阅读说明：本技术 一种检查点焊机器人焊接位置的装置及其控制方法 (Device for checking welding position of spot welding robot and control method thereof ) 是由 李永强 孙冠男 赵卯 郭鑫 曹玉文 马贺明 刘继伟 梁海涛 王波 阮守新 于 2021-01-13 设计创作，主要内容包括：本发明公开了一种检查点焊机器人焊接位置的装置及其控制方法,属于测量技术领域,包括：试片加持装置、可调电极总成和显示总成,所述试片加持装置包括：C型外壳、上加持组和下加持组。本发明所述一种检查点焊机器人焊接位置的装置及其控制方法,装置简单、成本低、能够全自动检测,能够根据点焊过程中试片最大偏移位移分析和评估,点焊电极磨损补偿(或修正)功能以及点焊钳弹性变形补偿(或修正)功能自身以及它们的组合是否正常；点焊机器人编程、示教人员能力。(The invention discloses a device for checking welding position of spot welding robot and a control method thereof, belonging to the technical field of measurement and comprising the following steps: the test block adds holds device, adjustable electrode assembly and shows the assembly, the test block adds and holds the device and include: the device comprises a C-shaped shell, an upper clamping group and a lower clamping group. The device for checking the welding position of the spot welding robot and the control method thereof have the advantages that the device is simple, the cost is low, the full-automatic detection can be realized, the analysis and the evaluation can be realized according to the maximum offset displacement of the test piece in the spot welding process, the abrasion compensation (or correction) function of a spot welding electrode, the elastic deformation compensation (or correction) function of a spot welding clamp and the combination of the functions are normal or not; and programming the spot welding robot and demonstrating the capability of personnel.)

1. An apparatus for inspecting a welding position of a spot welding robot, comprising: device (1), adjustable electrode assembly (2) and demonstration assembly (3) are added to test block, device (1) is added to test block includes: c type shell (11), add on and hold the group and add down and hold the group, be equipped with the spout on C type shell (11), it includes to add on and hold the group: spring (12), upper pulley (15) and last add and hold board (16), it can move in the spout to add to hold board (16), spring (12) both ends are connected with last adding board (16) one side and spout bottom respectively, upper pulley (15) rotation sets up and adds last board (16) opposite side, add down and hold the group and include: lower pulley (14) and add under with and hold board (13), it is corresponding with last adding board (12) to add board (13) to set up at C type shell (11) inboard down to add board (13), down pulley (14) rotation setting can cooperate with last pulley (15) adding board (13) one side under, adjustable electrode assembly (2) include two, two adjustable electrode assembly (2) symmetrical arrangement just adds with the test block and holds device (1) corresponding, adjustable electrode assembly (2) include: the electrode comprises a fixing frame (21) and an electrode (22), wherein the electrode (22) is in threaded connection with the fixing frame (21).

2. An apparatus for inspecting a welding position of a spot welding robot according to claim 1, wherein said upper pulley (15) comprises 2-4.

3. An apparatus for inspecting a welding position of a spot welding robot according to claim 1 or 2, characterized in that said lower pulley (14) comprises 2-4.

4. A device for inspecting a welding position of a spot welding robot according to claim 3, characterized in that said display assembly (3) comprises: the intelligent control system comprises a microcomputer (31), a battery (32) and a display screen (34), wherein the microcomputer (31), the battery (32) and the display screen (34) are electrically connected.

5. An apparatus for inspecting a welding position of a spot welding robot according to claim 4, characterized in that said spring (12) comprises two.

6. An apparatus for inspecting a welding position of a spot welding robot according to claim 4, wherein said display assembly (3) further comprises: the buzzer (33), the buzzer (33) is electrically connected with the microcomputer (31).

7. A control method of inspecting a welding position of a spot welding robot, characterized by comprising:

step S10, placing the test piece (4) in the test piece loading device (1) and the adjustable electrode assembly (2) respectively;

step S20, adjusting the distances between the two electrodes (22) and the test piece (4) to d1 and d2 respectively;

step S30, determining a teaching position (5);

and step S40, performing spot welding at the teaching position (5) by operating the robot, and observing the display assembly (3) or obtaining whether two electrodes (22) are touched in the spot welding process.

Technical Field

The invention discloses a device for checking a welding position of a spot welding robot and a control method thereof, belonging to the technical field of measurement.

Background

Resistance spot welding is one type of resistance welding, is a method of applying electrode pressure to a workpiece through a spot welding electrode and electrifying the workpiece, and performs welding by using resistance heat, and is widely applied to the fields of aerospace, automobiles, home appliance manufacturing and the like. From the aspect of operation, the resistance spot welding operation mainly comprises two types of robot welding and manual welding, wherein the application and the proportion of spot welding carried out by a welding tongs or a workpiece held by a robot are gradually increased.

In the resistance spot welding process, the spot welding electrode can be continuously worn due to reasons such as grinding and deformation, the spot welding tongs can elastically deform under the action of electrode pressure, and further the position of the end face (the part of the spot welding electrode in contact with a workpiece) of the spot welding electrode on the static arm of the spot welding tongs is changed, so that if no correction and compensation measures of the welding position in the direction perpendicular to the surface of the welding spot are adopted, the actual welding position is likely to have a large difference with the specified welding position during teaching of a spot welding robot, and further the problems that the spot welding tongs and parts are mutually broken during spot welding, the robot shakes, equipment wear is aggravated, welding quality is reduced and the like are solved.

The conventional techniques for ensuring the spot welding position of the robot, such as chinese patent applications CN200810110227.6, CN201210464054.4, CN201510248921.4, CN201620258693.9 and CN201921487057.3, mainly focus on methods and apparatuses for ensuring the accuracy of the teaching position and the accuracy of the welding position in the direction perpendicular to the surface of the welding spot after compensation (or correction). However, welding position deviation caused by low teaching quality, improper setting of a robot system, failure in the function of position compensation and the like is common in actual production, and due to the lack of a related detection method, attention is paid to and adjustment is not required when the position deviation is large, which is obviously undesirable. There is a need for a method of determining, detecting, or checking whether or not the spot welding position in the direction substantially perpendicular to the surface of the spot weld coincides with the position at the time of teaching (or there is a lot of inconsistency) for determining whether or not the function and state of the robot spot welding apparatus are normal.

Disclosure of Invention

The invention aims to solve the problems that the prior device has low teaching quality, the robot system is not properly arranged, the position compensation function does not play a role and a related detection method is lacked, and provides a device for detecting the welding position of a spot welding robot and a control method thereof.

The invention aims to solve the problems and is realized by the following technical scheme:

an apparatus for inspecting a welding position of a spot welding robot, comprising: the test block adds holds device, adjustable electrode assembly and shows the assembly, the test block adds and holds the device and include: c type shell, last add to hold the group and add down to hold the group, be equipped with the spout on the C type shell, it includes to add to hold the group: spring, upper pulley and last add and hold the board, on add and hold the board and can remove in the spout, the spring both ends respectively with last add hold board one side and spout bottom connection, the rotatory setting of upper pulley adds last board opposite side, add down and hold the group and include: lower pulley and lower with hold the board, it is corresponding with last with holding the board to add to hold the board setting at C type shell inboard down, the rotatory setting of lower pulley adds under and holds board one side can with the cooperation of upper pulley, adjustable electrode assembly includes two, two adjustable electrode assembly symmetrical arrangement just adds with the test block with holding the device corresponding, adjustable electrode assembly includes: the electrode is in threaded connection with the fixing frame.

Preferably, the upper pulleys include 2 to 4.

Preferably, the lower pulleys include 2 to 4.

Preferably, the display assembly includes: the mobile terminal comprises a microcomputer, a battery and a display screen, wherein the microcomputer, the battery and the display screen are electrically connected.

Preferably, the spring includes two.

Preferably, the display assembly further comprises: the buzzer is electrically connected with the microcomputer.

A control method of inspecting a welding position of a spot welding robot, the control method comprising:

step S10, placing the test piece in the test piece loading device and the adjustable electrode assembly respectively;

step S20, adjusting the distances between the two electrodes and the test piece to d1 and d2 respectively;

step S30, determining a teaching position;

and step S40, performing spot welding at the teaching position by operating the robot, and observing the display assembly or obtaining whether two electrodes touch in the spot welding process.

Compared with the prior art, the invention has the following beneficial effects:

the device for checking the welding position of the spot welding robot and the control method thereof have the advantages that the device is simple, the cost is low, the full-automatic detection can be realized, the analysis and the evaluation can be realized according to the maximum offset displacement of the test piece in the spot welding process, the abrasion compensation (or correction) function of a spot welding electrode, the elastic deformation compensation (or correction) function of a spot welding clamp and the combination of the functions are normal or not; and programming the spot welding robot and demonstrating the capability of personnel.

Drawings

Fig. 1 is a schematic structural diagram of an apparatus for detecting a spot welding electrode position compensation function of a robot according to the present invention.

Fig. 2 is a flowchart of a control method for detecting a spot welding electrode position compensation function of a robot according to the present invention.

Wherein: 1. the test piece clamping device comprises a test piece clamping device 2, an adjustable electrode assembly 3, a display assembly 4, a test piece 5, a teaching position 11, a C-shaped shell 12, an upper clamping plate 13, a lower clamping plate 14, a lower clamping plate 15, an upper pulley 16, an upper clamping plate 21, a fixing frame 22, an electrode 31, a microcomputer 32, a battery 33, a buzzer 34, a display screen 35, a reset button 35 and a power switch 36.

Detailed Description

The invention is further illustrated below with reference to the accompanying figures 1-2:

the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1, a first embodiment of the present invention provides an apparatus for inspecting a welding position of a spot welding robot based on the prior art, including: the test piece holding device 1, the adjustable electrode assembly 2, the central controller and the display assembly 3 will be described in detail below.

Test block clamping device 1 is fixed in ground, perhaps, relatively fixed with spot welding robot base, and it includes: c type shell 11, add on and hold the group and add down and hold the group, be equipped with the spout on C type shell 11, add on and hold the group and include: the spring 12, go up pulley 15 and go up and add the holding plate 16, go up to add the holding plate 16 and can move in the spout, spring 12 includes two, and two springs 12 both ends are connected with last holding plate 16 one side and spout bottom respectively, and last pulley 15 is rotatory to be installed at last holding plate 16 opposite side, and last pulley 15 includes 2-4, and the embodiment is 4. The holding group comprises: a lower pulley 14 and a lower clamping plate 13, wherein the lower clamping plate 13 is arranged at the inner side of the C-shaped shell 11 and corresponds to the upper clamping plate 12, the lower pulley 14 is rotatably arranged at one side of the lower clamping plate 13 and can be matched with the upper pulley 15, and the number of the lower pulley 14 is 2-4, and is 4 in the embodiment.

Adjustable electrode assembly 2 includes two, and two adjustable electrode assembly 2 symmetrical arrangement just add with the test block and hold device 1 correspondingly, and adjustable electrode assembly 2 includes: the adjustable electrode assembly 2 and the test piece clamping device 1 are relatively fixed, and the adjustable electrode assembly 2 and the test piece clamping device 1 are used for detecting whether the displacement of the test piece in the direction vertical to the surface of the test piece in the spot welding process reaches a set value, and the two electrodes 22 can adjust the distances d1 and d2 from the end parts of the electrodes to the surface of the test piece 4 through threads.

The display assembly 3 has the function of displaying whether the adjustable electrode 2 is in contact with the test piece 4 or not in the spot welding process, and if the adjustable electrode is in contact with the test piece, the display assembly can display in a sound mode, a light mode and the like. It includes: the microcomputer 31, the battery 32, the buzzer 33 and the display 34 are electrically connected, the microcomputer 31, the battery 32 and the display 34 are electrically connected, and the buzzer 33 is electrically connected with the microcomputer 31. The microcomputer 31 comprises a control unit, a storage unit, an IO unit and an AD unit, the display assembly 3 further comprises a reset key 35 and a power switch 36, and the reset key 35 and the power switch 36 are respectively arranged on the side and the lower surface of the display screen 34. The battery 32 supplies power to a device for detecting a function of compensating the position of the spot welding electrode of the robot. The display screen 34 can display information such as detection results under the control of the microcomputer 31. The buzzer 33 can make a sound under the control of the microcomputer 31, the reset key 35 is used for an operator to input data and instructions to the microcomputer 31, the AD unit is electrically connected with the two electrodes 22, and the voltage of the two electrodes 22 is continuously collected under the control of the microcomputer 35.

After the above description is made of the device for checking the welding position of the spot welding robot, the control method thereof will be described next, and as shown in fig. 2, the control method includes:

step S10, placing the test piece 4 in the test piece loading device 1 and the adjustable electrode assembly 2 respectively;

step S20, adjusting the distances between the two electrodes 22 and the test strip 4 to d1 and d2, respectively;

step S30, determining a teaching position 5;

in step S40, the display unit 3 is observed or whether or not the two electrodes 22 are touched during the spot welding process by operating the robot to perform spot welding at the teaching position 5.

The control logic in the microcomputer 31 inside the display assembly 3 is as follows:

1. sampling and judgment are as follows:

after the microcomputer 31 is reset by the reset key 35, "upper contacts of the two electrodes 22 are in contact with the test piece" and "lower contacts of the two electrodes 22 are in contact with the test piece" used for initializing the internal program of the microcomputer are in "no contact";

the AD unit inside the microcomputer 31 controller continuously collects the voltage of the electrode 22 connected to the AD unit. When a predetermined change in the voltage across the two electrodes 22 is detected (meaning that the test strip 4 is in contact with the contact point), the state in "the upper contact point of the two electrodes 22 is in contact with the test strip" or/and "the lower contact point of the electrodes 22 is in contact with the test strip" is changed to "contact". The content of "the upper contact of the two electrodes 22 is in contact with the test strip" or/and "the lower contact of the two electrodes 22 is in contact with the test strip" is changed from "contact to" contact ", and the program is reset.

2. The results show that:

after the microcomputer 31 is reset by the reset button 35, the states of the display screen 33 and the sounding device 34 are initialized, whether the contents in the variables "upper contact of two electrodes 22 is in contact with the test piece" and "lower contact of two electrodes 22 is in contact with the test piece" are continuously checked, and if the contents are changed, the detection results are given and maintained in the display screen 34 and the buzzer 33 according to the contents in the variables "upper contact of two electrodes 22 is in contact with the test piece" and "lower contact of two electrodes 22 is in contact with the test piece".

While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.