CN115026393B - Tool center point verification system, method, device and storage medium - Google Patents

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

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Publication number
CN115026393B
CN115026393B CN202210562073.4A CN202210562073A CN115026393B CN 115026393 B CN115026393 B CN 115026393B CN 202210562073 A CN202210562073 A CN 202210562073A CN 115026393 B CN115026393 B CN 115026393B
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China
Prior art keywords
groove
tool center
end point
center point
slot
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CN115026393A (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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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

The embodiment of the invention discloses a tool center point verification system, a tool center point verification method, a tool center point verification device and a tool center point verification storage medium. The system comprises: a welding gun coupled with a robot body of the arc welding robot; a welding wire comprising an end point extending outwardly through the welding gun; a detection device comprising a slot, wherein the width of the slot is greater than or equal to the diameter of the welding wire; a controller configured to record teaching actions of an arc welding robot, the teaching actions including moving the arc welding robot such that the endpoint passes through the slot without contact; a reproduction process of executing the teaching action; checking a tool center point of the arc welding robot based on a contact state of the end point with the groove during the reproducing. According to the embodiment of the invention, manual observation is not needed, the misjudgment probability is reduced, the verification is realized based on the track alignment mode, the operation complexity of the point-to-point alignment mode is overcome, and the verification accuracy is improved.

Description

Tool center point verification 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 verification system, a tool center point verification method, a tool center point verification device and a storage medium.
Background
Arc welding robot refers to an industrial robot for performing automatic arc welding. The tool center point (Tool Central Point, TCP) is typically the origin of the tool coordinate system (Tool Coordinate System). When the arc welding robot is brought close to a certain point in space, either manually (Jogging) or programmatically (Programming), it is essential that the TCP is brought close to that point. To ensure welding accuracy of the arc welding robot, it is generally necessary to check the TCP before the welding operation to check the repeated positioning accuracy of the welding operation.
Currently, the TCP of an arc welding robot is generally aligned with the tip of a conical detecting rod to check the accuracy of the TCP, which requires a craftsman to visually observe the alignment and give a judgment. In addition, the verification mode belongs to point-to-point alignment, and the arc welding robot needs to change a plurality of postures to ensure the verification precision. However, the arc welding robot has a disadvantage of complicated operation in changing the posture.
Disclosure of Invention
The embodiment of the invention provides a TCP verification system, a TCP verification method, a TCP verification 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 comprising an end point extending outwardly through the welding gun;
A detection device comprising a slot, wherein the width of the slot is greater than or equal to the diameter of the welding wire;
a controller configured to record teaching actions of an arc welding robot, the teaching actions including moving the arc welding robot such that the endpoint passes through the slot without contact; a reproduction process of executing 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, according to the embodiment of the invention, the TCP can be automatically checked through the contact state of the welding wire end point and the groove, manual naked eye observation is not needed, and labor is saved. In addition, the embodiment of the invention realizes verification based on the track alignment mode that the end points pass through the groove, does not need to change a plurality of postures by the arc welding robot to execute point-to-point verification for a plurality of times, thereby reducing the operation complexity and improving the verification accuracy.
In an exemplary embodiment, the controller is configured to determine that the precision of the TCP is not acceptable when the endpoint comes into contact with the slot during the reproduction; and when the endpoint is not contacted with the groove in the reproduction process, determining that the precision of the TCP is qualified.
Therefore, the embodiment of the invention can quickly determine whether the precision of the TCP is qualified.
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 unqualified.
Therefore, the embodiment of the invention can remind the occurrence of unqualified TCP precision.
In an exemplary embodiment, further comprising:
A wire cutting device;
The controller is configured to control the wire cutting device to remove redundancy from the end points and trim dry elongation of the welding wire to less than a depth of the groove prior to performing the rendering process.
Therefore, the embodiment of the invention removes the redundancy of the end points through the wire cutting device, and can improve the verification accuracy. In addition, the embodiment of the invention ensures that the dry extension of the welding wire is smaller than the depth of the groove through the wire cutting device, thereby further improving the verification accuracy.
In an exemplary embodiment, the controller is configured to detect a potential of the endpoint in the reproduction process; and determining that the end point is in contact with the groove when the potential is smaller than a preset threshold value, and determining that the end point is not in contact with the groove when the potential is not smaller than the preset threshold value.
Therefore, the embodiment of the invention can quickly determine the contact state of the endpoint and the groove through the potential change by utilizing the property that the welding wire of the arc welding robot is the positive electrode of the welding power supply.
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 action includes a first sub-action of penetrating through the first through slot without contact, and a second sub-action of penetrating through the second through slot without contact.
Therefore, the groove structure of the embodiment of the invention has the intersected through structure, so that track verification in various modes can be realized, and the accuracy of verification is improved.
In a second aspect, an embodiment of the present invention provides a TCP verification 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 comprising 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 process of executing 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, according to the embodiment of the invention, the TCP can be automatically checked through the contact state of the welding wire end point and the groove, manual naked eye observation is not needed, and labor is saved. In addition, the embodiment of the invention realizes verification based on the track alignment mode that the end points pass through the groove, does not need to change a plurality of postures by the arc welding robot to execute point-to-point verification for a plurality of times, thereby reducing the operation complexity and improving the verification accuracy.
In an exemplary embodiment, the method includes:
Determining that the precision of the TCP is not acceptable when the endpoint comes into contact with the slot during the reproduction;
and when the endpoint is not contacted with the groove in the reproduction process, determining that the precision of the TCP is qualified.
Therefore, the embodiment of the invention can quickly determine whether the precision of the TCP is qualified.
In an exemplary embodiment, the method includes:
And when the precision of the TCP is unqualified, sending out an alarm prompt.
Therefore, the embodiment of the invention can remind the occurrence of unqualified TCP precision.
In an exemplary embodiment, the method includes:
Before the reproduction process is executed, controlling a wire cutting device to remove redundancy of the end points;
Controlling the wire cutting device to cut the dry extension of the welding wire to be smaller than the depth of the groove.
Therefore, the embodiment of the invention removes the redundancy of the end points through the wire cutting device, and can improve the verification accuracy. In addition, the embodiment of the invention ensures that the dry extension of the welding wire is smaller than the depth of the groove through the wire cutting device, thereby further improving the verification accuracy.
In an exemplary embodiment, the method includes:
detecting a potential of the end point in the reproduction process;
And determining that the end point is in contact with the groove when the potential is smaller than a preset threshold value, and determining that the end point is not in contact with the groove when the potential is not smaller than the preset threshold value.
Therefore, the embodiment of the invention can quickly determine the contact state of the endpoint and the groove through the potential change by utilizing the property that the welding wire of the arc welding robot is the positive electrode of the welding power supply.
In a third aspect, an embodiment of the present invention provides a tool center point verification apparatus, including:
A recording module configured to record 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 comprising 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 configured to perform a reproduction procedure 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 in the reproducing process.
Therefore, according to the embodiment of the invention, the TCP can be automatically checked through the contact state of the welding wire end point and the groove, manual naked eye observation is not needed, and labor is saved. In addition, the embodiment of the invention realizes verification based on the track alignment mode that the end points pass through the groove, does not need to change a plurality of postures by the arc welding robot to execute point-to-point verification for a plurality of times, thereby reducing the operation complexity 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 a TCP verification method as claimed in any preceding claim.
In a fifth aspect, embodiments of the present invention provide a computer readable storage medium having stored thereon computer readable instructions which, when executed by a processor, cause the processor to perform a TCP verification method as claimed in any one of the preceding claims.
In a sixth aspect, embodiments of the present 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 verification method as set forth in any 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 schematic diagram of a slot shape according to an embodiment of the present invention.
Fig. 2B is a second exemplary schematic diagram of a slot shape according to an embodiment of the present invention.
FIG. 2C is an exemplary schematic diagram of dimensional parameters of a welding wire and groove 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 verification device of an arc welding robot according to an embodiment of the present invention.
Fig. 7 is another exemplary configuration diagram of a TCP verification device of an arc welding robot according to an embodiment of the present invention.
Wherein, the reference numerals are as follows:
Detailed Description
The subject matter described herein will now be discussed with reference to example embodiments. It should be appreciated that these embodiments are discussed only to enable a person skilled in the art to better understand and thereby practice the subject matter described herein, and are not limiting of 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 invention as set forth in the embodiments. Various examples may omit, replace, or add various procedures or components as desired. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. In addition, features described with respect to some examples may be combined in other examples as well.
As used herein, the term "comprising" and variations thereof mean open-ended terms, meaning "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 indicates otherwise, the definition of a term is consistent throughout this specification.
Arc welding robots generally include: robot body, controller, teach pendant, welding power supply, welding gun, welding jig, safety protection facility, etc. The arc welding robot can realize continuous track control and point position control under the control of the controller, and can also utilize the functions of linear interpolation and circular arc interpolation to weld a space welding seam formed by the linear and circular arcs.
The applicant found that: in the prior art, the TCP of the arc welding robot is generally aligned with the tip of a detecting rod (generally conical) to verify the accuracy of the TCP, which requires the craftsman to visually observe the alignment and give a judgment. In addition, this calibration method belongs to point-to-point alignment, and the arc welding robot needs to change a plurality of (usually 5) postures to ensure the calibration accuracy of the TCP.
In the embodiment of the invention, the precision of the TCP can be automatically checked through the contact state of the welding wire end point and the groove, so that 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, the TCP verification system 10 of the 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 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 teaching actions of the arc welding robot, the teaching actions including moving the arc welding robot such that the end point 131 passes through the slot 143 without contact; a reproduction process for 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 with the groove 143 during the reproduction.
Here, the robot body is a mechanical part of the arc welding robot, also called an operating mechanism of the arc welding robot. Arc welding robots typically include other support software and support equipment in addition to the robot body. The basic structure of the robot body comprises: (1) a transmission component; (2), a machine body and a travelling 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 typically disposed as an end effector at the end shaft of the robot body 12 of the arc welding robot. For example, the arc welding robot may be implemented as a six-axis robot including an S-axis, an L-axis, a U-axis, a B-axis, an R-axis, and a T-axis, with the welding gun 11 disposed on the T-axis.
The welding wire 13 penetrates the welding gun 11, wherein an end point 131 of the length of welding wire extending outside the welding gun 11 via a gun nozzle of the welding gun 11 can be regarded as a TCP of the arc welding robot. Another length of wire in wire 13, opposite end 131, may extend into the wire drum along the end axis of the robot.
While the foregoing exemplary descriptions of typical examples of welding gun 11 and welding wire 13 are provided for illustration, those skilled in the art will appreciate that such descriptions are exemplary only and are not intended to limit the scope of embodiments of the present invention.
First, a process in which the arc welding robot moves (e.g., only the tip axis moves) from a predetermined position (e.g., a work origin) so that the end point 131 passes through the slot 143 in the detecting device 14 without contact along the slotting direction of the slot 143 is demonstrated by teaching. This process is a teaching process. The controller 15 records teaching operations during teaching of the arc welding robot, and for example, the teaching operations are implemented as a task program stored by teaching programming. The welding gun 11 of the arc welding robot may be guided manually, or the robot may be guided by a manual operation of a mechanical simulator, or a teaching box may be used to perform teaching operations.
Then, when it is necessary to perform TCP verification (for example, before the arc welding robot performs a lot of arc welding work), the controller 15 performs a reproduction process of the teaching action. The reproduction procedure includes: the arc welding robot moves (e.g., only the tip shaft moves) from the same predetermined position (e.g., the work origin) so that the end point 131 passes through the slot 143 of the detecting device 14 without contact in the slotting direction of the slot 143. 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 checked. Wherein: the position of the detecting means 14 during reproduction remains unchanged from the position of the detecting means 14 during teaching.
Therefore, unlike the manual observation of the point-to-point alignment condition in the prior art, the embodiment of the invention can automatically check the precision of the TCP through the contact state of the welding wire end point and the groove, thereby saving the labor. Moreover, unlike the point-to-point alignment mode in the prior art, the embodiment of the invention realizes verification based on the contact state of the welding wire end point and the groove, and realizes alignment calibration of the groove penetrating track, so that the arc welding robot is not required to change a plurality of postures to execute multiple point-to-point verification, thereby reducing the operation complexity and improving the verification accuracy.
In an exemplary embodiment, controller 15 is configured to determine that the accuracy of TCP is unacceptable when endpoint 131 comes into contact with slot 143 during rendering; when endpoint 131 is not in contact with slot 143 during rendering, the accuracy of the TCP is determined to be acceptable. Therefore, the embodiment of the invention can quickly determine whether the precision of the TCP is qualified.
In an exemplary embodiment, TCP verification system 10 further includes an alarm device 16 configured to issue an alarm alert when the accuracy of TCP is unacceptable.
For example, the alarm device 16 may emit an alarm alert either acoustically or optically alone, or the alarm device 16 may emit both an audible and an visual alarm alert. For example, the alarm device 16 may be mounted on the robot body 12 or may be disposed separately from the robot body 12.
In an exemplary embodiment, the TCP verification system 10 further includes: a wire cutting device 16; the controller 15 is configured to control the wire cutting device 16 to remove redundancy of the end points 131 and trim dry elongation of the welding wire 13 to be less than the depth of the groove 143 before performing the reproduction process. The dry extension is the distance from the end point 131 to the tip of the contact tip, and resistance heat is generated during overlaying welding, and the melting speed of the welding wire is determined by the arc and the resistance heat, and is proportional to the dry extension of the welding wire, that is, the longer the dry extension is, the faster the melting speed of the welding wire is.
Therefore, the embodiment of the invention removes the redundancy of the end points through the wire cutting device, and can improve the verification accuracy. In addition, the embodiment of the invention ensures that the dry extension of the welding wire is smaller than the depth of the groove through the wire cutting device, so that the welding wire cannot undesirably contact the bottom of the groove due to overlong welding wire in the process of moving the welding wire in the groove, and the verification accuracy can be further improved.
In an exemplary embodiment, the controller 15 is configured to detect the potential of the endpoint 131 during reproduction; when the potential is less than the predetermined threshold value, it is determined that the end point 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 end point 131 is not in contact with the groove 143.
For example, the detection device 14 is set to be grounded. Terminal 131 serves as the welding power source anode and is typically at a potential greater than zero, such as 15 volts. When the terminal 131 moves within the slot 143, if contact is made with the detecting device 14 (e.g., the terminal 131 contacts both sides of the slot 143), the potential of the terminal 131 decreases to zero due to the ground. At this time, it can be determined that the endpoint 131 comes into contact with the groove 143 by detecting this potential change of the endpoint 131.
Therefore, the embodiment of the invention fully utilizes the attribute that the welding wire of the arc welding robot is the positive electrode of the welding power supply, and can quickly determine the contact state of the endpoint and the groove through the potential change.
In an exemplary embodiment, the detection device 14 includes: a base 142; a slot structure 141 fixed on the base 142, wherein the slot structure 141 includes a first through slot and a second through slot that intersect; the teaching action includes a first sub-action of penetrating through the first through groove without contact and a second sub-action of penetrating through the second through groove without contact.
It can be seen that the first sub-action indicates a track passing through the first through slot without contact, and the second sub-action indicates a track passing through the second through slot without contact, i.e. the teaching action includes two different tracks with intersecting points, compared with a point-to-point calibration mode that has to be checked multiple times due to insufficient precision, the embodiment of the invention can obtain satisfactory checking precision only by a small number of checking processes (for example, one time).
Fig. 2A is a first exemplary schematic diagram of a slot shape according to an embodiment of the present invention.
It can be seen that the slot comprises two through slots orthogonal in the same plane, a horizontal slot CD and a vertical slot AB, respectively. The width of the horizontal groove CD is S2; the vertical groove AB has a groove width S1. S2 and S1 are both greater than or equal to the diameter of the welding wire to ensure that the welding wire can pass through the horizontal slot CD and the vertical slot AB without contact along the slotting direction. Preferably, S2 and S1 are the same and are both slightly larger than the diameter of the wire, thereby ensuring verification accuracy. The closer S2 and S1 are to the diameter of the wire, the higher the accuracy of the verification. The teaching actions may be implemented as: first, the end point enters the vertical groove AB from the notch a, and exits the vertical groove AB from the notch B along the grooving direction of the vertical groove AB. The end point then enters the horizontal slot CD from slot C and exits the horizontal slot CD from slot D in the direction of the slot of the horizontal slot CD. That is, the teaching action is to move the line segment AB first and then move the line segment straight line CD.
Fig. 2B is a second exemplary schematic diagram of a slot shape according to an embodiment of the present invention.
It can be seen that the slot comprises two through slots intersecting in the same plane, a first slot CD and a second slot AB, respectively. The first groove CD and the second groove AB have an angle therebetween that is not equal to 90 degrees. The groove width of the first groove CD is S2; the second groove AB has a groove width S1. S2 and S1 are both greater than or equal to the diameter of the welding wire. Preferably, S2 and S1 are the same and are both slightly larger than the diameter of the wire, thereby ensuring verification accuracy. The closer S2 and S1 are to the diameter of the wire, the higher the accuracy of the verification. The teaching actions may be: first, the end point enters the second groove AB from the notch a, 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 C of the first groove CD. The end point then enters the second slot AB from the slot B, reaches the intersection of the first slot CD and the second slot AB from the slot B along the slotting direction of the second slot AB, and moves from the intersection to the slot D of the first slot CD.
The above exemplary description describes the specific shape of the slot and the movement track within the slot. In practice, the slots may have a variety of shapes, such as disjoint through slots, disjoint partial through slots, intersecting partial through slots, and so forth. Accordingly, the movement path in the groove may be implemented in various ways, and the embodiment of the present invention is not limited thereto.
FIG. 2C is a schematic diagram of dimensional parameters of a welding wire and a groove according to an embodiment of the present invention.
As shown in FIG. 2C, the wire 13 has a diameter S3, such as S3 of 1.2 millimeters (mm). The dry extension of the welding wire 13 is 10mm; the width of the slot 143 is slightly greater than S3, for example 1.4mm. The depth L1 of the slot 143 is greater than the dry elongation of the welding wire 13, such as L1 being 15mm; the groove structure 141 may be implemented as a cylinder with grooves 143, the length L2 of which in the groove depth direction is 50mm, and the diameter of which may be 30mm, for example.
In the embodiment of the invention, the attribute that the welding wire of the arc welding robot is the positive electrode of a welding power supply is utilized, the dry extension of the welding wire is adjusted to be 10mm long, 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 of the robot 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, 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, the error is greater than or equal to + -0.1 mm when the welding wire passes through the slot 143, and a point can be determined according to the principle that two straight lines intersect, the embodiment can complete the whole checking process through automatic operation of a 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 a demonstrator 302. The controller 301 records teaching actions of the arc welding robot based on the teaching process of the teaching tool 302. The controller 301 may also be connected to a PLC or man-machine interface 303 (optional), an alarm device 304, a detection device 305 and a wire cutting device 306, respectively. Wherein: the controller 301 receives instructions from the PLC or man-machine interface 303 to initiate a TCP verification process. The controller 301 determines whether the accuracy of the TCP is acceptable using a slot in the detecting means 305. The controller 301 issues an alarm prompt via the alarm device 304. The controller 301 uses the wire cutting device 306 to remove redundancy from the end points and trim the dry extension of the welding wire to a depth less than the groove in the 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, the tool center point verification method 400 of the arc welding robot includes:
Step 401: 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 contactlessly through the slot, 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: the tool center point of the arc welding robot is verified based on the contact state of the end point and the groove during reproduction.
In an exemplary embodiment, the method includes: determining that the precision of the tool center point is not acceptable when the end point contacts the groove in the reproduction process; when the end points are not in contact with the groove during reproduction, the accuracy of the tool center point is determined to be acceptable.
In an exemplary embodiment, the method includes: comprising the following steps: and when the precision of the tool center point is unqualified, sending out an alarm prompt.
In an exemplary embodiment, the method includes: before the reproduction process is executed, controlling the wire cutting device to remove redundancy of the end points; the wire cutting device is controlled to cut the dry extension of the welding wire to be smaller than the depth of the groove.
In an exemplary embodiment, the method includes: detecting the potential of an endpoint in the reproduction process; the endpoint is determined to be in contact with the slot when the potential is less than a predetermined threshold value, and the endpoint is determined to be not in contact with the slot when the potential is not less than the predetermined threshold value.
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 by the teaching tool, the teaching action including moving the arc welding robot at the work origin such that a wire end point extending outwardly through the welding gun passes through the slot without contact along the slot direction. The controller records teaching actions of the arc welding robot.
Step 501: the controller starts running the TCP check program.
Step 502: the arc welding robot is moved to the work origin.
Step 503: the wire cutting device removes redundancy at the end points.
Step 504: the wire cutting device cuts 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 detecting device.
Step 506: the arc welding robot reproduces the teaching action to push the welding wire in the slot along the slot direction.
Step 507: it is determined whether the wire is in contact with the slot during movement in the slot, if so (corresponding to the "Y" branch), step 509 and subsequent steps are performed, otherwise (corresponding to the "N" branch), step 508 and subsequent steps are performed.
Step 508: the accuracy of the TCP is determined to be acceptable and step 502 is executed back.
Step 509: the arc welding robot pauses moving the welding wire in the trough.
Step 510: the controller checks the contact position and sets the positional offset of the wire to overcome the error. The arc welding robot continues to move in the groove. For example, the positional shift amount of the welding wire is set so that the welding wire moves toward the other side away from the contact position. For example, when the detected position is found to be the left wall of the groove, the welding wire is moved toward 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 toward the left wall of the groove. Therefore, not only the accuracy of the TCP can be checked, but also the TCP with insufficient accuracy can be compensated.
Step 511: it is determined whether the wire is not again in contact with the slot, and if the wire is not again in contact with the slot (corresponding to the "Y" branch), the process returns to step 502, and if the wire is again in contact with the slot (corresponding to the "N" branch), the process returns to step 510 and subsequent steps.
Fig. 6 is an exemplary configuration diagram of a TCP verification device of an arc welding robot according to an embodiment of the present invention. As shown in fig. 6, the TCP checking apparatus 600 includes:
A recording module 601 configured to record 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 slot without contact, the width of the slot being greater than or equal to the diameter of the welding wire;
A rendering module 602 configured to perform a rendering process of the teaching action;
a determining 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 reproduction.
In an exemplary embodiment, the determining module 603 is configured to determine that the accuracy of the tool center point is unacceptable when the end point is in contact with the groove during reproduction; when the endpoint is not in contact with the slot during rendering, the accuracy of the TCP is determined to be acceptable.
In an exemplary embodiment, the rendering module 602 is configured to control the wire cutting device to remove redundancy from the end points and trim dry elongation of the welding wire to 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 the potential of the endpoint in the rendering process; the endpoint is determined to be in contact with the slot when the potential is less than a predetermined threshold value, and the endpoint is determined to be not in contact with the slot when the potential is not less than the predetermined threshold value.
Fig. 7 is another exemplary configuration diagram of a TCP verification device of an arc welding robot according to an embodiment of the present invention. As shown in fig. 7, the TCP verification device 700 of the arc welding robot includes: a memory 701 and a processor 702. The processor 702 is used to call a computer program stored in the memory 701 to perform a TCP verification method of the arc welding robot in the embodiment of the present invention.
Embodiments of the present invention also propose computer program products. The 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 of an arc welding robot as any of the above. Specifically, a system or apparatus provided with a storage medium on which computer readable code implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus is caused to read out and execute the computer readable code stored in the storage medium may be provided. Further, some or all of the actual operations may also be accomplished by an operating system or the like that is caused to operate on a computer based on instructions of the computer-readable code. The computer readable code read out from the storage medium may also be written 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 a CPU or the like mounted on the expansion board or the expansion unit may be caused to perform part or all of the actual operations based on instructions of the computer readable code, thereby realizing the functions of any of the above embodiments. In this embodiment, examples of computer readable media 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, ROM, RAM, ASIC, a configured processor, an all-optical medium, all-magnetic tape, or other magnetic medium, or any other medium from which a computer processor may read instructions. In addition, various other forms of computer-readable media may transmit or carry instructions to a computer, including routers, private or public networks, or other wired and wireless transmission devices or channels, for example, computer-readable instructions may be downloaded from a server computer or cloud by a communications network. The instructions may include code in any computer programming language, including C, C ++, the C language, visual Basic, java, and JavaScript.
It should be noted that not all the steps and modules in the above flowcharts and the system configuration 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 as required. 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 multiple physical entities, or may be implemented jointly by some components in multiple independent devices.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.

Claims (9)

1. Tool center point verification system (10), characterized by comprising:
a welding gun (11) coupled to a robot body (12) of the arc welding robot;
-a welding wire (13) comprising an end point (131) extending outwards 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 teaching actions of an arc welding robot, the teaching actions comprising moving the arc welding robot such that the end point (131) passes through the slot (143) without contact; a reproduction process of executing the teaching action; verifying a tool center point of the arc welding robot based on a contact state of the end point (131) with the groove (143) during the reproducing;
-the controller (15) being configured to determine that the accuracy of the tool center point is not acceptable when the end point (131) comes into contact with the groove (143) during the reproduction; determining that the accuracy of the tool center point is acceptable when the end point (131) and the groove (143) are not in contact during the reproduction;
-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 a predetermined threshold value;
further comprises: a wire cutting device (16);
the controller (15) is configured to control the wire cutting device (16) to remove redundancy from the end points (131) and to cut the dry extension of the welding wire (13) to a depth less than the groove (143) prior to performing the reproduction process.
2. The tool center point verification system (10) according to claim 1, further comprising:
and the alarm device is configured to send out an alarm prompt when the precision of the tool center point is unqualified.
3. Tool center point verification system (10) according to any of the claims 1-2, 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 intersecting first and second through slots;
The teaching action includes a first sub-action of penetrating through the first through slot without contact, and a second sub-action of penetrating through the second through slot without contact.
4. 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 comprising an end point extending outwardly through the welding gun; the teaching action includes moving the arc welding robot such that the end point passes contactlessly through a slot contained in a detection device, the slot having a width greater than or equal to a diameter (401) of the welding wire;
a reproduction process (402) for executing the teaching 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;
Wherein the accuracy of the tool center point is determined to be unacceptable when the end point contacts the groove during the reproduction; determining that the accuracy of the tool center point is acceptable when the end point is not in contact with the groove during the reproduction;
Comprising the following steps: detecting a potential of the end point in the reproduction process;
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;
Comprising the following steps: before the reproduction process is executed, controlling a wire cutting device to remove redundancy of the end points;
Controlling the wire cutting device to cut the dry extension of the welding wire to be smaller than the depth of the groove.
5. The tool center point verification method (400) according to claim 4, comprising:
And when the precision of the tool center point is unqualified, sending out an alarm prompt.
6. Tool center point verification device (600), characterized in that it comprises:
A recording module (601) configured to record 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 comprising an end point extending outwardly through the welding gun; the teaching action includes moving the arc welding robot such that the end point passes contactlessly through a slot included in a detection device, the slot 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 determining 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; wherein the accuracy of the tool center point is determined to be unacceptable when the end point contacts the groove during the reproduction; determining that the accuracy of the tool center point is acceptable when the end point is not in contact with the groove during the reproduction; detecting a potential of the end point in the reproduction process; 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; before the reproduction process is executed, controlling a wire cutting device to remove redundancy of the end points; controlling the wire cutting device to cut the dry extension of the welding wire to be smaller than the depth of the groove.
7. Tool center point verification device (700), characterized by 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 4-5.
8. A computer readable storage medium, characterized in that the computer readable storage medium has 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 of claims 4-5.
9. 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 the tool center point verification method (400) according to any of claims 4 to 5.
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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* Cited by examiner, † Cited by third party
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
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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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