CN115026393A - Tool center point checking system, method, device and storage medium - Google Patents

Tool center point checking system, method, device and storage medium Download PDF

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Publication number
CN115026393A
CN115026393A CN202210562073.4A CN202210562073A CN115026393A CN 115026393 A CN115026393 A CN 115026393A CN 202210562073 A CN202210562073 A CN 202210562073A CN 115026393 A CN115026393 A CN 115026393A
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groove
end point
arc welding
tool center
center point
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CN202210562073.4A
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CN115026393B (en
Inventor
孙良特
李澄
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Siemens Ltd China
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Siemens Ltd China
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points

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  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

The embodiment of the invention discloses a tool center point checking system, a method, a device and a storage medium. The system comprises: a welding gun coupled with a robot body of the arc welding robot; a welding wire including an end point extending outwardly through the welding gun; a detection device comprising a groove, wherein a width of the groove is greater than or equal to a diameter of the welding wire; a controller configured to record a taught action of an arc welding robot, the taught action including moving the arc welding robot such that the end point passes contactlessly through the slot; executing a reproduction process of the teaching action; verifying a tool center point of the arc welding robot based on a contact state of the end point and the groove during the reproducing. The embodiment of the invention does not need manual observation, reduces the misjudgment probability, realizes the calibration based on the track alignment mode, overcomes the complexity of the point-to-point alignment mode, and improves the calibration accuracy.

Description

Tool center point checking system, method, device and storage medium
Technical Field
The embodiment of the invention relates to the technical field of robot control, in particular to a tool center point checking system, a method, a device and a storage medium.
Background
The arc welding robot refers to an industrial robot for performing automatic arc welding. The Tool Center Point (TCP) is usually the origin of the Tool Coordinate System (Tool Coordinate System). When an arc welding robot is brought close to a certain point of a space in a manual (working) or programmed (Programming) manner, it is essential that the TCP is close to the point. To ensure the welding accuracy of the arc welding robot, the TCP is usually checked before the welding operation to check the repeated positioning accuracy of the welding operation.
Currently, it is common to align the TCP of an arc welding robot with the tip of a conical inspection rod to verify the accuracy of the TCP, which requires a technician to visually observe the alignment and give a judgment. In addition, the calibration mode belongs to point-to-point alignment, and the arc welding robot needs to change a plurality of postures to ensure the calibration precision. However, the arc welding robot has the disadvantage of being cumbersome to operate.
Disclosure of Invention
The embodiment of the invention provides a TCP (transmission control protocol) checking system, a method, a device and a storage medium.
In a first aspect, an embodiment of the present invention provides a TCP verification system, including:
a welding gun coupled with a robot body of the arc welding robot;
a welding wire including an end point extending outwardly through the welding gun;
a detection device comprising a groove, wherein a width of the groove is greater than or equal to a diameter of the welding wire;
a controller configured to record a taught action of an arc welding robot, the taught action including moving the arc welding robot such that the end point passes contactlessly through the slot; executing a reproduction process of the teaching action; and verifying TCP of the arc welding robot based on the contact state of the end point and the groove in the reproduction process.
Therefore, the TCP can be automatically checked through the contact state of the welding wire end point and the groove, manual visual observation is not needed, and labor is saved. In addition, the embodiment of the invention realizes the verification based on the track alignment mode that the end points pass through the grooves, and the arc welding robot does not need to change a plurality of postures to execute a plurality of times of point-to-point detection, thereby reducing the complexity of operation and improving the verification accuracy.
In an exemplary embodiment, the controller is configured to determine that the TCP has a non-conforming accuracy when the end point comes into contact with the slot during the reproducing; and when the end point does not contact the groove in the reproduction process, determining that the TCP is qualified in precision.
Therefore, the method and the device can quickly determine whether the TCP is qualified or not.
In an exemplary embodiment, further comprising:
and the alarm device is configured to send out an alarm prompt when the precision of the TCP is not qualified.
Therefore, the method and the device can remind the occurrence of TCP unqualified precision.
In an exemplary embodiment, further comprising:
a wire cutting device;
the controller configured to control the wire cutting device to remove redundancy of the end point and trim a dry elongation of the welding wire to be less than a depth of the groove before performing the reproduction process.
Therefore, the redundancy of the end point is removed through the wire cutting device, and the checking accuracy can be improved. In addition, the embodiment of the invention ensures that the dry elongation of the welding wire is less than the depth of the groove through the wire cutting device, thereby further improving the calibration accuracy.
In an exemplary embodiment, the controller is configured to detect a potential of the end point during the reproduction; determining that the end point is in contact with the groove when the potential is less than a predetermined threshold value, and determining that the end point is not in contact with the groove when the potential is not less than the predetermined threshold value.
Therefore, the embodiment of the invention utilizes the property that the welding wire of the arc welding robot is the anode of the welding power supply, and the contact state of the end point and the groove can be rapidly determined through the potential change.
In an exemplary embodiment, the detection device includes:
a base;
a slot structure fixed on the base, wherein the slot structure comprises a first through slot and a second through slot which are intersected;
the teaching operation includes a first sub-operation of penetrating through the first through-hole without contact, and a second sub-operation of penetrating through the second through-hole without contact.
Therefore, the groove structure provided by the embodiment of the invention has an intersected through structure, so that track verification in various modes can be realized, and the verification accuracy is improved.
In a second aspect, an embodiment of the present invention provides a TCP checking method, including:
recording teaching actions of the arc welding robot; wherein the arc welding robot includes: a welding gun coupled with a robot body of the arc welding robot; a welding wire including an end point extending outwardly through the welding gun; the teaching action includes moving the arc welding robot such that the end point passes through the groove without contact, the groove having a width greater than or equal to a diameter of the welding wire;
executing a reproduction process of the teaching action;
verifying the TCP of the arc welding robot based on the contact state of the end point and the groove during the reproduction.
Therefore, the TCP can be automatically checked through the contact state of the welding wire end point and the groove, manual visual observation is not needed, and labor is saved. In addition, the embodiment of the invention realizes the verification based on the track alignment mode that the end points pass through the grooves, and the arc welding robot does not need to change a plurality of postures to execute a plurality of times of point-to-point detection, thereby reducing the complexity of operation and improving the verification accuracy.
In an exemplary embodiment, includes:
determining that the TCP is not qualified in precision when the end point is in contact with the slot during the reproduction;
and when the end point is not in contact with the groove in the reproduction process, determining that the TCP is qualified in precision.
Therefore, the method and the device can quickly determine whether the precision of the TCP is qualified.
In an exemplary embodiment, includes:
and when the TCP precision is not qualified, sending an alarm prompt.
Therefore, the method and the device can remind the occurrence of TCP unqualified precision.
In an exemplary embodiment, includes:
controlling a thread cutting device to remove redundancy of the end point before the reproduction process is performed;
controlling the wire cutting device to trim the dry elongation of the welding wire to be less than the depth of the groove.
Therefore, the redundancy of the end point is removed through the wire cutting device, and the verification accuracy can be improved. In addition, the embodiment of the invention ensures that the dry elongation of the welding wire is less than the depth of the groove through the wire cutting device, thereby further improving the calibration accuracy.
In an exemplary embodiment, includes:
detecting a potential of the end point during the reproduction;
determining that the end point is in contact with the slot when the potential is less than a predetermined threshold value, and determining that the end point is not in contact with the slot when the potential is not less than the predetermined threshold value.
Therefore, the embodiment of the invention utilizes the property that the welding wire of the arc welding robot is the anode of the welding power supply, and the contact state of the end point and the groove can be rapidly determined through the potential change.
In a third aspect, an embodiment of the present invention provides a tool center point verification apparatus, including:
a recording module configured to record a teaching action of the arc welding robot; wherein the arc welding robot includes: a welding gun coupled with a robot body of the arc welding robot; a welding wire including an end point extending outwardly through the welding gun; the teaching action includes moving the arc welding robot such that the end point passes through the groove without contact, the groove having a width greater than or equal to a diameter of the welding wire;
a reproduction module configured to perform a reproduction process of the teaching action;
a determination module configured to verify a TCP of the arc welding robot based on a contact state of the end point with the groove during the reproduction.
Therefore, the TCP can be automatically checked through the contact state of the welding wire end and the groove, manual visual observation is not needed, and labor is saved. In addition, the embodiment of the invention realizes the verification based on the track alignment mode that the end points pass through the grooves, and the arc welding robot does not need to change a plurality of postures to execute a plurality of times of point-to-point detection, thereby reducing the complexity of operation and improving the verification accuracy.
In a fourth aspect, an embodiment of the present invention provides a tool center point verification apparatus, including:
a memory configured to store computer readable code;
a processor configured to invoke the computer readable code to perform the TCP verification method as described in any one of the above.
In a fifth aspect, embodiments of the present invention provide a computer readable storage medium having computer readable instructions stored thereon, which, when executed by a processor, cause the processor to perform a TCP checking method as described in any one of the above.
In a sixth aspect, embodiments of the invention provide a computer program product, tangibly stored on a computer-readable storage medium and comprising computer-readable instructions that, when executed, cause at least one processor to perform a TCP checking method as described in any one of the above.
Drawings
Fig. 1 is an exemplary configuration diagram of a TCP verification system of an arc welding robot according to an embodiment of the present invention.
Fig. 2A is a first exemplary diagram of a slot shape according to an embodiment of the present invention.
Fig. 2B is a second exemplary diagram of a slot shape according to an embodiment of the present invention.
FIG. 2C is an exemplary diagram of wire and groove dimensional parameters according to an embodiment of the present invention.
Fig. 3 is an exemplary logic block diagram of a TCP verification system of an arc welding robot according to an embodiment of the present invention.
Fig. 4 is an exemplary flowchart of a TCP verification method of an arc welding robot according to an embodiment of the present invention.
Fig. 5 is an exemplary flowchart of a TCP verification process of an arc welding robot according to an embodiment of the present invention.
Fig. 6 is an exemplary configuration diagram of a TCP verifying apparatus of an arc welding robot according to an embodiment of the present invention.
Fig. 7 is another exemplary configuration diagram of a TCP verifying apparatus of an arc welding robot according to an embodiment of the present invention.
Wherein the reference numbers are as follows:
Figure BDA0003656990710000041
Figure BDA0003656990710000051
Detailed Description
The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thereby implement the subject matter described herein, and are not intended to limit the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements discussed without departing from the scope of the embodiments of the invention. Various examples may omit, substitute, or add various procedures or components as needed. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with respect to some examples may also be combined in other examples.
As used herein, the term "include" and its variants mean open-ended terms in the sense of "including, but not limited to. The term "based on" means "based at least in part on". The terms "one embodiment" and "an embodiment" mean "at least one embodiment". The term "another embodiment" means "at least one other embodiment". The terms "first," "second," and the like may refer to different or the same object. Other definitions, whether explicit or implicit, may be included below. Unless the context clearly dictates otherwise, the definition of a term is consistent throughout the specification.
Arc welding robots generally comprise: the robot comprises a robot body, a controller, a demonstrator, a welding power supply, a welding gun, a welding clamp, safety protection facilities and the like. The arc welding robot can realize continuous track control and point position control under the control of the controller, and can also weld a space welding seam consisting of straight lines and circular arcs by utilizing the functions of straight line interpolation and circular arc interpolation.
The applicant found that: in the prior art, it is common to align the TCP of an arc welding robot with the tip of a detection rod (generally conical) to verify the TCP accuracy, which requires a technician to visually observe the alignment and give a judgment. In addition, the verification method belongs to point-to-point alignment, and the arc welding robot needs to change a plurality of (usually 5) postures to ensure the verification accuracy of the TCP.
In the embodiment of the invention, the precision of the TCP can be automatically verified through the contact state of the welding wire end point and the groove, so that the labor is saved.
Fig. 1 is an exemplary configuration diagram of a TCP verification system of an arc welding robot according to an embodiment of the present invention.
As shown in fig. 1, a TCP verification system 10 of an arc welding robot includes:
a welding gun 11 coupled with a robot body 12 of the arc welding robot;
a welding wire 13 including an end point 131 extending outwardly through gun 11;
a detection device 14 comprising a slot 143, wherein the width of the slot 143 is greater than or equal to the diameter of the welding wire 13;
a controller 15 configured to record taught actions of the arc welding robot including moving the arc welding robot such that the end point 131 passes contactlessly through the slot 143; a reproduction process of executing the teaching action; the tool center point of the arc welding robot is verified based on the contact state of the end point 131 and the groove 143 during the reproduction.
Here, the robot body is a mechanical part of the arc welding robot, and is also called an operation mechanism of the arc welding robot. In addition to the robot body, arc welding robots typically include other software and equipment kits. The basic structure of the robot body includes: (1) a transmission member; (2) a machine body and a traveling mechanism; (3) arm, wrist or hand, etc. The welding gun 11 is coupled with a robot body 12 of the arc welding robot. For example, the welding gun 11 is generally used as an end effector and is disposed at a distal end shaft of a robot body 12 of an arc welding robot. For example, the arc welding robot may be implemented as a six-axis robot including S, L, U, B, R, and T axes, with the welding gun 11 disposed on the T axis.
The welding wire 13 runs through the welding gun 11, wherein the end point 131 of the welding wire extending out of the welding gun 11 via the nozzle of the welding gun 11 can be regarded as the TCP of the arc welding robot. Another length of wire in wire 13, relative to end point 131, may extend into the wire drum along the end axis of the robot.
While the above exemplary description describes a typical example of welding gun 11 and welding wire 13, those skilled in the art will appreciate that this description is exemplary only and is not intended to limit the scope of embodiments of the present invention.
First, a process of moving (e.g., only the distal end axis moves) the arc welding robot from a predetermined position (e.g., the work origin) so that the end point 131 passes through the groove 143 in the detecting device 14 along the grooving direction of the groove 143 without contact is demonstrated by teaching. This process is a teach-in process. The controller 15 records a teaching operation in the teaching process of the arc welding robot, and for example, the teaching operation is implemented as a task program stored by teaching programming. The welding gun 11 of the arc welding robot may be manually guided, a mechanical simulation device may be guided by manual operation, or a teaching box may be used to allow the robot to perform teaching operations.
Then, when the TCP verification needs to be performed (for example, before the arc welding robot performs a batch of arc welding work), the controller 15 performs a reproduction process of the teaching action. The reproduction process includes: the arc welding robot moves (e.g., only the distal shaft moves) from the same predetermined position (e.g., the work origin) such that the end point 131 passes through the groove 143 in the detecting device 14 along the grooving direction of the groove 143 without contact. Then, based on the contact state of the end point 131 and the groove 143 during reproduction, the TCP accuracy of the arc welding robot is verified. Wherein: the position of the detection device 14 during reproduction remains unchanged from the position of the detection device 14 during teaching.
Therefore, different from the manual observation of the point-to-point alignment condition in the prior art, the embodiment of the invention can automatically verify the precision of the TCP through the contact state of the welding wire end and the groove, thereby saving the labor. Moreover, different from the alignment mode of point-to-point in the prior art, the embodiment of the invention realizes the calibration based on the contact state of the welding wire end and the groove, and realizes the alignment calibration of the through groove track, so that the arc welding robot does not need to change a plurality of postures to execute a plurality of point-to-point tests, thereby reducing the complexity of operation and improving the calibration accuracy.
In an exemplary embodiment, the controller 15 is configured to determine that the accuracy of the TCP is not acceptable when the end point 131 comes into contact with the groove 143 during reproduction; when the end point 131 does not come into contact with the groove 143 during reproduction, the accuracy of the TCP is determined to be acceptable. Therefore, the method and the device can quickly determine whether the precision of the TCP is qualified.
In an exemplary embodiment, the TCP verification system 10 further includes an alarm device 16 configured to issue an alarm prompt when the accuracy of the TCP is not good.
For example, the alarm device 16 may emit the alarm in a separate acoustic or optical manner, or the alarm device 16 may emit both an acoustic and an optical alarm simultaneously. For example, the alarm device 16 may be mounted on the robot body 12 or disposed separately from the robot body 12.
In an exemplary embodiment, the TCP verification system 10 further comprises: a wire cutting device 16; a controller 15 configured to control wire cutting device 16 to remove redundancy of end point 131 and trim the dry elongation of wire 13 to a depth less than groove 143 prior to performing the reproduction process. Here, the dry elongation refers to the distance from the end point 131 to the tip of the contact tip, and the welding wire generates resistance heat during overlaying, the melting speed of the welding wire is determined by the arc and the resistance heat, and the melting speed of the welding wire is proportional to the dry elongation of the welding wire, i.e., the longer the dry elongation is, the faster the melting speed of the welding wire is.
Therefore, the redundancy of the end point is removed through the wire cutting device, and the checking accuracy can be improved. In addition, the wire cutting device ensures that the dry extension of the welding wire is smaller than the depth of the groove, so that the welding wire does not undesirably contact the bottom of the groove due to overlong length of the welding wire in the moving process of the welding wire in the groove, and the checking accuracy can be further improved.
In an exemplary embodiment, the controller 15 configured to detect a potential of the end point 131 during reproduction; when the potential is less than the predetermined threshold value, it is determined that the terminal 131 is in contact with the groove 143, and when the potential is not less than the predetermined threshold value, it is determined that the terminal 131 is not in contact with the groove 143.
For example, the detection device 14 is set to ground. Terminal 131 serves as the positive electrode of the welding power supply and is typically at a potential greater than zero, such as 15 volts. When the terminal 131 moves in the groove 143, if contact with the detecting device 14 occurs (for example, the terminal 131 contacts both sides of the groove 143), the potential of the terminal 131 decreases to zero due to the ground. At this time, it can be determined that the terminal 131 is in contact with the groove 143 by detecting the potential change of the terminal 131.
Therefore, the embodiment of the invention fully utilizes the property that the welding wire of the arc welding robot is the anode of the welding power supply, and can quickly determine the contact state of the end point and the groove through the potential change.
In an exemplary embodiment, the detection device 14 includes: a base 142; a groove structure 141 fixed on the base 142, wherein the groove structure 141 comprises a first through groove and a second through groove which are intersected; the teaching operation includes a first sub-operation of passing through the first through-groove without contact and a second sub-operation of passing through the second through-groove without contact.
Therefore, the first sub-action indicates a track passing through the first through groove without contact, the second sub-action indicates a track passing through the second through groove without contact, namely, the teaching action comprises two different tracks with intersection points, and compared with a point-to-point calibration mode which has to be verified for many times due to insufficient precision, the embodiment of the invention can obtain satisfactory verification precision only by a small number of verification processes (for example, one time).
Fig. 2A is a first exemplary diagram of a slot shape according to an embodiment of the present invention.
It can be seen that the slots comprise two through slots orthogonal on the same plane, respectively a horizontal slot CD and a vertical slot AB. The groove width of the horizontal groove CD is S2; the vertical groove AB has a groove width S1. Both S2 and S1 are larger than or equal to the diameter of the wire, thereby ensuring that the wire can pass through the horizontal slot CD and the vertical slot AB along the slotting direction without contact. Preferably, S2 and S1 are identical and both are slightly larger than the diameter of the wire to ensure verification accuracy. The closer S2 and S1 are to the diameter of the wire, the higher the accuracy of the verification. The teaching action may be implemented as: first, the end point enters the vertical groove AB from the notch a, and leaves the vertical groove AB from the notch B in the grooving direction of the vertical groove AB. Then, the end point enters the horizontal groove CD from the notch C and leaves the horizontal groove CD from the notch D in the grooving direction of the horizontal groove CD. That is, the teaching action is to move the line segment AB first and then the line segment straight line CD.
Fig. 2B is a second exemplary schematic view of a slot shape according to an embodiment of the present invention.
It can be seen that the grooves comprise two through grooves, respectively a first groove CD and a second groove AB, intersecting in the same plane. The first groove CD and the second groove AB have an angle different from 90 degrees therebetween. The groove width of the first groove CD is S2; the second groove AB has a groove width S1. Both S2 and S1 are greater than or equal to the diameter of the welding wire. Preferably, S2 and S1 are identical and both are slightly larger than the diameter of the wire to ensure verification accuracy. The closer S2 and S1 are to the diameter of the wire, the higher the accuracy of the verification. The teaching action may be: first, the end point enters the second groove AB from the notch a, reaches the intersection point of the first groove CD and the second groove AB from the notch B in the grooving direction of the second groove AB, and moves to the notch C of the first groove CD from the intersection point. Then, the end point enters the second groove AB from the notch B, reaches the intersection of the first groove CD and the second groove AB from the notch B along the grooving direction of the second groove AB, and moves from the intersection to the notch D of the first groove CD.
The above examples describe the specific shape of the slot and the movement trajectory within the slot. In practice, the slots may have a variety of shapes, such as non-intersecting through slots, non-intersecting partial through slots, and the like. Accordingly, the moving track in the groove has various embodiments, and the embodiments of the present invention are not limited thereto.
FIG. 2C is a schematic drawing of the dimensional parameters of the wire and groove of an embodiment of the present invention.
As shown in FIG. 2C, the diameter of the welding wire 13 is S3, such as 1.2 millimeters (mm) for S3. The dry elongation of the wire 13 is 10 mm; the width of the slot 143 is slightly greater than S3, for example 1.4 mm. The depth L1 of groove 143 is greater than the dry elongation of wire 13, e.g., 15mm for L1; the groove structure 141 can be embodied as a cylinder with grooves 143, the length L2 of which in the groove depth direction is 50mm, and the diameter of which can be 30mm, for example.
In the embodiment of the invention, the welding wire is adjusted to a length of 10mm by using the property that the welding wire of an arc welding robot is the positive electrode of a welding power supply, the welding wire with the diameter of 1.2mm is adopted, whether the welding wire is in contact with the groove structure 141 or not is detected through the action that the welding wire passes through a groove (such as a cross groove) with the width of 1.4mm of the groove structure 141, if the welding wire is not in contact with the groove structure 141, the welding wire passes through the groove 143 with the width of 1.4mm, and the error is less than +/-0.1 mm; if there is contact, it is proved that the error is greater than or equal to + -0.1 mm when the welding wire passes through the groove 143, and according to the principle that two straight lines intersect, a point can be determined, and this embodiment can complete the whole verification process through the automatic operation of the robot.
Fig. 3 is an exemplary logic block diagram of a TCP verification system of an arc welding robot according to an embodiment of the present invention.
As shown in fig. 3, the controller 301 is connected to the teach pendant 302. The controller 301 records the teaching operation of the arc welding robot based on the teaching process of the teaching device 302. The controller 301 may also be connected to a PLC or human machine interface 303 (optional), an alarm device 304, a detection device 305 and a wire cutting device 306, respectively. Wherein: controller 301 receives instructions from PLC or human machine interface 303 to initiate the TCP verification process. The controller 301 determines whether the accuracy of the TCP is acceptable using the slot in the detection device 305. The controller 301 issues an alarm prompt via the alarm device 304. Controller 301 utilizes wire cutting device 306 to remove redundancy from the end points and trim the dry elongation of the wire to a depth less than the groove in detection device 305.
Fig. 4 is an exemplary flowchart of a TCP verification method of an arc welding robot according to an embodiment of the present invention.
As shown in fig. 4, a tool center point verification method 400 of an arc welding robot includes:
step 401: recording teaching actions of the arc welding robot; wherein arc welding robot includes: a welding gun coupled with a robot body of the arc welding robot; a welding wire including an end point extending outwardly through the welding gun; the teaching action includes moving the arc welding robot such that the end point passes through the slot without contact, the width of the slot being greater than or equal to the diameter of the welding wire.
Step 402: and executing the reproduction process of the teaching action.
Step 403: and checking the tool center point of the arc welding robot based on the contact state of the end point and the groove in the reproduction process.
In an exemplary embodiment, the method includes: when the end point contacts with the groove in the reproduction process, determining that the precision of the center point of the tool is unqualified; when the end point does not contact the groove during reproduction, the accuracy of the tool center point is determined to be acceptable.
In an exemplary embodiment, the method comprises: the method comprises the following steps: and when the precision of the tool central point is not qualified, sending an alarm prompt.
In an exemplary embodiment, the method includes: controlling the thread cutting device to remove the redundant objects of the end points before executing the reproduction process; the wire cutting device is controlled to trim the dry extension of the welding wire to a depth less than the groove.
In an exemplary embodiment, the method comprises: detecting a potential of an end point during reproduction; when the potential is less than a predetermined threshold value, it is determined that the end point is in contact with the groove, and when the potential is not less than the predetermined threshold value, it is determined that the end point is not in contact with the groove.
Fig. 5 is an exemplary flowchart of a TCP verification process of an arc welding robot according to an embodiment of the present invention.
As shown in fig. 5, the TCP verification process includes:
step 500: teaching the arc welding robot with a teach pendant, the teaching action comprising moving the mobile arc welding robot at the job origin such that an end point of a welding wire extending outwardly through the welding gun passes through the slot in a grooving direction without contact. The controller records the teaching action of the arc welding robot.
Step 501: the controller starts running the TCP check program.
Step 502: and moving the arc welding robot to the operation origin.
Step 503: the wire cutting device removes redundancy of the end points.
Step 504: the wire cutting device trims the dry extension of the welding wire to a depth less than the groove.
Step 505: the arc welding robot reproduces the teaching action to insert the welding wire into the groove of the detection device.
Step 506: the arc welding robot reproduces the teaching action to push the welding wire in the groove along the grooving direction.
Step 507: it is determined whether the wire is in contact with the groove during movement in the groove, and if so (corresponding to the "Y" branch), step 509 and its subsequent steps are performed, otherwise (corresponding to the "N" branch), step 508 and its subsequent steps are performed.
Step 508: the accuracy of TCP is determined to be acceptable and execution returns to step 502.
Step 509: the arc welding robot pauses moving the welding wire in the groove.
Step 510: the controller checks the contact position and sets the position offset of the welding wire to overcome the error. The arc welding robot continues to move in the groove. For example, the positional offset of the welding wire is set so that the welding wire moves toward the other side from the contact position. For example, when the detection position is found to be the left wall of the groove, the welding wire is moved towards the right wall of the groove; when the detected position is found to be the right wall of the groove, the welding wire is moved in the direction of the left wall of the groove. Therefore, not only can the precision of the TCP be checked, but also the TCP with insufficient precision can be compensated.
Step 511: it is determined whether wire-to-groove contact has not occurred again, and if wire-to-groove contact has not occurred again (corresponding to the "Y" branch), execution returns to step 502, and if wire-to-groove contact has occurred again (corresponding to the "N" branch), execution returns to step 510 and its subsequent steps.
Fig. 6 is an exemplary configuration diagram of a TCP verifying apparatus of an arc welding robot according to an embodiment of the present invention. As shown in fig. 6, the TCP verification apparatus 600 includes:
a recording module 601 configured to record a teaching action of the arc welding robot; wherein arc welding robot includes: a welding gun coupled with a robot body of the arc welding robot; a welding wire including an end point extending outwardly through the welding gun; the teaching action includes moving the arc welding robot such that the end point passes through the slot without contact, the width of the slot being greater than or equal to the diameter of the welding wire;
a reproduction module 602 configured to perform a reproduction process of the teaching action;
a determination module 603 configured to verify the TCP of the arc welding robot based on the contact state of the end point with the groove during the reproduction.
In an exemplary embodiment, the determining module 603 is configured to determine that the tool center point is not qualified in accuracy when the end point comes into contact with the groove during the reproduction; when the end point does not contact the groove during reproduction, the accuracy of the TCP is determined to be qualified.
In an exemplary embodiment, the rendering module 602 is configured to control the wire cutting device to remove redundancy of the end point and trim the dry elongation of the welding wire to be less than the depth of the groove prior to performing the rendering process.
In an exemplary embodiment, the determination module 603 is configured to detect a potential of an endpoint during reproduction; when the potential is less than a predetermined threshold value, it is determined that the end point is in contact with the groove, and when the potential is not less than the predetermined threshold value, it is determined that the end point is not in contact with the groove.
Fig. 7 is another exemplary configuration diagram of a TCP verifying apparatus of an arc welding robot according to an embodiment of the present invention. As shown in fig. 7, the TCP verifying apparatus 700 of the arc welding robot includes: a memory 701 and a processor 702. The processor 702 is used for calling the computer program stored in the memory 701 to execute the TCP verification method of the arc welding robot in the embodiment of the present invention.
The embodiment of the invention also provides a computer program product. A computer program product is tangibly stored on a computer-readable storage medium and includes computer-readable instructions that, when executed, cause at least one processor to perform a TCP verification method for an arc welding robot as any of the above. Specifically, a system or an apparatus equipped with a storage medium on which computer-readable code that realizes the functions of any of the embodiments described above is stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the computer-readable code stored in the storage medium. In addition, a part or all of actual operations may also be performed by an operating system or the like operating on the computer based on instructions of the computer-readable code. The functions of any of the above-described embodiments may also be implemented by writing computer-readable code read out from a storage medium to a memory provided in an expansion board inserted into a computer or to a memory provided in an expansion unit connected to the computer, and then causing a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on the instructions of the computer-readable code. Examples of computer-readable media in this embodiment include, but are not limited to, floppy diskettes, CD-ROMs, magnetic disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD + RWs), memory chips, ROMs, RAMs, ASICs, configured processors, all-optical media, all-magnetic tape or other magnetic media, or any other medium from which a computer processor can read instructions. In addition, various other forms of computer-readable media may transmit or carry instructions to a computer, including a router, private or public network, or other wired or wireless transmission device or channel, for example, computer-readable instructions may be downloaded from a server computer or from a cloud over a communications network. The instructions may include code in any computer programming language, including C, C + +, C, Visual Basic, java, and JavaScript.
It should be noted that not all steps and modules in the above flows and system structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The execution sequence of the steps is not fixed and can be adjusted according to the needs. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by a plurality of physical entities, or some components in a plurality of independent devices may be implemented together.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (15)

1. Tool center point verification system (10), comprising:
a welding gun (11) coupled to a robot body (12) of the arc welding robot;
a welding wire (13) including an end point (131) extending outwardly through the welding gun (11);
a detection device (14) comprising a slot (143), wherein the width of the slot (143) is greater than or equal to the diameter of the welding wire (13);
a controller (15) configured to record taught actions of an arc welding robot including moving the arc welding robot such that the end point (131) passes contactlessly through the slot (143); executing a reproduction process of the teaching action; verifying a tool center point of the arc welding robot based on a contact state of the end point (131) and the groove (143) during the reproducing.
2. The tool center point verification system (10) of claim 1,
the controller (15) is configured to determine that the tool center point is not qualified in accuracy when the end point (131) comes into contact with the groove (143) during the reproduction; determining that the tool center point is of acceptable accuracy when the end point (131) is not in contact with the groove (143) during the reproducing.
3. The tool center point verification system (10) of claim 2, further comprising:
an alarm device (16) configured to issue an alarm prompt when the accuracy of the tool center point is not acceptable.
4. The tool center point verification system (10) of claim 1, further comprising:
a wire cutting device (16);
the controller (15) is configured to control the wire cutting device (16) to remove redundancy of the end point (131) and trim a dry elongation of the welding wire (13) to a depth less than the groove (143) before performing the reproduction process.
5. Tool center point verification system (10) according to any one of claims 1-4,
the controller (15) configured to detect a potential of the endpoint (131) during the reproduction; determining that the end point (131) is in contact with the groove (143) when the potential is less than a predetermined threshold value, and determining that the end point (131) is not in contact with the groove (143) when the potential is not less than the predetermined threshold value.
6. Tool centre point verification system (10) according to any of claims 1-4, characterized in that the detection means (14) comprises:
a base (142);
a slot structure (141) secured to the base (142), wherein the slot structure (141) comprises first and second intersecting through slots;
the teaching operation includes a first sub-operation of penetrating through the first through-hole without contact, and a second sub-operation of penetrating through the second through-hole without contact.
7. A tool center point verification method (400), comprising:
recording teaching actions of the arc welding robot; wherein the arc welding robot includes: a welding gun coupled with a robot body of the arc welding robot; a welding wire including an end point extending outwardly through the welding gun; the teaching action includes moving the arc welding robot such that the end point passes through the groove without contact, the groove having a width greater than or equal to a diameter of the welding wire (401);
-performing a rendering process (402) of the taught action;
verifying a tool center point (403) of the arc welding robot based on a contact state of the end point with the groove during the reproducing (403).
8. The tool center point verification method (400) of claim 7, comprising:
determining that the tool center point is not accurate when the end point contacts the groove during the reproducing;
and when the end point does not contact the groove in the reproduction process, determining that the precision of the tool center point is qualified.
9. The tool center point verification method (400) of claim 8, comprising:
and when the precision of the tool central point is not qualified, sending an alarm prompt.
10. The tool center point verification method (400) of claim 7, comprising:
controlling a thread cutting device to remove redundancy of the end point before the reproduction process is performed;
controlling the wire cutting device to trim the dry elongation of the welding wire to be less than the depth of the groove.
11. The tool center point verification method (400) of claim 7, comprising:
detecting a potential of the end point during the reproduction;
determining that the end point is in contact with the slot when the potential is less than a predetermined threshold value, and determining that the end point is not in contact with the slot when the potential is not less than the predetermined threshold value.
12. Tool center point verification device (600), comprising:
a recording module (601) configured to record a teaching action of an arc welding robot; wherein the arc welding robot includes: a welding gun coupled with a robot body of the arc welding robot; a welding wire including an end point extending outwardly through the welding gun; the teaching action includes moving the arc welding robot such that the end point passes through the groove without contact, the groove having a width greater than or equal to a diameter of the welding wire;
a rendering module (602) configured to perform a rendering process of the teaching action;
a determination module (603) configured to verify a tool center point of the arc welding robot based on a contact state of the end point with the groove during the reproduction.
13. Tool center point verification apparatus (700), comprising:
a memory (701) configured to store computer readable code;
a processor (702) configured to invoke the computer readable code to perform the tool center point verification method (400) of any of claims 7 to 11.
14. Computer readable storage medium having stored thereon computer readable instructions which, when executed by a processor, cause the processor to perform the tool center point verification method (400) according to any one of claims 7-11.
15. Computer program product, characterized in that it is tangibly stored on a computer-readable storage medium and comprises computer-readable instructions that, when executed, cause at least one processor to perform a tool center point verification method (400) according to any one of claims 7 to 11.
CN202210562073.4A 2022-05-23 2022-05-23 Tool center point verification system, method, device and storage medium Active CN115026393B (en)

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JP2011230243A (en) * 2010-04-28 2011-11-17 Yaskawa Electric Corp Device and method for teaching-procedure calibration for robot
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CN206732340U (en) * 2016-12-08 2017-12-12 长春一汽富维安道拓汽车金属零部件有限公司 Arc welding robot TCP calibrators
CN108388252A (en) * 2018-04-10 2018-08-10 中科新松有限公司 A kind of robot teaching method, apparatus, equipment and medium
CN110899893A (en) * 2019-12-24 2020-03-24 上海和达汽车配件有限公司 Cross inspection method for offset of welding robot

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Publication number Priority date Publication date Assignee Title
JP2011230243A (en) * 2010-04-28 2011-11-17 Yaskawa Electric Corp Device and method for teaching-procedure calibration for robot
CN202846008U (en) * 2012-09-18 2013-04-03 云顶汽车部件股份有限公司 Calibration device for robot welding track
CN203184842U (en) * 2013-02-19 2013-09-11 鞍山煜宸科技有限公司 Laser-electric arc hybrid welding device
CN206732340U (en) * 2016-12-08 2017-12-12 长春一汽富维安道拓汽车金属零部件有限公司 Arc welding robot TCP calibrators
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