device is bright；When the origin inaccuracy of welding robot, the warning device Red eye is bright while buzzer sounding.

In conclusion advantageous effects of the invention are as follows:

The present invention carries out the processes such as complicated dismounting, debugging without butt welding machine device people, so that it may quickly, accurately, easily examine It whether accurate measures welding robot origin, improves production efficiency, reduce production cost, and can detection knot to origin Fruit carries out the warning note of acousto-optic etc., and the device is easy to operate, and manufacturing cost is low, suitable for mass production.

Detailed description of the invention

Fig. 1 is structural schematic diagram of the invention；

Fig. 2 is test section cross-sectional view of the invention；

Fig. 3 is invention's principle block diagram.

In figure, appended drawing reference: 1, welding robot；11, mechanical arm；12, plumb joint；13, welding wire；2, test section；21, Column；22, reference head；23, mounting hole；3, standard origin；4, detection hole；5, sensor；6, comparator；7, controller；8, it reports Alarm device；81, greensignal light；82, red eye；83, buzzer.

Specific embodiment

Below in conjunction with attached drawing, invention is further described in detail.

As shown in Figure 1-3, a kind of welding robot of the present invention is to origin detection device, including welding robot 1, welding Robot 1 includes mechanical arm 11 and the plumb joint 12 being rotatablely connected with it, is equipped with welding wire 13 in plumb joint 12, further includes test section 2, test section 2 is equipped with standard origin 3, and test section 2 is equipped with the detection hole 4 by standard origin 3, detection hole 4 and 13 phase of welding wire Adaptation, test section 2 are equipped with sensor 5, and sensor 5 is used to detect the telecommunications whether welding wire 13 enters detection hole 4 and will test Number output, sensor 5 are sequentially connected comparator 6, controller 7 and warning device 8, and controller 7 exports electricity for receiving comparator 6 Press and control the working condition of warning device 8.

In one embodiment, test section 2 includes that column 21 vertical on workbench (being not drawn into figure), column 21 is arranged Upper end is equipped with vertical round table-like reference head 22, and the setting of standard origin 3 passes through standard origin 3 in 22 upper end of reference head, detection hole 4 Run through reference head 22 vertically and reach deep down into column 21,21 top of column is equipped with the lateral peace communicated with 4 lower end of detection hole Hole 23 is filled, sensor 5 is installed in mounting hole 23.

In one embodiment, sensor 5 is photoelectric interrupter, and comparator 6 is voltage comparator；It is detected when welding wire 13 is inserted into When hole 4, photoelectric interrupter output electric signal sends voltage comparator to, and voltage comparator will be in input signal and voltage comparator Reference voltage relatively after, export low level, i.e., when welding wire 13 be inserted into detection hole 4 when, since 13 lower end of welding wire extend into photoelectricity In contact maker, welding wire 13 shelters from the light emitting path of infrared diode, infrared diode light intensity decreasing, photoelectric interrupter it is photosensitive The infrared light that triode receives infrared diode is weaker, and the electric current for flowing through phototriode circuit is smaller, voltage comparator Negative voltage increases, and voltage comparator output is low level.

When welding wire 13 is not inserted into detection hole 4, photoelectric interrupter output electric signal sends voltage comparator, voltage ratio to Compared with device by input signal compared with the reference voltage in voltage comparator after, export high level.I.e. when welding wire 13 is not inserted into inspection When gaging hole 4, the infrared light that the phototriode of photoelectric interrupter receives infrared diode is stronger, flows through phototriode circuit Electric current it is larger, the negative voltage of voltage comparator is smaller, voltage comparator output be high level；

In one embodiment, warning device 8 includes buzzer 83, red eye 82 and greensignal light 81；When controller 7 connects The high level signal of voltage comparator is received, controller 7 controls luminous 83 sounding of buzzer simultaneously of red eye 82；It mentions at this time There are deviations for the origin of awake staff's welding robot 1, there is a situation where inaccuracy, need to carry out manual calibration.Work as control Device 7 processed receives the low level signal of voltage comparator, and controller 7 controls greensignal light 81 and shines, and prompts staff, should The origin of welding robot 1 is accurate, and without being debugged, buzzer 83 does not work at this time.

Controller 7 is one of single-chip microcontroller, PLC, central processing unit.Controller 7 in the present embodiment can use AT89C2051。

This facility example additionally provides a kind of welding robot to the detection method of origin device, comprising the following steps:

1) standard origin 3 is selected；The selected of standard origin 3 is to first pass through mechanical origin aligning tool for the original of welding robot 1 Point obtains after being calibrated.

Specifically mechanical origin aligning tool is mounted on correspondingly on each axis of welding robot 1, passes through correction Tool calibrates axis, then operates control cabinet and carries out position zero, restarting equipment.Then in the behaviour of welding robot 1 The coordinate for making established standards origin 3 on panel, the standard origin on reference head is corresponding with the coordinate, complete standard origin 3 It is selected.

2) the coordinate input of standard origin 3, inputs the position coordinates of standard origin 3 on the operation panel of welding robot 1；

3) welding robot is to origin, and when the welding wire on plumb joint is inserted into detection hole, the origin of welding robot 1 is accurate, works as weldering When welding wire 13 on connector 12 inserts not detection hole 4, the origin inaccuracy of welding robot 1.

When the origin of welding robot 1 is accurate, 8 greensignal light 81 of warning device is bright；When the origin of welding robot 1 When inaccurate, the red eye 82 of warning device 8 is bright while 83 sounding of buzzer.

By the above method, it can be convenient, quickly determine whether the origin of welding robot 1 is accurate.

The embodiment of present embodiment is presently preferred embodiments of the present invention, not limits protection of the invention according to this Range, therefore: the equivalence changes that all structures under this invention, shape, principle are done, should all be covered by protection scope of the present invention it It is interior.