CN114421258B

CN114421258B - Automatic welding method for signal transmission line

Info

Publication number: CN114421258B
Application number: CN202210096167.7A
Authority: CN
Inventors: 毕江海; 王继军; 秦俊飞; 王振文; 郑军; 陈浙泊; 施亚辉; 付彬; 王蒙; 陈龙威; 潘凌锋; 简浩; 曹英德; 李慧忠
Original assignee: Research Institute of Zhejiang University Taizhou; China Railway Construction Electrification Bureau Group Co Ltd; Third Engineering Co Ltd of China Railway Construction Electrification Bureau Group Co Ltd
Current assignee: Research Institute of Zhejiang University Taizhou; China Railway Construction Electrification Bureau Group Co Ltd; Third Engineering Co Ltd of China Railway Construction Electrification Bureau Group Co Ltd
Priority date: 2022-01-26
Filing date: 2022-01-26
Publication date: 2024-01-12
Anticipated expiration: 2042-01-26
Also published as: CN114421258A

Abstract

The invention discloses an automatic welding method of a signal transmission line, which utilizes automatic welding equipment to weld the signal transmission line to a wiring cabinet, wherein the automatic welding equipment comprises a base, a welding device, a line taking device, a line preprocessing device, a positioning system and a control system.

Description

Automatic welding method for signal transmission line

Technical Field

The invention belongs to the field of automation, and relates to an automatic welding method of a signal transmission line.

Background

The signal machine room is used as the heart of the signal system and has extremely important significance in the whole signal network. In a signal network, signals are usually connected through signal transmission lines, so that a large number of wiring cabinets and wiring exist in a signal machine room, in the traditional construction process of the signal machine room, the operations of cutting, stripping and welding of the signal transmission line heads are mostly realized in a manual mode, and although tools such as wire stripping pliers and the like are used for assisting at present, a large number of repeated actions are very boring and easy to make mistakes, and on the other hand, the welding of the signal transmission lines is difficult to set a unified standard, so that the connection stability of different wiring is different and faults are easy to occur.

Disclosure of Invention

The invention provides an automatic welding method of a signal transmission line in order to overcome the defects in the prior art.

In order to achieve the above purpose, the present invention adopts the following technical scheme: an automatic welding equipment of signal transmission line, its characterized in that: 1. the automatic welding equipment is used for welding the signal transmission line to the wiring cabinet and comprises a base, a welding device, a wire taking device, a wire preprocessing device, a positioning system and a control system, and specifically comprises the following steps:

step B1: preprocessing automatic welding equipment;

step B2: starting and preparing automatic welding equipment;

step B3: judging the number row of welding wires;

step B4: the control system controls the AGV to run to a destination station corresponding to the current welding wire number sequence;

step B5: and starting the automatic welding equipment, initializing the second confirmation equipment by the control system, enabling the welding arm of the welding device, and enabling the wire taking arm of the wire taking device.

Step B6: judging the number row of the wire plates;

step B7: the welding device, the wire taking device and the wire preprocessing device are operated to the position to be executed for taking the welding wire of a certain wire board in the wire board array;

step B8: judging the number of the inner holes of the wire plate;

step B9: the control system sends the coordinates of the current wire taking point to the wire taking arm; the wire taking arm controls a wire taking component of the wire taking device to take wires from the wire taking point, and wire taking and wire drawing operations are completed;

Step B10: the wire taking arm controls the wire taking assembly to perform wire cutting, wire stripping and wire twisting operations on the wire pretreatment mechanism of the signal transmission wire operation wire pretreatment device;

step B11: the wire taking arm controls the wire taking assembly to transfer the formed wire to a welding assembly of the welding device; the welding component moves the wire to the welding point seat mark to finish the wire welding operation;

step B12: accumulating the inner hole arrays of the wire board, judging whether the inner hole arrays of the wire board are executed, if yes, executing the step B13, and if not, executing the step B8;

step B13: accumulating the line board number sequences, judging whether the line board number sequences are executed, if yes, executing the step B14, and if not, executing the step B6;

step B14: after the line board array of the destination station is executed, the line taking arm and the wire welding arm are powered off, and the system is powered off;

step B15: judging whether the welding sequence is executed, if yes, executing the step B16, and if not, executing the step B3;

step B16: and the control system controls the AGV to run to the standby station, and the execution of the multi-cabinet welding wire program is finished.

Further; the base passes through the AGV drive, and the base passes through the AGV operation to waiting the machine position, and the terminal box is provided with a plurality of boards, and arbitrary line board has set firmly a plurality of board holes, and a plurality of line board holes are along horizontal or vertical distribution, and line inboard is hung in the hole and is equipped with the signal transmission line of waiting to handle, and the terminal box opposite side is provided with the welding board that is used for the bonding wire, is provided with a plurality of welded terminal on the welding board.

Further; the step of preprocessing the automatic welding equipment in the step B1 comprises the following steps:

step B1.0: the AGV drives the base to move to a destination station, so that the base is parallel or approximately parallel to the wiring cabinet, and a self coordinate system of the mechanical arm is established;

step B1.1: calibrating a wire board and a welding board;

step B1.2: establishing a visual positioning template of the wire board and the welding board;

step B1.3: the robot arm motion is preprogrammed.

Further; the automatic welding equipment starting preparation in the step B3 comprises the following steps:

step B2.1: the PC transmits a welding number sequence execution list to the control system;

step B2.2: starting an AGV, and confirming that the AGV is normal in communication;

step B2.3: the control system controls the AGV7 to run to a standby station;

step B2.4: the control system reads the access sequence execution list.

Further; in the step B1.0, the mechanical arm includes a welding arm and a wire taking arm, and the establishment of the coordinate system of the welding arm includes the following steps:

step B1.0.1, setting a center with a constant position;

step B1.0.2, moving the welding arm to enable the top point of the clamping head of the welding arm to be contacted with the top point, and recording a position 1;

b1.0.3, changing the posture of a welding arm to enable the top point of the chuck to be in contact with the top point of the tip, and recording a position 2;

b1.0.4, changing the posture of a welding arm to enable the top point of the chuck to be in contact with the top point of the tip, and recording a position 3;

Step B1.0.5, confirming the position of the chuck, and generating a tool point;

step B1.0.6, placing the chuck of the welding arm at a certain position of the welding plate, such as the upper right corner as an origin;

step B1.0.7 placing the collet of the welding arm in another position of the weld plate, such as the upper left corner, to determine the x-axis direction;

step B1.0.8 placing the collet of the welding arm in another position of the weld plate, such as the lower right corner, to determine the y-axis direction;

step B1.0.9 generates the welding arm's own coordinate system.

Further; the line and welding plate calibration in the step B1.1 comprises the following steps:

step B1.1.1, establishing a coordinate system of the wire board and the welding arm;

step B1.1.1.1, the welding arm is used for making a tool coordinate system for the wire board;

step B1.1.1.2, the welding arm controls the positioning camera to move to a line board shooting position;

step B1.1.1.3, positioning a camera for shooting, and selecting characteristic points;

step B1.1.1.4, recording position information of translation of the welding arm and position information of the characteristic points;

step B1.1.1.5 determines whether there are nine sets of image feature points and welding arm position information, and if not, the process is performed according to step B1.1.1.4, and if not, the process is performed according to step B1.1.1.6;

step B1.1.1.6, establishing a coordinate system of the wire board and the welding arm according to nine groups of characteristic point information;

step B1.1.2, establishing a coordinate system of the welding plate and the welding arm; the coordinate system establishment method and the coordinate system establishment step of the wire and the welding arm in the step B1.1.1 are the same.

Further; 7. the step B1.2 of establishing the visual positioning template of the wire board and the welding board comprises the following steps:

step B1.2.1, establishing a visual positioning template of the line board;

step B1.2.1.1, the welding arm controls the positioning camera to move to the line board to take pictures;

step B1.2.1.2, selecting a characteristic point Q of the picture in step B1.2.1.1, outputting an offset by the characteristic point Q information through a coordinate system, and taking the offset as a first position coordinate of the welding arm;

step B1.2.1.3, shifting the coordinate coordinates (the first position) of the welding arm (the second position) and taking the shifted welding arm position as the second position of the welding arm, moving the positioning camera along with the welding arm, and taking pictures;

step B1.2.1.4, selecting a feature point Q of the picture in step B1.2.1.3, outputting an offset by the feature point Q information through a coordinate system, determining whether the offset is zero or near zero, if so, executing step B1.2.1.5; if not, judging whether the characteristic point Q is correct, if not, executing step B1.2.1.2, and if so, calibrating the coordinate system of the welding arm and the line board again by nine points;

step B1.2.1.5, setting a second position of the welding arm as a shooting line board reference position of the welding arm;

step B1.2.1.6, setting a first line taking point on the line board as a line taking template point;

Step B1.2.1.7, completing the visual positioning template of the wire board;

step B1.2.2, establishing a visual positioning template of the welding plate; the visual positioning template creation step of the solder board is the same as the visual positioning template creation step of the wire in step B1.2.1.

Further; the pre-editing of the mechanical arm action in the step B1.3 comprises the following steps:

step B1.3.1, setting avoidance points and avoidance paths of the welding arm and the wire taking arm;

step B1.3.2, the line taking arm moves from the avoidance point to the line taking point according to the line taking point coordinates on the line plate to take the line;

step B1.3.3, the wire taking device straightens the signal transmission wire through a wire taking driving mechanism of the wire pretreatment mechanism;

step B1.3.4, the wire taking arm moves the signal transmission wire to a wire pretreatment platform of the wire pretreatment mechanism;

step B1.3.5, the wire taking arm releases the signal transmission wire to leave the wire pretreatment platform of the wire pretreatment mechanism;

step B1.3.6, a wire taking arm enters a wire pretreatment platform to clamp the treated wire;

step B1.3.7, taking a wire arm belt wire to leave the wire pretreatment platform;

step B1.3.8, the thread taking arm moves the thread to a position for preparing the thread taking arm;

step B1.3.9, moving the welding arm from the avoidance point to the arm replacement preparation position;

step B1.3.10, taking a wire from the wire taking arm and sending the wire into a welding conveying mechanism of the welding assembly;

Step B1.3.11, the wire taking arm is reset to an avoidance point;

step B1.3.12, the welding arm moves to the welding point according to the welding point coordinate strip line;

step B1.3.13, translating the welding wire arm to the wiring closet to wait for a welding clamping mechanism of the welding assembly to clamp the welding terminal;

step B1.3.14, the wire bonding arm translates to the wire bonding cabinet to wait for threading and bonding wires;

step B1.3.15 the wire bond arm is reset to the avoidance point.

Further; the control system initialization in the step B5 comprises the following steps:

step B5.1, the control system is initialized and started;

step B5.2, checking the communication of equipment;

b5.3, if the equipment communication command is received and returned, executing the step B5.1, if the equipment communication command is not received, the control system receives a prompt for checking the equipment communication connection, and the control system finishes the initialization of the equipment communication connection, adjusts the equipment communication connection and executes the step B5.1 again until the equipment communication connection is normal;

step B5.3, communication inspection of the positioning system;

b5.4 is executed if the control system receives a positioning system communication command, if the positioning system communication command is received, the control system receives a prompt for checking the positioning system communication connection, the control system finishes the initialization, adjusts the positioning system communication connection, and re-executes the step B5.1 until the positioning system communication connection is normal;

B5.4, judging whether the system is in a zero position, if so, executing the step B5.5, and if not, returning each device to zero according to the path;

step B5.5, the control system is powered down to read the storage variable;

and B5.6, the control system finishes the initialization II.

Further; in the step B9, the wire taking and pulling operation is performed by using a wire taking assembly, the wire taking assembly includes a first wire taking mechanism and a second wire taking mechanism, the first wire taking mechanism includes a first wire taking cylinder, a first wire taking plate and a second wire taking plate, the second wire taking mechanism includes a second wire taking cylinder, a third wire taking plate, a fourth wire taking plate and a wire taking driving mechanism, and in the step B, the welding operation is performed by using a welding assembly, and the method specifically includes the following steps:

step B9.1: the wire taking arm controls the wire taking assembly to move to the coordinates of the current wire taking point;

step B9.2: the first wire taking cylinder controls the wire taking plate I and the wire taking plate II to synchronously and relatively move to clamp the signal transmission wire, and the wire taking arm controls the wire taking assembly to move away from the wire taking point to finish wire taking operation;

step B9.3: the wire taking driving mechanism drives the second wire taking mechanism to be close to the first wire taking mechanism, the second wire taking cylinder controls the wire taking plate III and the wire taking plate IV to synchronously and relatively move so as to clamp the signal transmission wire, and the wire taking driving mechanism drives the second wire taking mechanism to be far away from the first wire taking mechanism, so that the wire pulling operation is completed;

The welding assembly comprises a welding mechanism, a welding conveying mechanism and a welding clamping mechanism, wherein the welding mechanism comprises a welding piece and a pressure welding motor, the welding clamping mechanism comprises a clamping cylinder and a clamping plate, the welding conveying mechanism comprises a clamping jaw, an upper member, a lower member and a threading motor, the lower member comprises a lower cylinder, and the step B11 specifically comprises the following steps:

step B11.1: the wire taking assembly conveys the wire to a position between the upper member and the lower member, the lower cylinder controls the lower member to move towards the upper member, the wire is fixed between the upper member and the lower member, and the wire taking arm is reset;

step B11.2: the control system sends the current welding point coordinates to the welding arm, the welding arm controls the welding assembly to move to the welding point, and the clamping cylinder controls the clamping plate to clamp the welding terminal;

step B11.3: the control system controls the threading motor to run, and the threading motor sequentially passes through the conveying cavity of the clamping jaw and the clamping plate and passes through the welding terminal;

step B11.4: the control system controls the operation of the pressure welding motor, flattens the penetrated wire, and after flattening, controls the welding part to weld while retreating for a certain distance;

step B11.5: and resetting each part of the welding assembly, and returning the welding arm to the original point for standby.

In summary, the invention has the following advantages:

1) The invention positions the wire taking point and the welding point through the positioning system, is convenient for the wire taking operation of the wire taking device and the welding operation of the welding device, realizes the functions of automatic wire taking and automatic welding, avoids a great deal of manual and repeated work, and improves the wire taking and welding efficiency and the wire taking and welding stability.

2) According to the invention, the wire taking operation is realized through the wire taking device, the combined action of the wire taking transverse moving assembly and the wire taking longitudinal moving assembly is used for realizing the position movement of the wire taking device in space, the wire taking arm drives the wire taking assembly to move in the space range, the adjustment of the small range of the position is controlled, and the accurate control of each position of the wire taking device is realized.

3) According to the invention, the welding operation is realized through the welding device, the combined action of the welding transverse moving assembly and the welding longitudinal moving assembly is realized, the welding arm drives the welding assembly to move in the space range, the adjustment of the small range of the position is controlled, and the accurate control of the welding position of the welding device is realized.

4) The invention inputs the welding sequence execution list into the control system through the PC, and the control system reads the welding sequence to realize automatic and uninterrupted wire-taking welding operation.

5) The invention controls the automatic zeroing of the mechanical arm through the mechanical arm zeroing module, the reset control system stores the path information which is set to move to the avoidance point according to the different stay positions before emergency or emergency stop in the moving path information between each path point and the avoidance point, the moving path of the mechanical arm is set to return to the avoidance point along each path point in a unidirectional operation mode under the normal state, and if the stay position of the mechanical arm before emergency or emergency stop is each path point, the reset control system controls the mechanical arm to move to the avoidance point from the path point; if the stop position of the mechanical arm before emergency or emergency stop is a midway point among different waypoints, the mechanical arm passes through the last waypoint or the avoidance point, and the mechanical arm moves from the last waypoint to the avoidance point, so that intermediate links and time are reduced, and the zeroing efficiency of the mechanical arm is improved.

Drawings

Fig. 1 is a schematic diagram of the assembly of the wiring closet and the base of the present invention.

Fig. 2 is a schematic view of a base device according to the present invention.

Fig. 3 is an isometric view of the thread take-off device of the present invention.

Fig. 4 is a front view of the thread take-off device of the present invention.

Fig. 5 is a schematic view of a line pretreatment apparatus according to the present invention.

Fig. 6 is a schematic view of a welding device according to the present invention.

Fig. 7 is a schematic diagram of a welding device according to the present invention.

Fig. 8 is an assembled top view of the welding apparatus and positioning system of the present invention.

Fig. 9 is a schematic view in section of A-A in fig. 8.

Fig. 10 is a first flowchart of the mechanical arm zeroing method of the present invention.

Fig. 11 is a second flowchart of the mechanical arm zeroing method of the present invention.

FIG. 12 is a schematic view of a reference wire and a wire plate of the present invention.

FIG. 13 is a flow chart of the AGV movement in step B1.0 of the present invention.

Fig. 14 is a flowchart of the method of establishing the welding arm self-coordinate system in step B1.0 of the present invention.

Fig. 15 is a flowchart of the second step of establishing the welding arm self-coordinate system in step B1.0 of the present invention.

Fig. 16 is a flow chart of the automatic welding of the present invention.

FIG. 17 is a flow chart of an AGV communication determination of the present invention.

FIG. 18 is a control system initialization flow chart of the present invention.

FIG. 19 is a flow chart of the present invention for establishing coordinates of a wire bonding pad and a bonding arm.

FIG. 20 is a flow chart of the present invention for creating a line board visual positioning template.

FIG. 21 is a flow chart of the present invention for establishing the coordinates of a solder plate and a solder arm.

FIG. 22 is a flow chart of the present invention for creating a weld plate visual positioning template.

Fig. 23 is a flowchart of the pre-editing of the robot arm operation of the present invention.

Fig. 24 is a flow chart of wire takeout and welding of the present invention.

Detailed Description

Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.

It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

All directional indications (such as up, down, left, right, front, rear, lateral, longitudinal … …) in embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture, and if the particular gesture changes, the directional indication correspondingly changes.

Embodiment one:

as shown in fig. 1-9, an automatic welding apparatus for signal transmission lines comprises a base 1, a welding device 2, a wire taking device 3, a wire preprocessing device 4, a positioning system 6 and a control system, wherein the control system is respectively connected with the base 1, the welding device 2, the wire taking device 3, the wire preprocessing device 4 and the positioning system 6, the control system controls the operation of the base 1, the welding device 2, the wire taking device 3, the wire preprocessing device 4 and the positioning system 6, the welding device 2 comprises a welding transverse moving component 23 and a welding longitudinal moving component 24, the wire taking device 3 comprises a wire taking transverse moving component 33 and a wire taking longitudinal moving component 34, the wire preprocessing device 4 comprises a wire preprocessing transverse moving component 43 and a wire preprocessing longitudinal moving component 44, the welding longitudinal moving component 24, the wire taking longitudinal moving component 34 and the wire preprocessing longitudinal moving component 44 are fixedly arranged on the base 1, the welding component 23, the wire taking transverse moving component 33 and the wire preprocessing transverse moving component 43 are respectively arranged on the welding longitudinal moving component 24, the wire taking longitudinal moving component 34 and the wire preprocessing longitudinal moving component 44, the welding transverse moving component 23 and the wire longitudinal moving component 24, the wire longitudinal moving component 2 and the wire preprocessing device position of the wire preprocessing device 4, and the wire taking longitudinal moving component 4 are respectively, and the wire longitudinal moving component and the wire longitudinal moving component 4 and the wire preprocessing device 4, and the wire longitudinal moving device 4 and the wire longitudinal moving device 4 are correspondingly controls the wire preprocessing device 4, and the wire longitudinal moving device 4.

The automatic welding device further comprises a power supply device (not shown), the power supply device comprises power electricity and control electricity, the power electricity is used for supplying power to the execution device, the control electricity is used for controlling the system to supply power, the power electricity supplements the power supply through an electric cylinder, as shown in fig. 1, the wiring cabinet 5 is provided with a charging interface 81, the base 1 is provided with a charging device, the control electricity supplements the power supply through a backup battery, under the condition that the power is sufficient, the power electricity supplements the power supply to the control electricity through the backup battery, under the condition that the power electricity is disconnected, the execution device is powered off, and the control electricity supplements the power supply through the backup battery to ensure the power of the control system.

The base 1 passes through AGV7 drive, base 1 moves to waiting the machine position through AGV7, generally speaking, base 1 is relative with wiring cabinet 5 position, wiring cabinet 5 is provided with a plurality of boards, arbitrary wiring board has set firmly a plurality of board holes, a plurality of board holes are along horizontal or vertical distribution, hang in the board hole and be equipped with the signal transmission line that waits to process, wiring cabinet 5 opposite side is provided with the welded plate that is used for the wiring, be provided with a plurality of welded terminal on the welded plate, get line device 3 and get signal transmission line that waits to process to line preprocessing device 4 carry out the preliminary treatment, get line device 3 and get signal transmission line after the preliminary treatment to welding device 2, welding device 2 removes signal transmission line after the preliminary treatment to welded terminal and welds.

The wire taking device 3 comprises a wire taking arm 31, a wire taking assembly 32, a wire taking transverse moving assembly 33 and a wire taking longitudinal moving assembly 34, the wire taking longitudinal moving assembly 34 is fixedly arranged on the base 1 along the vertical direction, the wire taking longitudinal moving assembly 34 adopts screw transmission, the wire taking longitudinal moving assembly 34 comprises a wire taking longitudinal moving drag chain (not identified in the figure), one end of the wire taking longitudinal moving drag chain is fixed, the other end of the wire taking longitudinal moving drag chain is connected with a wire taking longitudinal moving sliding block on the wire taking longitudinal moving assembly 34, and the wire taking longitudinal moving assembly 34 drives the wire taking longitudinal moving drag chain to move along the vertical direction by driving the wire taking longitudinal moving sliding block.

The wire taking and traversing assembly 33 adopts screw transmission, the wire taking and traversing assembly 33 comprises a wire taking and traversing drag chain (not shown), one end of the wire taking and traversing drag chain is fixed with the wire taking and traversing assembly 33, the other end of the wire taking and traversing assembly 33 is connected with a wire taking and traversing sliding block on the wire taking and traversing assembly 33, the wire taking and traversing assembly 33 drives the wire taking and traversing drag chain to move along the horizontal direction by driving the wire taking and traversing sliding block to move, the wire taking and traversing drag chain not only can protect a pipeline, but also limits the moving range of the wire taking device 3, the wire taking and traversing sliding block is fixedly connected with the wire taking arm 31, and the wire taking device 3 moves in the position of the space by the combined action of the wire taking and traversing assembly 33 and the wire taking and traversing assembly 34.

The wire taking arm 31 is formed by mutually connecting multiple sections of arms, a cylinder group is arranged in the wire taking arm 31, movement in a space range can be achieved, one end of the wire taking arm 31 is fixedly connected with the wire taking transverse sliding block, the other end of the wire taking arm 31 is fixedly connected with the wire taking assembly 32, the wire taking arm 31 drives the wire taking assembly 32 to move in the space range, adjustment of a small range of positions is controlled, and accurate control of each position of the wire taking device is achieved.

The wire taking assembly 32 comprises a wire taking fixing plate 322, a wire taking connecting plate 321, a first wire taking mechanism and a second wire taking mechanism, wherein the wire taking connecting plate 321, the first wire taking mechanism and the second wire taking mechanism are fixedly connected with the wire taking arm 31, the first wire taking mechanism comprises a first wire taking cylinder 3231, a first wire taking plate 3232 and a second wire taking plate 3233, the first wire taking cylinder 3231 is respectively connected with the first wire taking plate 3232 and the second wire taking plate 3233, and the first wire taking plate 3232 and the second wire taking plate 3233 are controlled to synchronously move relatively or reversely so as to realize wire taking and paying-off operations.

The first wire taking plate 3232 and the second wire taking plate 3233 are identical in structure and symmetrically distributed, taking the first wire taking plate 3232 as an example for explanation, the first wire taking plate 3232 comprises a first plate, a second plate and a third plate, the first plate, the second plate and the third plate are sequentially fixedly connected to form a Z-shaped structure, the first plate is connected with a first wire taking cylinder 3231, a first wire taking groove 3234 and a second wire taking groove 3235 are respectively fixedly arranged on opposite surfaces of the third plate of the first wire taking plate 3232 and the second wire taking plate 3233, the first wire taking cylinder 3234 and the second wire taking groove 3235 are preferably semicircular structures, and the first wire taking cylinder 3231 controls the first wire taking plate 3232 and the second wire taking plate 3233 to synchronously move relatively, so that the first wire taking plate 3232 and the second wire taking plate 3233 are contacted, and a signal transmission wire is limited in the wire taking groove formed by the first wire taking groove 3234 and the second wire taking groove 3235, and the wire taking operation is realized.

The second wire taking mechanism comprises a second wire taking cylinder 3241, a wire taking plate III 3242 and a wire taking plate IV 3243, the second wire taking cylinder 3241 is respectively connected with the wire taking plate III 3242 and the wire taking plate IV 3243, and the wire taking plate III 3242 and the wire taking plate IV 3243 are controlled to synchronously move relatively or reversely, so that wire taking and paying-off operations are realized.

The wire taking plate three 3242 and the wire taking plate four 3243 are identical in structure and symmetrically distributed, taking the wire taking plate three 3242 as an example for description, the wire taking plate three 3242 comprises a fourth plate, a fifth plate and a sixth plate, the fourth plate, the fifth plate and the sixth plate are sequentially fixedly connected to form a Z-shaped structure, the fourth plate is connected with a second wire taking cylinder 3241, the surfaces, opposite to the sixth plate, of the wire taking plate three 3242 and the wire taking plate four 3243 are respectively fixedly provided with a wire taking groove three 3244 and a wire taking groove four 3245, the wire taking grooves three 3244 and the wire taking groove four 3245 are preferably semicircular structures, the second wire taking cylinder 3241 controls the wire taking plate three 3242 and the wire taking plate four 3243 to synchronously move relatively, so that the wire taking plate three 3242 and the wire taking plate four 3243 are contacted, and a signal transmission wire is limited in the wire taking grooves formed by the wire taking grooves three 3244 and the wire taking four 3245, and the wire taking operation of the wire grooves is realized.

As shown in fig. 3, the first wire taking mechanism and the second wire taking mechanism are distributed along a horizontal direction, the second wire taking mechanism further includes a wire taking driving mechanism 3246, the wire taking driving mechanism 3246 adopts a cylinder structure, the wire taking driving mechanism 3246 is connected with the second wire taking mechanism, the movement of the second wire taking mechanism in the horizontal direction is controlled, and further, the distance between the first wire taking mechanism and the second wire taking mechanism in the horizontal direction is controlled, so as to realize the wire pulling operation, in this embodiment, the operation process of the wire taking device 3 specifically includes that the wire taking traversing assembly 33 and the wire taking longitudinal moving assembly 34 control the wire taking assembly 32 to move to the wire connecting cabinet 5, the wire taking arm 31 controls the wire taking assembly 32 to move to a wire taking point, the first wire taking mechanism takes a wire head of a signal transmission wire, and the second wire taking mechanism fixes the wire head to a backward position, so that a signal transmission wire between the first wire taking mechanism and the second wire taking mechanism is kept in a linear or quasi-linear shape, on the one hand, and on the other hand, the signal transmission wire between the wire taking device 3 and the welding device 2 and the wire preprocessing device 4 is convenient for the signal transmission wire.

The wire pretreatment device 4 of this embodiment adopts the existing equipment, the wire pretreatment device 4 includes a wire pretreatment mechanism 42, a wire pretreatment traversing assembly 43 and a wire pretreatment longitudinal moving assembly 44, the wire pretreatment longitudinal moving assembly 44 is fixed on the base 1 along the vertical direction, the wire pretreatment longitudinal moving assembly 44 adopts screw transmission, the wire pretreatment longitudinal moving assembly 44 includes a wire pretreatment longitudinal moving drag chain (not identified in the figure), one end of the wire pretreatment longitudinal moving drag chain is fixed, the other end is connected with a wire pretreatment longitudinal moving sliding block on the wire pretreatment longitudinal moving assembly 44, the wire pretreatment longitudinal moving assembly 44 drives the wire pretreatment longitudinal moving drag chain to move along the vertical direction through driving the wire pretreatment longitudinal moving sliding block, and the wire pretreatment longitudinal moving drag chain not only can protect pipelines, but also limits the moving range of the wire pretreatment device 4.

The wire pretreatment mechanism 42 at least comprises a wire twisting component 421, a wire shearing component 422, a wire stripping component 423, a wire conveying component 424, a wire tightening detection component and a wire pretreatment platform, wherein the wire twisting component 421, the wire shearing component 422, the wire stripping component 423, the wire conveying component 424 and the wire tightening detection component are arranged on the wire pretreatment platform, the wire pretreatment platform is connected with the wire pretreatment traversing component 43, the wire conveying component 424 can move relative to the wire twisting component 421, the wire shearing component 422 and the wire stripping component 423, the wire conveying component 424 is in butt joint with the wire twisting component 421, the wire conveying component 424 is in butt joint with the wire shearing component 422 and the wire stripping component 423, and the wire pretreatment device 4 realizes wire shearing, wire stripping, wire twisting and detection operations on a signal transmission wire through the wire twisting component 421, the wire shearing component 422, the wire stripping component 423, the wire conveying component 424 and the wire tightening detection component.

In this embodiment, the wire preprocessing device 4 is in butt joint with the wire taking device 3, the wire taking device 3 moves the signal transmission wire from the wiring cabinet 5 to the wire conveying component 424 of the wire preprocessing device 4, the wire preprocessing device 4 is used for preprocessing the signal transmission wire, the wire preprocessing device comprises wire cutting, wire stripping and wire twisting, the processed signal transmission wire moves to the welding device 2 through the wire preprocessing device 4, and the signal transmission wire is welded through the welding device 2.

The welding device 2 comprises a welding arm 21, a welding assembly 22, a welding transverse moving assembly 23 and a welding longitudinal moving assembly 24, the welding longitudinal moving assembly 24 is fixedly arranged on the base 1 along the vertical direction, the welding longitudinal moving assembly 24 adopts screw transmission, the welding longitudinal moving assembly 24 comprises a welding longitudinal moving drag chain (not shown in the figure), one end of the welding longitudinal moving drag chain is fixed, the other end of the welding longitudinal moving drag chain is connected with a welding longitudinal moving sliding block on the welding longitudinal moving assembly 24, and the welding longitudinal moving assembly 24 drives the welding longitudinal moving drag chain to move along the vertical direction by driving the welding longitudinal moving sliding block to move, so that the welding longitudinal moving drag chain not only can protect a pipeline, but also limits the moving range of the welding device 2.

The welding sideslip subassembly 23 adopts screw drive, and welding sideslip subassembly 23 includes welding sideslip tow chain (not shown in the figure), and welding sideslip tow chain one end is fixed with welding sideslip subassembly 23, and the other end is connected with the welding sideslip slider on the welding sideslip subassembly 23, and welding sideslip subassembly 23 removes and then drives welding sideslip tow chain and remove along the horizontal direction through the drive welding sideslip slider, and welding sideslip tow chain not only can protect the pipeline, has restricted the movable range of welding set 2 simultaneously, and welding sideslip slider is connected with welding arm 21 fixedly, and this embodiment realizes that welding set 2 moves in the position in space through the combined action of welding sideslip subassembly 23 and welding longitudinally moving subassembly 24.

The welding arm 21 is formed by mutually connecting a plurality of sections of arms, a cylinder group is arranged in the welding arm 21, movement in a space range can be realized, one end of the welding arm 21 is fixedly connected with a welding transverse sliding block, the other end of the welding arm is fixedly connected with a welding assembly 22, the welding arm 21 drives the welding assembly 22 to move in the position in the space range, and small-range adjustment of the position is controlled, so that accurate control of the welding position of the welding device 2 is realized.

The welding assembly 22 includes a welding fixing mechanism, a welding conveying mechanism and a welding clamping mechanism, the welding mechanism and the welding conveying mechanism are respectively fixed on the welding fixing mechanism, the welding conveying mechanism is connected with the wire formed by the wire collecting device 3 and moves the wire formed to a welding position, and the welding mechanism welds the signal transmission wire.

The welding and fixing mechanism comprises a first welding and fixing plate 2201 and a second welding and fixing plate 2203, the first welding and fixing plate 2201 and the second welding and fixing plate 2203 are vertically connected, the second welding and fixing plate 2203 is fixedly provided with a welding connection plate 2202 which is fixedly connected with the welding arm 21, and the welding mechanism is fixedly arranged on the first welding and fixing plate 2201 through the welding plate 2213.

The welding mechanism comprises a welding piece 2210, a welding piece fixing plate 2211, a pressure welding motor 2212 and a welding piece connecting plate 2214, wherein the pressure welding motor 2212 is fixed on the welding plate 2213 and connected with the welding piece connecting plate 2214, the pressure welding motor 2212 can drive the welding piece connecting plate 2214 to move, the welding piece fixing plate 2211 is fixedly arranged on the welding piece connecting plate 2214, the welding piece 2210 is arranged on the welding piece connecting plate 2214, the pressure welding motor 2212 can control the welding piece fixing plate 2211 to move through the welding piece connecting plate 2214, the position of the welding piece 2210 is adjusted, the welding accuracy is guaranteed, meanwhile, a penetrating wire can be flattened, and welding is convenient.

The welding clamping mechanism comprises a clamping cylinder 2221 and clamping plates 2222, the clamping plates 2222 are provided with two groups, the two groups of clamping plates 2221 are horizontally and symmetrically arranged on the clamping cylinder 2221, the clamping cylinder 2221 controls the two groups of clamping plates 2222 to synchronously move relatively or reversely, clamping or loosening of a wire and clamping or loosening of a welding terminal are achieved, welding is facilitated, and through holes of a signal transmission line are formed between the two groups of clamping plates 2222.

The welding conveying mechanism comprises an upper member and a lower member, a wire is placed between the upper member and the lower member through a wire taking device 3, specifically, the upper member comprises two groups of upper plates 2232, the lower end surfaces of the clamping cylinders 2221 are horizontally and symmetrically fixed on the two groups of upper plates 2232, upper side plates 2233 are fixedly arranged on the side surfaces of the two groups of upper plates 2232, an upper installation cavity with downward openings is formed by the upper side plates 2233, the two groups of upper plates 2232 and the lower end surfaces of the clamping cylinders 2221, and an upper traction wheel 2234 and an upper guide wheel 2235 are rotatably arranged in the upper installation cavity as shown in fig. 8.

The lower member comprises a lower air cylinder 2245, the lower air cylinder 2245 is fixedly arranged on a welding fixing plate II 2203, the lower air cylinder 2245 is fixedly provided with a lower pushing block 2244, the lower air cylinder 2245 controls the lower pushing block 2244 to move in the vertical direction, two groups of horizontally symmetrical lower plates 2242 are fixedly arranged on the lower pushing block 2244, the side surfaces and the bottom surfaces of the two groups of horizontally symmetrical lower plates 2242 are fixedly provided with lower side plates 2243, the two groups of lower plates 2242 and the lower side plates 2243 form a lower installation cavity with an upward opening, the lower installation cavity is opposite to the upper installation cavity, a driving wheel 2246 and a lower guide wheel 2247 are rotatably arranged in the lower installation cavity, the lower guide wheel 2247 is opposite to the upper guide wheel 2235, grooves are respectively fixedly arranged on the lower guide wheel 2247 and the upper guide wheel 2235, a line is positioned in the grooves between the lower guide wheel 2247 and the upper guide wheel 2235, the signal transmission line is conveyed, a plurality of groups of driving wheels 2246 are rotatably controlled by a threading motor 2240, and a tooth form of driving wheel 2246 is arranged outside the driving wheel 2246, and the upper guide wheel is opposite to the position of a group of driving wheel 2236;

The welding conveying mechanism further comprises clamping jaws, the clamping jaws comprise an upper clamping jaw 2231 and a lower clamping jaw 2241, the upper clamping jaw 2231 is fixedly arranged on an upper side plate 2233, the lower clamping jaw 2241 is fixedly arranged on a lower side plate 2243, an arc surface is arranged on the lower end face of the upper clamping jaw 2231 and the upper end face of the lower clamping jaw 2241, an inner groove is fixedly formed in the lower end face of the upper clamping jaw 2231 and the upper end face of the lower clamping jaw 2241, a conveying cavity 225 for conveying a signal transmission line is formed after the upper clamping jaw 2231 and the lower clamping jaw 2241 are abutted against each other, the signal transmission line guided and conveyed through a lower guide wheel 2247 and an upper guide wheel 2235 is conveyed between an upper traction wheel 2234 and a transmission wheel 2246, the signal transmission line is conveyed to the conveying cavity 225 through the tooth-shaped effect of the transmission wheel 2246, and a line head of the signal transmission line penetrates through a through hole.

In this embodiment, the welding apparatus 2 is operated by the following steps, the lower cylinder 2245 controls the lower member to move downward relative to the upper member, so that the upper member and the lower member are separated from each other, the wire taking device 3 moves a pre-processed signal transmission wire between the upper member and the lower member, the lower cylinder 2245 starts to control the lower member to move upward relative to the upper member, so that the upper member and the lower member are connected, the signal transmission wire is positioned between the lower guide wheel 2247 and the upper guide wheel 2235 and between the upper traction wheel 2234 and the driving wheel 2246, the threading motor 2240 starts to convey the signal transmission wire along the conveying cavity 225 and penetrate through the through hole, the welding clamping mechanism clamps the welding terminal, so that the positioning and threading of the signal transmission wire are facilitated, the stability of the signal transmission wire in the moving and the welding process is ensured, and the welding member 2210 starts to connect the signal transmission wire with the wire cabinet 5 in a welding manner.

The automatic welding equipment of the signal transmission line further comprises a mechanical arm zeroing module, the mechanical arm zeroing module comprises a reset button and a reset control system, the reset control system is respectively connected with the control system, the control system controls the mechanical arm to be zeroed after the mechanical arm is in emergency or stops in emergency through the mechanical arm zeroing module, the reset control system stores moving path information between each path point and the avoidance point, the mechanical arm comprises a welding arm 21 and a wire taking arm 31, and a power supply device of the automatic welding equipment is connected with the power equipment to supply power for the mechanical arm zeroing module.

As shown in fig. 10-11, the mechanical arm zeroing method of the automatic welding equipment of the signal transmission line adopts the device, and is used for zeroing the wire taking arm and the welding arm, and comprises the following steps:

step 1: switching on the power equipment;

step 2: clicking a reset button, and sequentially starting, unlocking and enabling the mechanical arm;

step 3: the mechanical arm returns to zero manually or automatically.

In the step 3, the mechanical arm returns to zero manually, which comprises the following steps:

step 3.1.1, manually triggering a mechanical arm to drive freely;

step 3.1.2, manually correcting the mechanical arm to the vicinity of the avoidance point;

step 3.1.3, the control system issues an instruction for the mechanical arm to move to the avoidance point;

Step 3.1.4, the reset control system receives the instruction, and the mechanical arm moves towards the avoidance point;

step 3.1.5, judging whether the mechanical arm is positioned at the avoidance point, if not, waiting for the mechanical arm to return to the avoidance point, and if so, entering step 3.1.6;

and 3.1.6, ending the mechanical arm reset.

In the step 3, the mechanical arm automatically returns to zero, which comprises the following steps:

step 3.2.1, the control system issues an automatic reset instruction to the reset control system, and the mechanical arm receives the instruction to prepare for reset;

step 3.2.2, the control system issues the last road point information before emergency or emergency stop to the reset control system;

step 3.2.3, the mechanical arm receives the information of the last road point, and the mechanical arm moves to the last road point;

step 3.2.4, the reset control system controls the mechanical arm to move to the avoidance point through the set path information;

step 3.2.5, judging whether the mechanical arm is positioned at the avoidance point, if not, waiting for the mechanical arm to return to the avoidance point, and if so, entering step 3.2.6;

and 3.2.6, ending the mechanical arm reset.

The reset control system stores the path information of the moving to the avoidance point, which is set according to the difference of the stop position before emergency stop, in the moving path information between each path point and the avoidance point, specifically, as shown in fig. 11, the path marked by the thick solid line is the running path of the mechanical arm in a normal state, the mechanical arm is circulated to the avoidance point along each path point in a unidirectional running mode from the avoidance point, if the stop position of the mechanical arm before emergency stop is each path point, the last path point in the step 3.2.3 is the path point, and the reset control system controls the mechanical arm to move from the path point to the avoidance point; if the stop position of the mechanical arm before emergency or emergency stop is a midway point among different waypoints, the last waypoint in the step 3.2.2 is the last waypoint or avoidance point passed by the midway point, and the mechanical arm moves to the avoidance point according to the steps 3.2.3-3.2.4.

In this embodiment, the avoidance points of the mechanical arm are the shot welding plate reference positions of the welding arm and the wire taking arm positions corresponding to the shot wire plate reference positions of the welding arm, as shown in fig. 18-21 and fig. 14-15, the welding arm, the wire taking arm self coordinate system, the coordinate system between the wire plate and the welding arm, and the coordinate system between the welding plate and the welding arm are established, so as to obtain the avoidance points of the mechanical arm, and the establishment of each coordinate system is shown in each figure and is not described herein.

The invention provides a high-precision positioning method, which is used for positioning the wire taking and welding of a signal transmission wire between welding equipment and a wiring cabinet 5, and comprises a positioning system 6, wherein the welding equipment comprises a base 1, a welding device 2, a wire taking device 3, a wire preprocessing device 4 and a control system, the positioning system 6 is connected with the control system, the positioning system 6 comprises a positioning distance measuring sensor 60, a positioning camera 61, a reference plate and a reference welding plate, and the wire taking point on the wire plate and the welding point on the welding plate are positioned by the positioning system 6, so that the wire taking device 3 can conveniently take wires and the welding device 2 can conveniently weld.

The positioning camera 61 is installed on the welding component 22 of the welding device 2, the welding arm 21 of the welding device 2 controls the moving position of the positioning camera 61, the positioning system 6 can position the wire taking point of the wire board and the welding point of the welding board through the reference wire board and the reference welding board respectively, the positioning ranging sensor 60 is installed on the wire preprocessing platform of the wire preprocessing device 4, and the control system controls the positioning ranging sensor 60 to move along with the wire preprocessing platform.

The method for positioning the wire taking point of the wire board and the welding point of the welding board by using the positioning system 6 in the embodiment comprises the following steps:

a1, calibrating a line board and a welding board;

step a1.1, establishing a coordinate system alpha of the wire board and the welding arm 21;

step A1.1.1 the welding arm 21 makes a tool coordinate system for the wire board;

step A1.1.2 the welding arm 21 controls the positioning camera 61 to move to the line plate shooting position;

step A1.1.3, positioning the camera 61 for shooting, and selecting characteristic points;

step A1.1.4, recording translational position information and characteristic point position information of the welding arm 21;

step A1.1.5 determines whether there are nine groups of feature points, if not, execution is performed according to step A1.1.4, and if not, execution is performed according to step A1.1.6;

step A1.1.6, establishing a coordinate system alpha of the wire board and the welding arm 21 according to nine groups of characteristic point information;

step a1.2, establishing a coordinate system beta of the welding plate and the welding arm 21; the method for establishing the coordinate system beta is the same as the method for establishing the coordinate system alpha in the step A1.1, and is not described in detail herein;

step A2, establishing a visual positioning template of the wire board and the welding board;

step A2.1, establishing a visual positioning template of the line board;

step A2.1.1, the welding arm 21 controls the positioning camera 61 to move to the line board to take pictures;

step A2.1.2 selects the feature point Q of the picture in step A2.1.1, and the feature point Q information outputs the offset X through the coordinate system alpha ₁ ，Y ₁ Offset X ₁ ，Y ₁ As first position coordinates of the welding arm 21;

step A2.1.3 coordinates (X ₁ ，Y ₁ ) Offset (-X) ₁ ，-Y ₁ ) And the position of the welding arm 21 after the offset is used as the second position of the welding arm 21 to be fixedThe position camera 61 moves with the welding arm 21 and takes a picture;

step A2.1.4 selects the feature point Q of the picture in step A2.1.3, and the information of the feature point Q outputs the offset X through the coordinate system ₂ ，Y ₂ Determining an offset X ₂ ，Y ₂ Whether zero or near zero, if so, go to step A2.1.5; if not, judging whether the characteristic point Q is correct, if not, executing step A2.1.2, and if so, carrying out nine-point calibration on the coordinate system alpha of the welding arm and the line board again;

step A2.1.5, setting the second position of the welding arm 21 as the shooting line board reference position of the welding arm 21;

step A2.1.6, setting a first line taking point on the line board as a line taking template point;

step A2.1.7, completing the visual positioning template of the wire board;

step A2.2, establishing a visual positioning template of the welding plate; the step of establishing the visual positioning template of the welded plate is the same as the step of establishing the visual positioning template of the wire plate in the step A2.1, and is not described in detail herein;

step A3, roughly positioning a line board;

step A3.1, setting a datum of the datum line;

In this embodiment, as shown in fig. 1, the left-right direction of the reference line plate is set to the X direction, the left direction of the X is set to the positive direction, the up-down direction of the reference line plate is set to the Y direction, the upward direction of the Y is set to the positive direction, the inward-outward direction of the reference line plate is set to the Z direction, the inward direction of the Z direction is set to the positive direction, the clockwise rotation direction, that is, the arrow direction is set to the positive rotation direction, the line taking device 3 takes lines row by row in the positive direction of the Y, and after any one line is taken, the line is moved to an adjacent line in the positive direction of the X.

In other embodiments, the wire taking device 3 may take wires row by row along the negative direction of Y, and after taking wires in any one row, the wire taking device 3 moves to an adjacent row along the negative direction of X for taking wires, and the wire taking direction is not limited.

The reference line taking point on the reference line board is set as A _0PMN 0P refers to a datum plate, M refers to the number of columns, N refers to the number of rows, A _0PMN Finger baseReference line taking points (M is more than or equal to 1 and less than or equal to 3, N is more than or equal to 1 and less than or equal to 18) of the M th row and N line on the alignment plate, and adjacent reference line taking points A _0PMN Is set to L _YAA The lateral distance is set to L _XAA In this embodiment, each column of the reference board is longitudinally provided with 18 groups of reference line taking points, that is, 18 rows and 3 columns are all arranged;

the welding arm 21 sets a positioning mark point on the reference plate obtained by shooting the reference position of the line plate as a reference positioning point B _0p 0P is a reference line board, and B is detected by the positioning and distance measuring sensor 60 _0p The Z-direction coordinate is set to 0, and the reference line taking point A _0P11 The coordinates of (2) are set to [0,0 ]]，B _0p The coordinates of the reference positioning point are known to obtain L _AB 、L _XAB 、L _YAB θ _AB ，L _AB Finger B _0p And A is a _0P11 Straight line distance L of (2) _XAB Finger B _0p Relative to A _0P11 Distance in X direction, L _YAB Finger B _0p Relative to A _0P11 Distance in Y direction, theta _AB Finger B _0p Relative to A _0P11 An angular offset value in the X direction;

the reference coarse positioning distance measurement fixed point on the reference line board is set as D _0P ；D _0P Can be arranged at the center or non-center position of the datum plate, D _0P And B is connected with _0p Is known to obtain L _XDB 、L _YDB 、L _DB θ _DB ，L _XDB Finger D _0P Relative to B _0p Distance in X direction, L _YDB Finger D _0P Relative to B _0p Distance in Y direction, L _DB Finger D _0P Relative to B _0p And (a) the linear distance, theta _DB Finger D _0P Relative to B _0p An angular offset value in the X direction;

step A3.2, setting a wire board;

the line taking point on the line board is set as A _1PMN 1P refers to the line board, M refers to the number of columns, N refers to the number of rows, A _1PMN In the embodiment, 18 groups of wire taking points are longitudinally arranged in each row of the wire plate, namely 18 rows and 3 rows in total; the locating point on the line board is set as B _1P Coarse and thickThe positioning distance measurement and the fixed point are set as D _1P ，A _0HMN And A is a _1HMN 、D _0P And D _1P 、B _0P And B _1P The number corresponds to the position one;

longitudinal spacing and transverse spacing of adjacent line taking points and L _YAA And L _XAA The same;

step A3.3, positioning offset of the feedback line board of the camera 61;

the control system controls the wire arm 21 to move to the reference position of the shooting wire board, and the positioning camera 61 positions the positioning point B _1P Relative to reference positioning point B _0p Offset of (2) i.e. offset X of the wire board relative to the reference wire board _1P0 、Y _1P0 θ _1P0 Feedback to the control system; offset X _1P0 Finger B _1P Relative to B _0P The X-direction offset of Y _1P0 Finger B _1P Relative to B _0P Y-direction offset, θ _1P0 The finger plate rotates clockwise relative to the reference plate by an offset amount.

Step A4, ranging by a line board;

step A4.1, setting a rough positioning distance measurement position of a line board;

step A3.1 feedback line plate offset [ X ] _1P0 、Y _1P0 、θ _1P0 ]Obtaining D on the line board _1P D on the relative datum line _0P Offset X between _1′P0 、Y _1′P0 ，

X _1′P0 ＝X _1P0 +L _DB ×cos(θ _DB +θ _1P0 )-L _XDB ；

Y _1′P0 ＝Y _1P0 +L _DB ×sin(θ _DB +θ _1P0 )-L _YDB ；

The control system controls the positioning ranging sensor 60 to be along with the line pretreatment platform according to the offset [ X ] _1′P0 、Y _1′P0 ]Moving to obtain a coarse positioning distance measuring position of the wire board;

step A4.2, positioning and ranging by a ranging sensor 60;

the positioning and ranging sensor 60 is positioned on the line board coarse positioning and ranging position pair D _1P Ranging to obtain D _1P Relative D _0P Offset Z in Z direction _1P0 And feeding back to the control system;

step A4.3, setting the actual shooting line board position of the positioning camera;

the positioning distance measuring sensor 60 is reset, and the control system controls the welding arm 21 of the welding device 2 to drive the positioning camera 61 according to the offset Z _1P0 Moving in the Z direction, the actual shooting line board position of the positioning camera 61 is obtained, and the influence of the depth shift on the vision can be avoided.

Step A5, fine positioning of line taking points of the line plate;

step A5.1, obtaining the offset of the line board;

the control system controls the welding arm 21 of the welding device 2 to drive the positioning camera 61 to the actual shooting line board position, and the positioning camera 61 shifts the line board relative to the reference line board by X in the actual shooting line board position _1P 、Y _1P θ _1P Feedback to the control system;

step A5.2, obtaining the Z-direction offset of the line board;

step A5.2.1, setting a reference ranging fixed point of a reference line board;

the reference distance measurement fixed point on the reference line board is set as C _0Pa 0P refers to a reference plate, a refers to the number of reference ranging points, a is 1, 2, 3. In the present embodiment, the reference plate is provided with three sets of reference distance measurement points set as C _0Pa C respectively _0P1 、C _0P2 And C _0P3 ，C _0P1 At A _0P11 Directly below C _0P2 At A _0P18 Directly above C _0P3 At A _0P31 Directly below (C) the reference distance measurement fixed point _0Pa Line taking point A adjacent to the reference _0PMN The interval between them is set as L _AC ；

Step A5.2.2, setting a ranging fixed point of the line board;

the distance measurement fixed point on the line board is set as C _1Pa 1P refers to a line board, a refers to the number of distance measurement points, a is 1, 2, 3. In the embodiment, the line board is provided with three groups of distance measurement fixed points which are set as C _1Pa C respectively _1P1 、C _1P2 And C _1P3 ，C _1P1 At A _1P11 Is of (3)Below, C _1P2 At A _1P18 Directly above C _1P3 At A _1P31 Directly below (C) _1Pa With adjacent line taking point A _1PMN Spacing between and L _AC ，C _0Pa And C _1Pa The number and the positions are in one-to-one correspondence;

step A5.2.3 locates the offset of the ranging sensor 60 in the Z direction of the line plate;

positioning and ranging sensor 60 detects reference and ranging point C on reference plate _0Pa Ranging setpoint C on a line board _1Pa Offset value Z in Z direction of (2) _Pa ，Z _P1 Finger C _1P1 Relative C _0P1 Offset value in Z direction, Z _P2 Finger C _1P2 Relative C _0P2 Offset value in Z direction, Z _P3 Finger C _1P3 Relative C _0P3 Offset value in the Z direction;

step A5.2.4 obtaining the line taking point A of the line outlet plate _1P11 Coordinates [ X ] _1P11 ，Y _1P11 ，Z _1P11 ]；

X _1P11 ＝X _1P -L _XAB +L _AB ×cos(θ _AB +θ _1P )；

Y _1P11 ＝Y _1P -L _YAB +L _AB ×sin(θ _AB +θ _1P )；

Z _1P11 ＝(Z _P2 -Z _P1 )/(17×L _YAA +2×L _AC )×L _AC +Z _P1 ；

Step A5.2.5 obtaining the first row of arbitrary line taking points A of the line outlet plate _1P1N Coordinates [ X ] _1P1N ，Y _1P1N ，Z _1P1N ]；

X _1P1N ＝X _1P11 -(N-1)×L _YAB ×sinθ _1P ；

Y _1P1N ＝Y _1P11 +(N-1)×L _YAB ×cosθ _1P ；

Z _1P1N ＝(Z _P2 -Z _P1 )/(17×L _YAA +2×L _AC )×(L _AC +(N-1)×L _YAA )+Z _P1 ；

Step A5.2.6Obtaining any wire taking point A of wire outlet plate _1PMN Coordinates [ X ] _1PMN ，Y _1PMN ，Z _1PMN ]；

X _1PMN ＝X _1P11 +(M-1)×L _XAA ×cosθ _1P -(N-1)×L _YAA ×sinθ _1P ；

Y _1PMN ＝Y _1P11 +(M-1)×L _XAA ×sinθ _1P +(N-1)×L _YAA ×cosθ _1P ；

Z _1PMN ＝(Z _P2 -Z _P1 )/(17×L _YAA +2×L _AC )×(L _AC +(N-1)×L _YAA )+(Z _P3 -Z _P1 )× (M-1)/2+Z _P1

Step A6, rough positioning of a welding plate;

in this embodiment, the left-right direction of the reference welding plate is set to the X direction, the X-left direction is set to the positive direction, the up-down direction of the reference welding plate is set to the Y direction, the Y-up direction is set to the positive direction, the inside-outside direction of the reference welding plate is set to the Z direction, and the Z-in direction is set to the positive direction; the welding device 2 performs welding row by row in the positive direction of Y, and moves to an adjacent row in the positive direction of X after welding in any one row, but is not limited thereto.

The reference welding point on the reference welding plate is set as A _0HMN 0H refers to a reference welding plate, M refers to the number of columns, N refers to the number of rows, A _0HMN Reference welding points (M is more than or equal to 3 and N is more than or equal to 18) of the M-th row and N-th row on the reference welding plate, and the reference distance measurement fixed point on the reference welding plate is set as C _0Ha A refers to the number of reference ranging points, a:1, 2, 3..n; the welding point on the welding plate is set as A _1HMN 1H means solder plate, M means column number, N to row number, A _1HMN The welding points (M is less than or equal to 1 and less than or equal to 3 and N is less than or equal to 1 and less than or equal to 18) of the M-th row and the N-th row on the welding plate are indicated, and the distance measurement fixed point on the welding plate is set as C _1Ha A designates the number of distance points, a:1, 2, 3..n; a is that _0HMN And A is a _1HMN 、C _0Ha And C _1Ha The number and the position are in one-to-one correspondence;

setting the reference coarse positioning distance measurement fixed point on the reference welding plate as D _0H ；D _0H Can be arranged at the center or non-center position of the reference welding plate, D _0H And B is connected with _0H Is known to obtain L _X′DB 、L _Y′DB 、L _′DB θ _′DB ，L′ _XDB Finger D _0H Relative to B _0H Distance in X direction, L _Y′DB Finger D _0H Opposite to B _0H Distance in Y direction, L _′DB Finger D _0H Relative to B _0H Linear distance, θ' _DB Finger D _0H Relative to B _0H An angular offset value in the X direction; setting the coarse positioning distance measurement fixed point on the welding plate as D _1H B is arranged on the welding plate _1H Is a positioning point; b (B) _0H And B _1H 、D _0H And D _1H The number and the position are in one-to-one correspondence;

the control system controls the wire arm 21 to move to a reference position for shooting the welding plate, and the positioning camera 61 shifts the welding plate by an offset X relative to the reference welding plate _1H0 、 Y _1H0 θ _1H0 Feedback to the control system; offset X of the solder plate relative to the reference solder plate _1H0 Finger B _1H Relative to B _0H The X-direction offset of Y _1H0 Finger B _1H Relative to B _0H Y-direction offset, θ _1H0 Refers to the rotational offset of the solder plate relative to the reference solder plate.

Step A7, welding plate ranging;

the control system controls the positioning ranging sensor 60 to be along with the line pretreatment platform according to the offset [ X ] _1′H0 、Y _1′H0 ]Move, X _1′H0 、Y _1′H0 And X _1′P0 、Y _1′P0 The calculation mode is the same, and the coarse positioning and ranging position of the welding plate is obtained, and the positioning and ranging sensor 60 is positioned at the pair D of coarse positioning and ranging positions of the welding plate _1H Ranging to obtain D _1H Relative D _0H Offset Z in Z direction _1H0 And is fed back to a control system, and the control system controls the welding arm 21 of the welding device 2 to drive the positioning camera 61 according to the offset Z _1H0 Moving along the Z direction to obtain the actual shooting welding plate position of the positioning camera 61;

step A8, precisely positioning welding points of the welding plate;

the positioning camera 61 positions the solder plate relative to the base at the actual photographed solder plate positionOffset X of the quasi-welded plate _1H 、Y _1H θ _1H Feedback to the control system, positioning and ranging sensor 60 detects reference ranging setpoint C on the reference weld plate _0Ha Ranging setpoint C on a solder plate _1Ha Offset value Z in Z direction of (2) _Ha ， Z _H1 Finger C _1H1 Relative C _0H1 Offset value in Z direction, Z _H2 Finger C _1H2 Relative C _0H2 Offset value in Z direction, Z _H3 Finger C _1H3 Relative C _0H3 Offset value in Z direction according to offset value X _1H 、Y _1H 、θ _1H Offset Z in Z direction _Ha Obtaining the welding point A _1HMN Coordinates [ X ] _1HMN ，Y _1HMN ， Z _1HMN ]The method comprises the steps of carrying out a first treatment on the surface of the Welding point A _1HMN Coordinate calculation method and line taking point A _1PMN The method of calculating the coordinates is similar and will not be described in detail here.

Step A9, resetting the mechanical arm;

the mechanical arm comprises a welding arm and a wire taking arm, and the welding arm and the wire taking arm are reset through the mechanical arm zeroing module.

In this embodiment, the step A1 may further include repositioning the base 1 before the step of calibrating the wire board and the solder board, and the AGV7 drives the base 1 to move to the destination station for repositioning, so that the base 1 and the wiring closet 5 remain parallel, which is the same as the step of repositioning the base 1 by the AGV7 in the step B2.5, and will not be described herein.

In this embodiment, the control system controls the wire taking arm 31 of the wire taking device 3 to move to the wire taking point position through the wire taking point position on the wire plate and the coordinate system α to take a wire.

In other embodiments, the fine positioning step of the line taking point of the line board in the step A5 can be omitted, and the coarse positioning offset value [ X ] of the line board can be obtained _1P0 、Y _1P0 、θ _1P0 ]Feedback to the control system to obtain the line taking point A _1PMN Coordinates of each line taking point A _1PMN The coordinates in the Z direction may be approximately equivalent to the offset Z _1P0 ；

In other embodiments, the reference ranging setpoint number of the fiducial lines in step A5.2.1 and the line in step A5.2.2The number of fixed-point number for distance measurement can be set as a group, and each line taking point A _1PMN The offset in the Z direction may be approximately equal.

In this embodiment, a plurality of wire boards located in the same row are used as a group of wire board rows, the wire board rows can be set as 1000 0001 1111 1111, the station number 0x0010 is used as a destination station, the AGV7 drives the base 1 to the destination station so that the base 1 is opposite to one group of wire board rows, after the welding operation is completed, the AGV7 with the station number 0xZZZZ continues to drive the destination station where the base 1 is opposite to the other group of wire board rows, preferably, one group of wire board rows corresponds to 9 groups of wire boards, any wire board is provided with three rows of wire board inner hole rows, for example, the row a, the row B and the row C are recorded respectively, and the row a can be set as 0000 0000 0000 0011 1111 1111 1111 1111; column B may be set to 0000 0000 0000 0011 1111 1111 1111 1111; the C column number column may be set to 0000 0000 0000 0011 1111 1111 1111 1111; the inner hole arrays of the wire plates formed by the wire plate arrays form a welding array execution list, and the welding array execution list is shown in table 1; the welding number sequence execution list is input into the control system through the PC, and the control system reads the welding number sequence to realize uninterrupted wire-taking welding operation.

TABLE 1

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In the n-th column line board number column YEEE EEEX XXXX XXXX in table 1, Y refers to left side welding or right side welding, for example, 1 represents the right side of the wiring closet 5, X XXXX refers to line board number column, and E does not refer to;

as shown in fig. 1 to 23, the present embodiment further provides an automatic welding method of a signal transmission line, the method welds the signal transmission line to a wiring closet 5 by using an automatic welding apparatus, the automatic welding apparatus includes the above-mentioned base 1, a welding device 2, a wire taking device 3, a wire preprocessing device 4, a positioning system 6 and a control system, the wire taking device 3 includes a wire taking arm 31, a wire taking component 32, a wire taking traversing component 33 and a wire taking longitudinal moving component 34, the wire preprocessing device 4 includes a wire preprocessing mechanism 42, a wire preprocessing traversing component 43 and a wire preprocessing longitudinal moving component 44, the welding device 2 includes a welding arm 21, a welding component 22, a welding traversing component 23 and a welding longitudinal moving component 24, the base 1 is driven by an AGV7, and the control system controls operations of the welding device 2, the wire taking device 3, the wire preprocessing device 4, the positioning system 6 and the AGV7, and specifically includes the following steps:

step B1: preprocessing automatic welding equipment;

step B1.0: the AGV7 drives the base 1 to move to a destination station, so that the base 1 and the wiring cabinet 5 are kept parallel or approximately parallel, and a coordinate system of the mechanical arm is built;

Step B1.1: calibrating a wire board and a welding board;

step B1.3: pre-editing the action of the mechanical arm;

step B2: starting and preparing automatic welding equipment;

step B2.3: the control system controls the AGV7 to run to a standby station;

step B2.4: the control system reads the access sequence execution list;

step B3: judging the number row of welding wires;

step B5: and starting the automatic welding equipment, initializing the second confirmation equipment by the control system, starting the welding arm, and starting the wire taking arm.

Step B6: judging the number row of the wire plates;

step B7: the welding device 2, the wire taking device 3 and the wire preprocessing device 4 are operated to the position to be executed for taking the welding wire of a certain wire board in the wire board array;

step B8: judging the number of the inner holes of the wire plate;

step B9: the control system sends the current line taking point coordinate [ X ] _1PMN ，Y _1PMN ，Z _1PMN ]To the take-up arm 31; the wire taking arm 31 controls the wire taking assembly 32 to take wires from the wire taking point, and wire taking and wire drawing operations are completed;

step B10: the wire taking arm 31 controls the wire taking assembly 32 to run the signal transmission wire to the wire pretreatment mechanism 42 of the wire pretreatment device 4 for wire cutting, wire stripping and wire twisting;

Step B11: the wire taker arm 31 controls the wire taker assembly 32 to transfer the wire to the welding assembly 22; the weld assembly 22 moves the wire to the weld point coordinates X _1HMN ，Y _1HMN ，Z _1HMN ]Completing the wire-bonding operation;

step B14: after the line board array of the destination station is executed, the line taking arm 31 and the wire welding arm 21 are powered off, and the system is powered off;

step B16: the control system controls the AGV7 to run to the standby station, and the execution of the multi-cabinet welding wire program is completed.

The mechanical arm in the step B1.0 comprises a welding arm and a wire taking arm, and the step of establishing a coordinate system of the welding arm is as follows;

step B1.0.1, setting a center with a constant position;

step B1.0.5, confirming the position of the chuck, and generating a tool point;

step B1.0.9, generating a welding arm self coordinate system;

the step of establishing the coordinate system of the wire taking arm in the step B1.0 is similar to the step of establishing the coordinate system of the welding arm, and is not described in detail herein;

the step B1.1 is as follows;

step b1.1.1, establishing a coordinate system alpha of the wire board and the welding arm 21;

step B1.1.1.1 the welding arm 21 makes a tool coordinate system for the wire board;

step B1.1.1.2 the welding arm 21 controls the positioning camera 61 to move to the line plate shooting position;

step B1.1.1.3, positioning the camera 61 to shoot, and selecting a characteristic point, wherein the characteristic point is preferably positioned at the center of the hole of the rightmost upper corner of the line board;

step B1.1.1.4, recording the translational position information of the welding arm 21 and the position information of the characteristic points;

step B1.1.1.6, establishing a coordinate system alpha of the wire board and the welding arm 21 according to nine groups of characteristic point information;

step b1.1.2, establishing a coordinate system beta of the welding plate and the welding arm 21; the method for establishing the coordinate system beta is the same as the method for establishing the coordinate system alpha in the step B1.1.1, and the description is omitted here;

the step of establishing the visual positioning templates of the wire board and the welding board in the step B1.2 is as follows;

step B1.2.1, establishing a visual positioning template of the line board;

step B1.2.1.1, the welding arm 21 controls the positioning camera 61 to move to the line board to take pictures;

step B1.2.1.2 selects the feature point Q of the picture in step B1.2.1.1, and the feature point Q information outputs the offset X through the coordinate system alpha ₁ ，Y ₁ Offset X ₁ ，Y ₁ As first position coordinates of the welding arm 21;

step B1.2.1.3 coordinates (X ₁ ，Y ₁ ) Offset (-X) ₁ ，-Y ₁ ) And taking the shifted welding arm 21 position as a second position of the welding arm 21, the positioning camera 61 moves with the welding arm 21, and takes a picture;

step B1.2.1.4 selects the feature point Q of the picture in step B1.2.1.3, and the information of the feature point Q outputs the offset X through the coordinate system ₂ ，Y ₂ Determining an offset X ₂ ，Y ₂ Whether zero or near zero, if so, go to step B1.2.1.5; if not, judging whether the characteristic point Q is correct, if not, executing step B1.2.1.2, and if so, calibrating the coordinate system alpha of the welding arm and the line board again by nine points;

step B1.2.1.5, setting the second position of the welding arm 21 as the shooting line board reference position of the welding arm 21;

step B1.2.1.6 sets a first wire-taking point A on the wire board _1P11 The method is a line taking template point;

step B1.2.1.7, completing the visual positioning template of the wire board;

step B1.2.2, establishing a visual positioning template of the welding plate; the step of establishing the visual positioning template of the welded plate is the same as the step of establishing the visual positioning template of the wire plate in the step B1.2.1, and is not described in detail herein;

the pre-editing of the mechanical arm action in the step B1.3 comprises the following steps of;

step B1.3.1 sets the avoidance points and the avoidance paths of the welding arm 21 and the wire takeout arm 31; when the robot arm is at the avoidance point, the welding arm 21 and the wire taking arm 31 cannot collide with related equipment, and the automatic zero return function of the robot arm is realized by adopting the robot arm zero return module;

step B1.3.2, the wire taking arm 31 moves from the avoidance point to the wire taking point according to the wire taking point coordinates on the wire board to take the wire;

Step B1.3.3, the wire taking device 3 straightens the signal transmission wire through the wire taking driving mechanism 3246 of the wire pretreatment mechanism 42;

step B1.3.4, the wire taking arm 31 moves the signal transmission wire to the wire pretreatment platform of the wire pretreatment mechanism 42;

step B1.3.5, the wire taking arm 31 releases the signal transmission wire from the wire pretreatment platform of the wire pretreatment mechanism 42;

step B1.3.6, the wire taking arm 31 enters a wire pretreatment platform to clamp the treated wire;

step B1.3.7, taking the wire from the wire taking arm 31 and leaving the wire pretreatment platform;

step B1.3.8 the thread take-out arm 31 moves the thread to the arm replacement preparation position;

step B1.3.9, moving the welding arm 21 from the avoidance point to the arm replacement preparation position;

step B1.3.10 the wire take-up arm 31 feeding wire into the welding conveyor of the welding assembly 22;

step B1.3.11, the wire taking arm 31 is reset to an avoidance point;

step B1.3.12 the welding arm 21 moves to the welding point according to the welding point coordinate strip line;

step B1.3.13 the wire arm translates in the z-direction (i.e., the wire closet direction) awaiting the welding clamping mechanism of the welding assembly 22 to clamp the welding terminal;

step B1.3.14, the bonding wire arm translates in the z direction to wait for threading and bonding wire;

step B1.3.15 the wire bond arm is reset to the avoidance point.

And B2.2, starting the AGV, and confirming that the AGV communicates in the normal process: and (3) starting the control system initialization, sending an AGV7 communication command by the control system, if the AGV7 communication return is received, judging that the AGV7 communication is normal, executing the step B2.3, if not, receiving a prompt for checking the AGV7 communication connection by the control system, finishing the control system initialization, adjusting the AGV7 communication connection, and re-executing the step B2.2 until the AGV7 communication connection is normal.

Step B4 may further include the AGV7 repositioning base 1, where two sides of the bottom of the base 1 are respectively and fixedly provided with repositioning distance measuring sensors 70, and specifically includes the following steps:

step B4.1: repositioning distance sensor 70 detects the spacing of base 1 relative to wiring closet 5;

two groups of repositioning distance measuring sensors 70 respectively measure the distance between the base 1 and the wiring closet 5 to obtain the average value H of the distance between the base 1 and the wiring closet 5 _a ，H _a Comparing the distance H between the wiring cabinet 5 stored and set by the control system and the corresponding destination station, H _h ＝|H _a -H|，H _h Equal to or approximately zero or within the allowable error range, as performed in step B4.3, H _h Not within the allowable error range, according to step B4.2;

step B4.2: repositioning the spacing of the base 1 relative to the wiring closet 5;

the AGV re-controls the base 1 to move until the average value of the distance between the base 1 and the wiring cabinet 5 is kept at H or approximately H, so that the base 1 is ensured to be positioned at a destination station corresponding to the wiring cabinet 5;

step B4.3: detecting an angle deviation value of the base 1 relative to the wiring cabinet 5;

the two groups of repositioning distance measuring sensors 70 measure the distance between the base 1 and the wiring cabinet 5, and the angle offset value theta of the base 1 and the wiring cabinet 5 is obtained according to the distance difference value measured by the two groups of repositioning distance measuring sensors 70 _a ，θ _a Comparing with a set allowable Xu Jiaodu offset value theta of the base 1 and the wiring cabinet 5 stored by the control system, theta _h ＝|θ _a - θ|, if θ _a Equal to zero or approximately zero or within the allowable error range, it can be determined that the current base 1 is parallel or approximately parallel to the wiring closet 5 if θ _a Not within the allowable error range, according to step B4.4;

step B4.4: repositioning the angular offset value of the base 1 relative to the wiring closet 5;

control system control AGV drives base 1 to rotate θ _h The angular offset value of the base 1 and the wiring closet 5 is maintained at or near θ, ensuring that the base 1 is parallel or near parallel to the wiring closet 5.

In practical use, the AGV7 drives the base 1 to move directly to the corresponding destination station during normal operation, so in other embodiments, the step of repositioning the base 1 may be omitted.

In the step B5, the control system initialization comprises the following steps:

step B5.1, the control system is initialized and started;

step B5.2, checking the communication of equipment;

b5.3, if the equipment communication command is received and returned, executing the step B5.1, if the equipment communication command is not received and the equipment communication connection is checked, the control system finishes the initialization of the second control system, adjusts the equipment communication connection and re-executes the step B5.1 until the equipment communication connection is normal;

step B5.3, communication inspection of the positioning system;

B5.4 is executed if the control system receives a positioning system communication command, if the control system receives a positioning system communication return, the control system receives a prompt for checking the positioning system communication connection, the control system finishes the initialization, adjusts the positioning system communication connection, and re-executes the step B5.1 until the positioning system communication connection is normal;

step B5.5, the control system is powered down to read the storage variable;

and B5.6, the control system finishes the initialization II.

The steps B6 to B7 may further include a method for positioning the coordinates of the wire taking point and the welding point, and specifically include the following steps:

step C1, locating coordinates of a line point;

the coordinates of the wire taking point are positioned by using the wire taking device 3 with high-precision positioning.

C2, positioning welding point coordinates;

the welding point coordinates are positioned by the welding device 2 positioned with high precision.

Resetting the mechanical arm in the step C3;

The step C1 of locating the coordinates of the line taking point comprises the following steps:

Step C1.1, coarsely positioning a wire board;

step C1.1.1, setting a datum line;

in this embodiment, as shown in fig. 1, the left-right direction of the reference line plate is set to the X direction, the left direction of the X is set to the positive direction, the up-down direction of the reference line plate is set to the Y direction, the upward direction of the Y is set to the positive direction, the inward-outward direction of the reference line plate is set to the Z direction, the inward direction of the Z direction is set to the positive direction, the line taking device 3 takes lines row by row in the positive direction of the Y, and after any one line takes lines, the line taking device moves to an adjacent line in the positive direction of the X.

The reference line taking point on the reference line board is set as A _0PMN 0P refers to a datum plate, M refers to the number of columns, N refers to the number of rows, A _0PMN Reference line taking points (M is more than or equal to 1 and less than or equal to 3, N is more than or equal to 1 and less than or equal to 18) of the M th row and N line on the reference line board, and adjacent reference line taking points A _0PMN Is set to L _YAA The lateral distance is set to L _XAA In this embodiment, each column of the reference board is longitudinally provided with 18 groups of reference line taking points, that is, 18 rows and 3 columns are all arranged;

reference coarse positioning distance measurement on reference line boardThe fixed point is set as D _0P ；D _0P Can be arranged at the center or non-center position of the datum plate, D _0P And B is connected with _0p Is known to obtain L _XDB 、L _YDB 、L _DB θ _DB ，L _XDB Finger D _0P Relative to B _0p Distance in X direction, L _YDB Finger D _0P Relative to B _0p Distance in Y direction, L _DB Finger D _0P Relative to B _0p And (a) the linear distance, theta _DB Finger D _0P Relative to B _0p An angular offset value in the X direction;

setting a C1.1.2 wire plate;

the line taking point on the line board is set as A _1PMN 1P refers to the line board, M refers to the number of columns, N refers to the number of rows, A _1PMN In the embodiment, 18 groups of wire taking points are longitudinally arranged in each row of the wire plate, namely 18 rows and 3 rows in total; the locating point on the line board is set as B _1P Coarse positioning and ranging set as D _1P ，A _0HMN And A is a _1HMN 、D _0P And D _1P 、B _0P And B _1P The number corresponds to the position one;

step C1.1.3 locates the offset of the camera 61 feedback line board;

the control system controls the wire arm 21 to move to the reference position of the shooting wire board, and the positioning camera 61 positions the positioning point B _1P Relative to reference positioning point B _0p Offset of (2) i.e. offset X of the wire board relative to the reference wire board _1P0 、Y _1P0 θ _1P0 Feedback to the control system; offset X _1P0 Finger B _1P Relative to B _0P The X-direction offset of Y _1P0 Finger B _1P Relative to B _0P Y-direction offset, θ _1P0 The rotational offset of the fingerboard relative to the reference plate.

C1.2, ranging by a line board;

step C1.2.1, setting a rough positioning distance measurement position of a line board;

step C1.1.3 fed back line board offset [ X ] _1P0 、Y _1P0 、θ _1P0 ]Obtaining D on the line board _1P D on the relative datum line _0P Offset X between _1′P0 、Y _1′P0 ，

X _1′P0 ＝X _1P0 +L _DB ×cos(θ _DB +θ _1P0 )-L _XDB ；

Y _1′P0 ＝Y _1P0 +L _DB ×sin(θ _DB +θ _1P0 )-L _YDB ；

step C1.2.2 positioning the ranging sensor 60 for ranging;

step C1.2.3, setting the actual shooting line board position of the positioning camera;

Step C1.3, fine positioning of line taking points of the line board;

step C1.3.1, obtaining the offset of the line board;

step C1.3.2, obtaining the Z-direction offset of the line board;

step C1.3.2.1, setting a reference ranging fixed point of a reference line board;

datum line boardThe reference distance measurement fixed point on the base is set as C _0Pa 0P refers to a reference plate, a refers to the number of reference ranging points, a is 1, 2, 3. In the present embodiment, the reference plate is provided with three sets of reference distance measurement points set as C _0Pa C respectively _0P1 、C _0P2 And C _0P3 ，C _0P1 At A _0P11 Directly below C _0P2 At A _0P18 Directly above C _0P3 At A _0P31 Directly below (C) the reference distance measurement fixed point _0Pa Line taking point A adjacent to the reference _0PMN The interval between them is set as L _AC ；

Step C1.3.2.2, setting a ranging fixed point of the line board;

the distance measurement fixed point on the line board is set as C _1Pa 1P refers to a line board, a refers to the number of distance measurement points, a is 1, 2, 3. In the embodiment, the line board is provided with three groups of distance measurement fixed points which are set as C _1Pa C respectively _1P1 、C _1P2 And C _1P3 ，C _1P1 At A _1P11 Directly below C _1P2 At A _1P18 Directly above C _1P3 At A _1P31 Directly below (C) _1Pa With adjacent line taking point A _1PMN Spacing between and L _AC ，C _0Pa And C _1Pa The number and the positions are in one-to-one correspondence;

step C1.3.2.3 locates the offset of the ranging sensor 60 in the Z direction of the line plate;

step C1.3.2.4 obtaining the line taking point A of the line outlet plate _1P11 Coordinates [ X ] _1P11 ，Y _1P11 ，Z _1P11 ]；

X _1P11 ＝X _1P -L _XAB +L _AB ×cos(θ _AB +θ _1P )；

Y _1P11 ＝Y _1P -L _YAB +L _AB ×sin(θ _AB +θ _1P )；

Z _1P11 ＝(Z _P2 -Z _P1 )/(17×L _YAA +2×L _AC )×L _AC +Z _P1 ；

Step C1.3.2.5 obtaining the first row of arbitrary line taking points A of the line outlet plate _1P1N Coordinates [ X ] _1P1N ，Y _1P1N ，Z _1P1N ]；

X _1P1N ＝X _1P11 -(N-1)×L _YAB ×sinθ _1P ；

Y _1P1N ＝Y _1P11 +(N-1)×L _YAB ×cosθ _1P ；

Step C1.3.2.6 obtaining arbitrary line taking point A of line outlet plate _1PMN Coordinates [ X ] _1PMN ，Y _1PMN ，Z _1PMN ]；

X _1PMN ＝X _1P11 +(M-1)×L _XAA ×cosθ _1P -(N-1)×L _YAA ×sinθ _1P ；

Y _1PMN ＝Y _1P11 +(M-1)×L _XAA ×sinθ _1P +(N-1)×L _YAA ×cosθ _1P ；

Z _1PMN ＝(Z _P2 -Z _P1 )/(17×L _YAA +2×L _AC )×(L _AC +(N-1)×L _YAA )+(Z _P3 -Z _P1 )× (M-1)/2+Z _P1 ；

The step C2 of locating the welding coordinates is as follows:

step C2.1, roughly positioning a welding plate;

the control system controls the wire arm 21 to move to a reference position for shooting the welding plate, and the positioning camera 61 shifts the welding plate by an offset X relative to the reference welding plate _1H0 、 Y _1H0 θ _1H0 Feedback to the control system; offset X of the solder plate relative to the reference solder plate _1H0 Finger B _1H Relative to B _0H X-direction offset of (2)，Y _1H0 Finger B _1H Relative to B _0H Y-direction offset, θ _1H0 Refers to the rotational offset of the solder plate relative to the reference solder plate.

C2.2, measuring the distance of the welding plate;

c2.3, precisely positioning welding points of the welding plate;

the positioning camera 61 shifts the solder plate relative to the reference solder plate by an offset X in the actual photographed solder plate position _1H 、Y _1H θ _1H Feedback to the control system, positioning and ranging sensor 60 detects reference ranging and fixed point C on the reference welding plate _0Ha Ranging setpoint C on a solder plate _1Ha Offset value Z in Z direction of (2) _Ha ， Z _H1 Finger C _1H1 Relative C _0H1 Offset value in Z direction, Z _H2 Finger C _1H2 Relative C _0H2 Offset value in Z direction, Z _H3 Finger C _1H3 Relative C _0H3 Offset value in Z direction according to offset value X _1H 、Y _1H 、θ _1H Offset Z in Z direction _Ha Obtaining the welding point A _1HMN Coordinates [ X ] _1HMN ，Y _1HMN ， Z _1HMN ]The method comprises the steps of carrying out a first treatment on the surface of the Welding point A _1HMN Coordinate calculation method and line taking point A _1PMN The method of calculating the coordinates is similar and will not be described in detail here.

In step B9, the wire taking assembly 32 is used for taking and pulling wires, the wire taking assembly 32 includes a first wire taking mechanism and a second wire taking mechanism, the first wire taking mechanism includes a first wire taking cylinder 3231, a first wire taking plate 3232 and a second wire taking plate 3233, the second wire taking mechanism includes a second wire taking cylinder 3241, a third wire taking plate 3242, a fourth wire taking plate 3243 and a wire taking driving mechanism 3246, and the method specifically includes the following steps:

step B9.1: the thread taking arm 31 controls the thread taking assembly 32 to move to the current thread taking point A _1PMN Coordinates [ X ] _1PMN ，Y _1PMN ，Z _1PMN ]；

Step B9.2: the first wire taking cylinder 3231 controls the wire taking plate I3232 and the wire taking plate II 3233 to synchronously and relatively move to clamp the signal transmission wire, and the wire taking arm 31 controls the wire taking assembly 32 to move away from the wire taking point, so that wire taking operation is completed;

step B9.3: the wire taking driving mechanism 3246 drives the second wire taking mechanism to be close to the first wire taking mechanism, the second wire taking cylinder 3241 controls the wire taking plate III 3242 and the wire taking plate IV 3243 to synchronously and relatively move so as to clamp a signal transmission wire, and the wire taking driving mechanism 3246 drives the second wire taking mechanism to be far away from the first wire taking mechanism, so that wire drawing operation is completed.

In step B11, the welding operation is performed by using the welding assembly 22, where the welding assembly 22 includes a welding mechanism, a welding conveying mechanism and a welding clamping mechanism, the welding mechanism includes a welding member 2210 and a press welding motor 2212, the welding clamping mechanism includes a clamping cylinder 2221 and a clamping plate 2222, the welding conveying mechanism includes a clamping jaw, an upper member, a lower member and a threading motor 2240, and the lower member includes a lower cylinder 2245, specifically including the following steps:

step B11.1: the wire taking assembly 32 conveys the wire to a position between the upper member and the lower member, the lower cylinder 2245 controls the lower member to move towards the upper member, the wire is fixed between the upper member and the lower member, and the wire taking arm 31 is reset;

step B11.2: the control system sends the current welding point coordinate [ X ] _1HMN ，Y _1HMN ，Z _1HMN ]To the welding arm 21, the welding arm 21 controls the welding assembly 22 to move to the welding point, and the clamping cylinder 2221 controls the clamping plate 2222 to clamp the welding terminal;

step B11.3: the control system controls the threading motor 2240 to operate, and the threading is sequentially passed through the conveying cavity 225 of the clamping jaw and the clamping plate 2222 and is passed onto the welding terminal;

step B11.4: the control system controls the press welding motor 2212 to operate, the worn-out wire is flattened, and after the wire is flattened, the welding part 2210 is controlled to perform welding operation while backing a certain distance;

Step B11.5: the components of the welding assembly 22 are reset, and the welding arm 21 is retracted to the origin for standby.

It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

Claims

1. An automatic welding method for a signal transmission line is characterized by comprising the following steps of: the automatic welding equipment is used for welding the signal transmission line to the wiring cabinet and comprises a base, a welding device, a wire taking device, a wire preprocessing device, a positioning system and a control system, and specifically comprises the following steps:

step B1: preprocessing automatic welding equipment;

step B2: starting and preparing automatic welding equipment;

step B3: judging the number row of welding wires;

step B5: starting automatic welding equipment, initializing a second confirmation equipment by a control system, starting a welding arm of a welding device, and starting a wire taking arm of a wire taking device;

step B6: judging the number row of the wire plates;

Step B8: judging the number of the inner holes of the wire plate;

step B10: the wire taking arm controls the wire taking assembly to run the signal transmission wire to a wire pretreatment mechanism of the wire pretreatment device to perform wire cutting, wire stripping and wire twisting operations;

step B11: the wire taking arm controls the wire taking assembly to transfer the formed wire to a welding assembly of the welding device; the welding component moves the wire to the welding point coordinates to finish the wire welding operation;

step B16: the control system controls the AGV to run to the standby station, and the execution of the multi-cabinet welding wire program is finished;

The step of preprocessing the automatic welding equipment in the step B1 comprises the following steps:

step B1.0: the AGV drives the base to move to a destination station, so that the base is parallel to the wiring cabinet, and a coordinate system of the mechanical arm is established;

step B1.1: calibrating a wire board and a welding board;

step B1.3: pre-editing the action of the mechanical arm;

in the step B1.0, the mechanical arm includes a welding arm and a wire taking arm, and the establishment of the coordinate system of the welding arm includes the following steps:

step B1.0.1, setting a center with a constant position;

step B1.0.5, confirming the position of the chuck, and generating a tool point;

step B1.0.6, placing the chuck of the welding arm at a certain position of the welding plate to serve as an origin;

step B1.0.7, placing the chuck of the welding arm at another position of the welding plate, and determining the x-axis direction;

step B1.0.8, placing the chuck of the welding arm at another position of the welding plate, and determining the y-axis direction;

Step B1.0.9, generating a welding arm self coordinate system;

the line and welding plate calibration in the step B1.1 comprises the following steps:

step B1.1.1.5 determines whether there are nine sets of feature points and welding arm position information, if not, executing according to step B1.1.1.4, if so, executing according to step B1.1.1.6;

step B1.1.1.6, establishing a coordinate system of the wire board and the welding arm according to the nine sets of characteristic point position information;

step B1.1.2, establishing a coordinate system of the welding plate and the welding arm; the coordinate system establishment mode is the same as the coordinate system establishment step of the wire and the welding arm in the step B1.1.1;

the step B1.2 of establishing the visual positioning template of the wire board and the welding board comprises the following steps of;

step B1.2.1, establishing a visual positioning template of the line board;

step (a)B1.2.1.2 selecting the characteristic point Q of the picture in the step B1.2.1.1, and outputting the offset X by the characteristic point Q information through a coordinate system ₁ ，Y ₁ Offset X ₁ ，Y ₁ A first position coordinate as a welding arm;

step B1.2.1.3 the welding arm first position coordinates (X ₁ ，Y ₁ ) Offset (-X) ₁ ，-Y ₁ ) Taking the position of the deflected welding arm as a second position of the welding arm, moving a positioning camera along with the welding arm, and taking pictures;

step B1.2.1.4 selects the feature point Q of the picture in step B1.2.1.3, and the information of the feature point Q outputs the offset X through the coordinate system ₂ ，Y ₂ Determining an offset X ₂ ，Y ₂ Whether zero, if yes, go to step B1.2.1.5; if not, judging whether the characteristic point Q is correct, if not, executing step B1.2.1.2, if so, establishing a coordinate system of the wire board and the welding arm again according to the nine groups of characteristic point position information;

step B1.2.1.7, completing the visual positioning template of the wire board;

2. An automatic welding method of a signal transmission line according to claim 1, wherein: the base passes through the AGV drive, and the base passes through the AGV operation to waiting the machine position, and the terminal box is provided with a plurality of boards, and arbitrary line board has set firmly a plurality of board holes, and a plurality of line board holes are along horizontal or vertical distribution, and line inboard hole internal hanging is equipped with the signal transmission line of waiting to handle, and the terminal box opposite side is provided with the board that welds that is used for the bonding wire, is provided with a plurality of welded terminal on the board.

3. An automatic welding method of a signal transmission line according to claim 2, wherein: the step B3 of preparing the automatic welding equipment for starting comprises the following steps:

step B2.3: the control system controls the AGV7 to run to a standby station;

step B2.4: the control system reads the weld sequence execution list.

4. An automatic welding method of a signal transmission line according to claim 1, wherein: the pre-editing of the mechanical arm action in the step B1.3 comprises the following steps:

step B1.3.3, the wire taking device straightens the signal transmission wire through a wire taking driving mechanism of the wire pretreatment mechanism; step B1.3.4, the wire taking arm moves the signal transmission wire to a wire pretreatment platform of the wire pretreatment mechanism;

step B1.3.11, the wire taking arm is reset to an avoidance point;

step B1.3.15 the wire bond arm is reset to the avoidance point.

5. An automatic welding method of a signal transmission line according to claim 1, wherein: the control system initialization in the step B5 comprises the following steps:

step B5.1, the control system is initialized and started;

step B5.2, checking the communication of equipment;

b5.3, if the equipment communication is received and returned, executing the step B5.1, if the equipment communication is not received and the equipment communication connection is checked, the control system finishes the initialization of the second time, adjusts the equipment communication connection and executes the step B5.1 again until the equipment communication connection is normal;

Step B5.3, communication inspection of the positioning system;

step B5.5, the control system is powered down to read the storage variable;

and B5.6, the control system finishes the initialization II.

6. The method for automatically welding a signal transmission line according to claim 5, wherein: in the step B9, the wire taking assembly is used for wire taking and wire pulling operations, the wire taking assembly comprises a first wire taking mechanism and a second wire taking mechanism, the first wire taking mechanism comprises a first wire taking cylinder, a first wire taking plate and a second wire taking plate, the second wire taking mechanism comprises a second wire taking cylinder, a third wire taking plate, a fourth wire taking plate and a wire taking driving mechanism, and the method specifically comprises the following steps:

step B11.4: the control system controls the operation of the pressure welding motor, flattens the penetrated wire, and after flattening, the control system controls the welding part to weld while backing back for a certain distance;