CN205437436U - Mechanical arm moving orbit adjustment system - Google Patents

Abstract

The utility model provides a mechanical arm moving orbit adjustment system, it includes: sensing device is right the welding seam with welder's soldered connection scans, the video image data that scan are received to the treater, handle obtaining and sending acceleration signal and orbit adjustment signal, the arm device guides the welding seam of following on the welding seam board to move by the user and regards as the teaching orbit for one time, then according to repeated this the teaching orbit of acceleration signal, orbit adjusting device receives orbit adjustment signal is right finely tune welder's position, welder is right the welding seam welds. Like this, be applied to large -scale arm cooperation, reduce the huge work load that code difference was brought between different types of arm, in single arm, through finely tuning once more welder, improve the welded precision on the basis in the mechanical arm moving adjustment.

Description

A kind of manipulator motion track adjusts system

Technical field

This utility model relates to a kind of THE WELD SEAM TRACKING TECHNOLOGY field, adjusts system particularly to a kind of manipulator motion track.

Background technology

So-called weld joint tracking is exactly the deviation detecting weld seam when welding in real time, and adjusts path of welding and welding parameter, it is ensured that the reliability of welding quality.Due to the existence of the factors such as the thermal deformation when mismachining tolerance (size difference between workpiece, the preparation etc. of groove) of workpiece, clamping precision and welding, bonding machine mechanical arm when welding usually because weld seam and teaching track have deviation to cause welding quality to decline.So weld joint tracking is to ensure that an important aspect of mechanical arm welding quality.

Existing weld joint tracking, is usually in weld seam welding process, and sensor detects the situation of weld seam in real time, such as the size difference between workpiece, the preparation etc. of groove.Being then transferred to processor, processor the most quickly processes the information that sensor sends, and processor is sent to mechanical arm controller, then action control welding gun the information processed again.But, in actual operating process, sometimes need to use more eurypalynous mechanical arm, and these mechanical arms are because of the difference of type, during mechanical arm real-time tracking, coding is complicated, and it is different that every class mechanical arm writes code, huge workload can be produced, cause the biggest difficulty to actual welding.

In view of drawbacks described above, this utility model creator obtains this utility model finally through research for a long time and practice.

Utility model content

The purpose of this utility model is, it is provided that a kind of manipulator motion track adjusts system, in order to overcome above-mentioned technological deficiency.

For achieving the above object, the technical solution adopted in the utility model is, it is provided that a kind of manipulator motion track adjusts system, comprising: processor, sensing device, robot arm device, track adjusting device and welding gun；

Weld seam and the plumb joint of described welding gun on described sensing device butt welded seam plate are scanned, and the vedio data scanned is transferred to described processor；

Described processor receives described vedio data, processes, and obtains acceleration signal and track adjusts signal and sends；

Described robot arm device by user guide along described weld seam move one time as teaching track, then repeat this teaching track according to the described acceleration signal received；

Described track adjusting device is installed between described robot arm device and described welding gun, receives described track and adjusts signal and be finely adjusted the position of described welding gun；

Described weld seam is welded by described welding gun.

It is also preferred that the left described manipulator motion track adjusts system also includes display screen；Described sensing device is photographic head, and described display screen electrically connects with described photographic head.

It is also preferred that the left described robot arm device includes: slide rail, balladeur train, the sub-device of driving and dilaton device；Described slide rail level is laid on ground or workbench both sides；Described balladeur train is erected on described slide rail, moves along described slide rail；The sub-device of described driving is fixed on described balladeur train, receives described acceleration signal, drives and controls described balladeur train and moves；Described dilaton device one end is fixed on described balladeur train, and described track adjusting device is fixed in one end, along described teaching orbiting motion under the control of the sub-device of described driving.

It is also preferred that the left described manipulator motion track adjusts system also includes ultrasonic sensor and quality treatment module；Described ultrasonic sensor utilizes echo that ultrasound wave reflects to form through described weld seam to detect welding position, and sends detection data；Described quality treatment module receives described detection data and contrasts with default normal data, by the transmission of undesirable welding position information to described processor；Described processor transmission control instruction, to described robot arm device, carries out repair welding to described welding position.

It is also preferred that the left described track adjusting device includes: Y-axis support, the sub-device of Y-axis power, Z axis support, the sub-device of Z axis power, fixed support and microprocessor；Described fixed support is fixed on the end of described robot arm device；Described microprocessor is fixed on described fixed support, receives after described track adjusts signal and generates control instruction；Described Y-axis support is connected on described fixed support, moves in the Y-axis direction relative to described fixed support；The described sub-device of Y-axis power is clipped in the middle of described fixed support and described Y-axis support, and side is fixed on described fixed support, and opposite side is combined with described Y-axis support, receives Y-axis support described in described control instruction rear drive and moves；Described Z axis support is connected on described Y-axis support, moves in the Z-axis direction relative to described Y-axis support；The described sub-device of Z axis power is clipped between described Y-axis support and described Z axis support, and side is fixed on described Y-axis support, and opposite side is combined with described Z axis support, receives Z axis support described in described control instruction rear drive and moves.

It is also preferred that the left described track adjusting device includes: radian support, the sub-device of radian frame power, telescope support, the sub-device of expansion bracket power, fixed mount and microcontroller；Described fixed mount is fixed on the end of described robot arm device；Described microcontroller is fixed on described fixed mount, receives after described track adjusts signal and generates control instruction；Described radian support is connected on described fixed mount, and the most described fixed mount moves along radian centered by the corresponding center of circle；The described radian device of frame power is clipped in the middle of described fixed mount and described radian support, and side is fixed on described fixed mount, and opposite side is combined with described radian support, receives radian support motion described in described control instruction rear drive；Described telescope support is connected on described radian support, relative to described radian support along the linear motion through the described radian support center of circle；The described sub-device of expansion bracket power is clipped between described radian support and described telescope support, and side is fixed on described radian support, and opposite side is combined with described telescope support, receives telescope support motion described in described control instruction rear drive.

It is also preferred that the left described manipulator motion track adjusts system also includes that man machine interface, described man machine interface are connected with described processor, the data processed in inputting control instruction or showing described processor.

The beneficial effects of the utility model are compared with the prior art: this utility model provides a kind of manipulator motion track to adjust system, so, can apply in the cooperation of large-scale mechanical arm, to reduce the huge workload that between different types of mechanical arm, code difference is brought, improve the coordinative role between different types of mechanical arm；Can be used in single mechanical arm, again finely tuned by Butt welding gun on the basis of adjusting at manipulator motion, improve the precision of welding；Robot arm device effect wherein mainly determines and repeats teaching track, and the basic role of encapsulation in these functions mechanical arm that to be various table different, it is not necessary to developing for all kinds of mechanical arms, meanwhile, robot arm device supports track adjusting device again；Carry out track adjustment by track adjusting device Butt welding gun, reduce the dislocation between welding gun and weld seam to greatest extent, improve welding precision；As such, it is possible to do not writing variety classes mechanical arm in the case of code adapts on a large scale, the movement locus of Butt welding gun is adjusted, and to smoothly complete the welding to welded plate weld seam, and improves welding precision；The plumb joint gathered containing welding gun and the video image of different position while welding can be shown in real time with described display screen；Laser welding is more accurate, and welding efficiency is higher, improves mechanical arm track and adjusts welding precision and the welding efficiency of system；Welding gun can be finely adjusted by track adjusting module relative to robot arm device, and then adjusts the actual motion track of welding gun, reduces and even eliminates welding gun and the relative distance of weld seam, improves described manipulator motion track and adjusts the precision of system welding；By undesirable welding position is carried out repair welding, improve manipulator motion track and adjust the welding quality of system.

Accompanying drawing explanation

Fig. 1 is the structural representation that this utility model manipulator motion track adjusts system；

Fig. 2 is the structural representation that this utility model manipulator motion track adjusts system processor；

Fig. 3 is the structural representation that this utility model manipulator motion track adjusts system embodiment four；

Fig. 4 is the structural representation one that this utility model manipulator motion track adjusts system trajectory adjusting apparatus；

Fig. 5 is the structural representation two that this utility model manipulator motion track adjusts system trajectory adjusting apparatus；

Fig. 6 is the structural representation that this utility model manipulator motion track adjusts system mechanics arm assembly；

Fig. 7 is the structural representation that this utility model manipulator motion track adjusts system embodiment nine；

Fig. 8 is the structural representation that this utility model manipulator motion track adjusts system embodiment ten；

Fig. 9 is the flow chart of this utility model manipulator motion track adjusting method；

Figure 10 is the flow chart of this utility model manipulator motion track adjusting method embodiment 12.

Detailed description of the invention

Below in conjunction with accompanying drawing, to this utility model, above-mentioned and other technical characteristic and advantage are described in more detail.

Referring to shown in Fig. 1, it is the structural representation that this utility model manipulator motion track adjusts system；Wherein, described manipulator motion track adjustment system includes: processor 1, sensing device 2, robot arm device 3, track adjusting device 4 and welding gun 5；

Described weld seam and plumb joint are scanned by sensing device 2, and the vedio data scanned is transferred to processor 1；

Processor 1 receives described vedio data, carries out process and obtains and send acceleration signal robot arm device 3, sends track and adjusts signal to track adjusting device 4；

Robot arm device 3 by user guide weld seam along weld seam plate move one time as teaching track, then repeat this teaching track according to the described acceleration signal received；

Track adjusting device 4 is installed between robot arm device 3 and welding gun 5, and the position receiving described track adjustment signal Butt welding gun 5 is finely adjusted；

Described weld seam is welded by welding gun 5.

So, when welding, first the robot arm device 3 described weld seam along described weld seam plate is guided to run one time by user, this is run as teaching track by robot arm device 3, second time (as long as to same weld seam plate or with a collection of weld seam plate, mechanical arm second time is identical with the movement locus of the N time) when running, robot arm device 3 is with teaching track as movement locus；Meanwhile, sensing device 2 butt welded seam and plumb joint are scanned, and the weld data scanned is transferred to processor 1, and processor 1 processes data and sends acceleration signal to robot arm device 3, send track to track adjusting device 4 and adjust signal；Robot arm device 3 receives after described acceleration signal along teaching orbiting motion, but movement velocity determines according to manipulator motion signal；Track adjusting device 4 adjusts the position of signal fine setting welding gun 5 according to track so that the top of welding gun 5 is minimum with weld seam error.

So, robot arm device 3 effect wherein mainly determines and repeats teaching track, and the basic role of encapsulation in these functions mechanical arm that to be various table different, it is not necessary to develop for all kinds of mechanical arms again, meanwhile, robot arm device 3 supports track adjusting device 4；Carry out track adjustment by track adjusting device 3 Butt welding gun, reduce the dislocation between welding gun 5 and weld seam to greatest extent, improve welding precision；As such, it is possible to do not writing variety classes mechanical arm in the case of code adapts on a large scale, the movement locus of Butt welding gun is adjusted, and to smoothly complete the welding to welded plate weld seam, and improves welding precision.

Can apply to, in the cooperation of large-scale mechanical arm, to reduce the huge workload that code difference between different types of mechanical arm is brought, improve the coordinative role between different types of mechanical arm it addition, this manipulator motion track adjusts system；Can be used in single mechanical arm, again finely tuned by Butt welding gun on the basis of adjusting at manipulator motion, improve the precision of welding.

Elaboration the most of the present utility model, definition robot arm device direction of advance is X-axis positive direction, is Z axis positive direction straight down, and Y-axis positive direction determines according to the right-hand rule.

Embodiment one

Manipulator motion track as described above adjusts system, the present embodiment is different from part and is, as shown in the structural representation that Fig. 2 this utility model manipulator motion track adjusts system processor, described processor 1 includes: pretreatment module 11, frame processing module 12, memory module 13, actual value computing module 14, acceleration calculation module 15 and adjustment generation module 16；Pretreatment module 11 receives described vedio data, and each two field picture is sharpened process；Each two field picture after sharpening is processed by frame processing module 12, obtains the measured value of the plumb joint of each position and welding gun 5 and is stored in memory module 13；Actual value computing module 14 reads same position measured value in different frame image from memory module 13, calculates the actual value of this position and is stored in memory module 13；Acceleration calculation module 15 reads data from memory module 13, and acceleration signal is also sent to robot arm device 3 by the acceleration of computer mechanical arm；Adjust generation module 16 from memory module 13, read data, generate track and adjust signal and send to track adjusting device 4.

So, after video image being decomposed into frame and every two field picture being processed, data are collected and draw actual value, improve the accuracy of Distance Judgment between butt welded seam position and weld seam and plumb joint, then improve manipulator motion track and adjust the welding precision of system.

Processor can be replaced by single-chip microcomputer, DSP, PLC, ARM, FPGA, industrial computer or computer etc..

Embodiment two

Manipulator motion track as described above adjusts system, and the present embodiment is different from part and is, actual value computing module 14 to same position actual value computing formula be:

$Z=\frac{{\mathrm{\Σ}}_{i=1}^n{B}_i{Z}_i}{{\mathrm{\Σ}}_{i=1}^n{B}_i}$

Wherein, B_iDetermined by following formula:

$A_i=\underset{j=1}{\overset{n}{\Σ}}|Z_i-Z_j|$

$A=\underset{i\≤n}{\min }\left(A_i\right)$

$B_i=\frac{1}{2}+\frac{mA-A_i}{2|mA-A_i|}$

In formula, i, j are respectively the sequence number of the measured value of same position, and n is the total quantity of measured value, and Z represents the actual value of this position, Z_i、Z_jRepresent i-th respectively, j measured value, A_iRepresenting the ith measurement value distance sum to all measured values, A represents distance sum minima, and m is the reasonable multiple of distance sum minima, B_iJudgment value for ith measurement value.

Concrete thought is: first passes through the absolute value to some measured value with the difference of any measured value and adds up, and obtains this measured value distance sum to all measured values；Secondly, in these distance sums, minimum range sum is confirmed；Again, the reasonable multiple of distance sum corresponding for any measured value Yu minimum range sum is made the after the recovery absolute value divided by difference, divided by one of plus thirty after two as judgment value corresponding to this measured value；Add up after finally all judgment value being multiplied with corresponding measured value, and adding up divided by all judgment value, obtain the actual value of this position.

Have the beneficial effect that by even adding the distance sum obtaining measured value with all measured values, measured value is not foreclosed by this kind of summing mode with the distance of itself, being because measured value distance with itself is 0, the distance sum finally tried to achieve be there is no impact, if measured value distance with itself is got rid of, can increase on the contrary judge which measured value be get rid of the step for, add workload, drag slowly calculating speed, this computing formula eliminates the step getting rid of measured value itself, reduce workload, shorten the calculating time, improve calculating speed；By making the after the recovery method divided by the absolute value of difference, by adjusting the distance, sum is converted into calculating judgment value in judgement the most in the reasonable scope, judgment value is 1 and represents this measured value in the reasonable scope, judgment value is 0 and represents this measured value the most in the reasonable scope, so, just eliminate the exceptional value bigger with major part data deviation, shorten the judgement time, saved judge process；By will determine that value is multiplied with measured value, directly eliminating the measured value that judgment value is 0, so, having obtained actual value, having eliminated the exceptional value that deviation is bigger, reduced the error caused because of reasons such as machinery or measurements, improve the accuracy of measurement；And formula is simple, process understands, shortens the judgement time, improves accuracy and the measuring speed of measurement, and simple formula saves system resource.

Wherein, m determines according to practical situation；And the concrete meaning of each letter representative in this computing formula is separate with the concrete meaning representated by each letter in following formula, is independent of each other.

Embodiment three

Manipulator motion track as described above adjusts system, and the present embodiment is different from part and is, acceleration calculation module 15 calculates the formula of acceleration and is:

$a_{i-}=\min \{\underset{s\&le;k<i}{\min }\left(a_{ik}\right),a\}$

Wherein, a_ikDetermined by following formula:

$a_{ik}=\frac{{v_i}^2-{v_k}^2}{2(x_i-x_k)}$

$v_i=\frac{v}{\sqrt{1+{d_i}^2}}$

$d_i=\frac{m\left({\&Sigma;}_{j=0}^{m-1}{x}_{i-j}{y}_{i-j}\right)-\left({\&Sigma;}_{i=0}^{m-1}{x}_{i-j}\right)\left({\&Sigma;}_{j=0}^{m-1}{y}_{i-j}\right)}{m\left({\&Sigma;}_{j=0}^{m-1}{x_{i-j}}^2\right)-{\left({\&Sigma;}_{j=0}^{m-1}{x}_{i-j}\right)}^2}$

In formula, i, k are the sequence number of trajectory coordinates, and j is poor with the sequence number of i-th trajectory coordinates, and m is the total quantity of the trajectory coordinates being fitted, and s is the sequence number that the coordinate of current plumb joint is corresponding, x_i-jIt is the abscissa of the i-th-j trajectory coordinates, y_i-jIt is the vertical coordinate of the i-th-j trajectory coordinates, x_i、x_kRespectively i-th, the abscissa of k trajectory coordinates, d_iIt is fit slope corresponding to the trajectory coordinates, v_i、v_kBe respectively plumb joint through i-th, the speed of k trajectory coordinates X-direction, v is plumb joint maximum permission speed in the plane, and a is the plumb joint maximum permissible acceleration in X-direction, a_ikAcceleration, a is assumed from i-th trajectory coordinates to the X-direction of kth trajectory coordinates for plumb joint_i-For plumb joint from the X-direction actual acceleration of current coordinate to i-th trajectory coordinates.

Concrete thought is: first the trajectory coordinates (i-th) just determined and m trajectory coordinates before is carried out fitting a straight line, obtains its fit slope；Secondly the square root adding by fit slope square obtains the plumb joint speed through the X-direction of this trajectory coordinates except maximum permission speed；Again with the difference of two squares of the speed of X-direction corresponding to two trajectory coordinates divided by the difference of the double X-axis coordinate of these two trajectory coordinates, obtain the X-direction that plumb joint should be subject between these two trajectory coordinates and assume acceleration；Finally plumb joint all of X-direction from current trajectory coordinates to the trajectory coordinates just determined assume acceleration select minima and and the maximum permissible acceleration of X-direction among select smaller value as plumb joint X-direction actual acceleration from current trajectory coordinates to the trajectory coordinates just determined.

Have the beneficial effect that by the trajectory coordinates just determined and m trajectory coordinates before are carried out fitting a straight line, determine fit slope, so can at utmost get rid of abnormal trajectory coordinates on the impact of the slope of current trajectory coordinates (picture signal is carried out process obtain trajectory coordinates when, therefore error trajectory coordinates may be confirmed as in the place of non-track, these trajectory coordinates can make the raw bigger error of slope fixed output quota really, this error can not be eliminated by matching, but error can be reduced), improve the exact value of the actual acceleration finally determined；Additionally, the speed of welding of plumb joint is to have the restriction of maximum, if it exceeds maximal rate, because weld interval is too short, welding quality can be deteriorated, it is thus desirable to according to practical situation, determine the maximum permission speed of plumb joint, and then determine that the X-direction between speed and two trajectory coordinates of X-direction assumes acceleration；The stressing influence of the acceleration butt joint of X-direction is bigger, if acceleration is excessive, plumb joint can produce and rock, so can affect last welding precision, it is thus desirable to determine, according to practical situation, the X-direction peak acceleration that plumb joint can bear in the case of not affecting precision, so, assume acceleration to select the acceleration being less than this peak acceleration as the actual acceleration of X-direction from all of X-direction, on the one hand can accelerate the speed of welding, improve working (machining) efficiency；On the other hand the stressing influence of butt joint is less, improves the welding precision of plumb joint；Can directly calculate actual acceleration by formula, improve the efficiency judging acceleration, shorten the judgement time；Formula is simple, decreases and takies system resource.

Wherein, m, v, a determine according to practical situation.

Embodiment four

Manipulator motion track as described above adjusts system, the present embodiment is different from part and is, as shown in the structural representation that Fig. 3 this utility model manipulator motion track adjusts system embodiment four, sensing device 2 is photographic head, for gathering containing plumb joint and the video image of different position while welding；Described manipulator motion track adjusts system and also includes display screen 6；Described display screen 6 electrically connects with described photographic head 2；As such, it is possible to show the plumb joint gathered containing welding gun and the video image of different position while welding in real time with described display screen.

Described photographic head 2 is fixing with the plumb joint 51 on described welding gun 5 to be connected, and described photographic head direction forms fixed angle with the plumb joint direction on described welding gun, so, described photographic head and the plumb joint of described welding gun keep the most static, in the video image of photographic head, the position of described plumb joint keeps constant, can on the basis of described plumb joint point, determined the motion of described weld seam by the change in location with described weld seam of described plumb joint.

Embodiment five

Manipulator motion track as described above adjusts system, and the present embodiment is different from part and is, the plumb joint of described welding gun 5 is laser welding system, and described sensing device 2 is laser vision sensor；So, laser welding is more accurate, and welding efficiency is higher, improves mechanical arm track and adjusts welding precision and the welding efficiency of system.

In the present embodiment, laser vision sensor can be replaced by laser structure optical sensor, scanning laser sensor or active light vision sensor.

Embodiment six

Manipulator motion track as described above adjusts system, the present embodiment is different from part and is, as shown in the structural representation one that Fig. 4 this utility model manipulator motion track adjusts system trajectory adjusting apparatus, described track adjusting device 4 includes: Y-axis support 41a, Y-axis power device 42a, Z axis support 43a, Z axis power device 44a, fixed support 45a and microprocessor 46a；Fixed support 45a is fixed on the end of robot arm device 3；Microprocessor 46a is fixed on fixed support 45a, receives after described track adjusts signal and generates control instruction；Y-axis support 41a is connected on fixed support 45a, is relatively fixed support 45a and moves in the Y-axis direction；Y-axis power device 42a is clipped in the middle of fixed support 45a and Y-axis support 41a, and side is fixed on fixed support 45a, and opposite side is combined with Y-axis support 41a, receives described control instruction rear drive Y-axis support 41a and moves；Z axis support 43a is connected on Y-axis support 41a, moves in the Z-axis direction relative to Y-axis support 41a；Z axis power device 44a is clipped between Y-axis support 41a and Z axis support 43a, and side is fixed on Y-axis support 41a, and opposite side is combined with Z axis support 43a, receives described control instruction rear drive Z axis support 43a and moves.

Fixing described welding gun 5 on Z axis support 43a, so, welding gun 5 can be finely adjusted by track adjusting module 4 relative to robot arm device 3, and then adjust the actual motion track of welding gun 5, reduce and even eliminate welding gun 5 and the relative distance of weld seam, improve described manipulator motion track and adjust the precision of system welding.

Described Y-axis power device 42a, described Z axis power device 44a are motor or servomotor.As such, it is possible to the displacement to Y-axis support and Z axis support accurately controls.

Embodiment seven

Manipulator motion track as described above adjusts system, the present embodiment is different from part and is, as shown in the structural representation two that Fig. 5 this utility model manipulator motion track adjusts system trajectory adjusting apparatus, described track adjusting device 4 includes: radian support 41b, radian frame power device 42b, telescope support 43b, expansion bracket power device 44b, fixed mount 45b and microcontroller 46b；Fixed mount 45b is fixed on the end of robot arm device 3；Microcontroller 46b is fixed on fixed mount 45b, receives after described track adjusts signal and generates control instruction；Radian support 41b is connected on fixed mount 45b, is relatively fixed frame 45b and moves along radian centered by the corresponding center of circle；Radian frame power device 42b is clipped in the middle of fixed mount 45b and radian support 41b, and side is fixed on fixed mount 45b, and opposite side is combined with radian support 41b, receives described control instruction rear drive radian support 41b motion；Telescope support 43b is connected on radian support 41b, relative to radian support 41b along the linear motion through the radian support 41b center of circle；Expansion bracket power device 44b is clipped between radian support 41b and telescope support 43b, and side is fixed on radian support 41b, and opposite side is combined with telescope support 43b, receives described control instruction rear drive telescope support 43b motion.

Fixing described welding gun 5 on telescope support 43b, so, welding gun 5 can be finely adjusted by track adjusting module 4 relative to robot arm device 3, and then adjust the actual motion track of welding gun 5, reduce and even eliminate welding gun 5 and the relative distance of weld seam, improve described manipulator motion track and adjust the precision of system welding.

Radian frame power device 42b, expansion bracket power device 44b are motor or servomotor.As such, it is possible to the displacement to Y-axis support and Z axis support accurately controls.

Embodiment eight

Manipulator motion track as described above adjusts system, the present embodiment is different from part and is, as shown in the structural representation that Fig. 6 this utility model manipulator motion track adjusts system mechanics arm assembly, robot arm device 3 includes: slide rail 31, balladeur train 32, drive sub-device 33 and dilaton device 34；Slide rail 31 level is laid on ground or workbench both sides, for providing horizontal slide to mechanical arm；Balladeur train 32 is assumed, on slide rail 31, to move along slide rail 31；Drive sub-device 33 to be fixed on balladeur train 32, receive described acceleration signal, drive and control the movement on slide rail 31 of the described balladeur train 32, control dilaton device 34 simultaneously；Dilaton device 34 one end is fixed on balladeur train 32, one end fixation locus adjusting apparatus 4, moves along teaching track under the control driving sub-device 33.

So, robot arm device 3 controls balladeur train 32 according to acceleration signal and at the acceleration of X-direction and moves along teaching track, on the one hand it is possible to prevent to be accelerated or during retarded motion in X-direction according to acceleration signal motion, acceleration is excessive and causes dilaton device 34 fixation locus adjusting apparatus 4 one end to rock, and then increases the problem that welding precision that the offset distance between welding gun and weld seam causes is low；On the other hand along teaching track move time, the offset distance between welding gun and weld seam can be reduced, reducing track adjusting device 4 needs the distance of fine setting, improves fine setting efficiency, increases the accuracy after fine setting, and then improve welding precision.

Embodiment nine

Manipulator motion track as described above adjusts system, the present embodiment is different from part and is, as shown in the structural representation that Fig. 7 this utility model manipulator motion track adjusts system embodiment nine, described manipulator motion track adjusts system and also includes man machine interface 7, described man machine interface is connected with processor 1, the data processed in inputting control instruction or video-stream processor 1.

As such, it is possible to input control instruction by man machine interface, manipulator motion track is adjusted system and is controlled being adjusted with internal processes or revising inner parameter, it is to avoid cause welding to make mistakes because internal system control instruction is made mistakes；Simultaneously so that inner parameter is adjusted by user according to practical situation, the precision of raising system welding further and this manipulator motion track adjust the scope of application of system.The precision of system welding and this manipulator motion track adjust the scope of application of system.

Embodiment ten

Manipulator motion track as described above adjusts system, the present embodiment is different from part and is, as shown in the structural representation that Fig. 8 this utility model manipulator motion track adjusts system embodiment ten, described manipulator motion track adjusts system and also includes ultrasonic sensor 8 and quality treatment module 9；Ultrasonic sensor 8 utilizes echo that ultrasound wave reflects to form through weld seam to detect welding position, and sends detection data；Quality treatment module 9 receives described detection data and contrasts with default normal data, transmits undesirable welding position information to processor 1, and processor 1 sends control instruction to robot arm device 3, and described welding position is carried out repair welding.

So, by undesirable welding position is carried out repair welding, improve manipulator motion track and adjust the welding quality of system.

Embodiment 11

Manipulator motion track as described above adjusts system, and the present embodiment is corresponding manipulator motion track adjusting method, as shown in the flow chart of Fig. 9 this utility model manipulator motion track adjusting method, comprising:

Step a, locks track adjusting device, guides welding gun to run a teaching track as robot arm device along the weld seam of weld seam plate；

Step b, scans described weld seam and the plumb joint of described welding gun with sensing device, obtains vedio data；

Step c, processes described vedio data with processor, obtains the X-direction acceleration of described robot arm device, described plumb joint and described weld seam at Y direction, the offset distance of Z-direction；

Step d, moves described offset distance by described welding gun in Y direction, Z-direction with track adjusting device；Adjust the real-time speed of described robot arm device according to described X-direction acceleration simultaneously；

Step e, repeats step b-step d, until the welding of described weld seam is complete.

So, again finely tuned by Butt welding gun on the basis of mechanical arm teaching track, improve the precision of welding；If mechanical arm is multiple, the most each mechanical arm has only to repeat teaching track, it is not necessary to carries out the amendment of code, decreases workload, improves work efficiency.

Embodiment 12

Manipulator motion track adjusting method as described above, the present embodiment is different from part and is, as shown in the flow chart of Figure 10 this utility model manipulator motion track adjusting method embodiment 12, described manipulator motion track adjusting method also includes:

Step f, utilizes echo that ultrasound wave reflects through described weld seam to detect welding position, obtains detecting data；

Step g, contrasts described Monitoring Data with the normal data preset, finds undesirable welding position；

Step h, carries out repair welding with described robot arm device to described welding position.

So, by undesirable welding position is carried out repair welding, improve the welding quality of weld seam.

Embodiment 13

Manipulator motion track adjusting method as described above, the present embodiment is different from part and is, in described step c, to the computing formula of X-direction acceleration is:

$a_{i-}=\min \{\underset{s\&le;k<i}{\min }\left(a_{ik}\right),a\}$

Wherein, a_ikDetermined by following formula:

$a_{ik}=\frac{{v_i}^2-{v_k}^2}{2(x_i-x_k)}$

$v_i=\frac{v}{\sqrt{1+{d_i}^2}}$

$d_i=\frac{m\left({\&Sigma;}_{j=0}^{m-1}{x}_{i-j}{y}_{i-j}\right)-\left({\&Sigma;}_{j=0}^{m-1}{x}_{i-j}\right)\left({\&Sigma;}_{j=0}^{m-1}{y}_{i-j}\right)}{m\left({\&Sigma;}_{j=0}^{m-1}{x_{i-j}}^2\right)-{\left({\&Sigma;}_{j=0}^{m-1}{x}_{i-j}\right)}^2}$

In formula, i, k are the sequence number of trajectory coordinates, and j is poor with the sequence number of i-th trajectory coordinates, and m is the total quantity of the trajectory coordinates being fitted, and s is the sequence number that the coordinate of current plumb joint is corresponding, x_i-jIt is the abscissa of the i-th-j trajectory coordinates, y_i-jIt is the vertical coordinate of the i-th-j trajectory coordinates, x_i、x_kRespectively i-th, the abscissa of k trajectory coordinates, d_iIt is fit slope corresponding to the trajectory coordinates, v_i、v_kBe respectively plumb joint through i-th, the speed of k trajectory coordinates X-direction, v is plumb joint maximum permission speed in the plane, and a is the plumb joint maximum permissible acceleration in X-direction, a_ikAcceleration, a is assumed from i-th trajectory coordinates to the X-direction of kth trajectory coordinates for plumb joint_i-For plumb joint from the X-direction actual acceleration of current coordinate to i-th trajectory coordinates.

Concrete thought is: first the trajectory coordinates (i-th) just determined and m trajectory coordinates before is carried out fitting a straight line, obtains its fit slope；Secondly the square root adding by fit slope square obtains the plumb joint speed through the X-direction of this trajectory coordinates except maximum permission speed；Again with the difference of two squares of the speed of X-direction corresponding to two trajectory coordinates divided by the difference of the double X-axis coordinate of these two trajectory coordinates, obtain the X-direction that plumb joint should be subject between these two trajectory coordinates and assume acceleration；Finally plumb joint all of X-direction from current trajectory coordinates to the trajectory coordinates just determined assume acceleration select minima and and the maximum permissible acceleration of X-direction among select smaller value as plumb joint X-direction actual acceleration from current trajectory coordinates to the trajectory coordinates just determined.

Have the beneficial effect that by the trajectory coordinates just determined and m trajectory coordinates before are carried out fitting a straight line, determine fit slope, so can at utmost get rid of abnormal trajectory coordinates on the impact of the slope of current trajectory coordinates (picture signal is carried out process obtain trajectory coordinates when, therefore error trajectory coordinates may be confirmed as in the place of non-track, these trajectory coordinates can make the raw bigger error of slope fixed output quota really, this error can not be eliminated by matching, but error can be reduced), improve the exact value of the actual acceleration finally determined；Additionally, the speed of welding of plumb joint is to have the restriction of maximum, if it exceeds maximal rate, because weld interval is too short, welding quality can be deteriorated, it is thus desirable to according to practical situation, determine the maximum permission speed of plumb joint, and then determine that the X-direction between speed and two trajectory coordinates of X-direction assumes acceleration；The stressing influence of the acceleration butt joint of X-direction is bigger, if acceleration is excessive, plumb joint can produce and rock, so can affect last welding precision, it is thus desirable to determine, according to practical situation, the X-direction peak acceleration that plumb joint can bear in the case of not affecting precision, so, assume acceleration to select the acceleration being less than this peak acceleration as the actual acceleration of X-direction from all of X-direction, on the one hand can accelerate the speed of welding, improve working (machining) efficiency；On the other hand the stressing influence of butt joint is less, improves the welding precision of plumb joint；Can directly calculate actual acceleration by formula, improve the efficiency judging acceleration, shorten the judgement time；Formula is simple, decreases and takies system resource.

Wherein, m, v, a determine according to practical situation.

It addition, this mechanical arm movement locus method of adjustment also includes adjusting, with manipulator motion track described in above-described embodiment one to embodiment ten, the method that system is corresponding, flesh and blood therein also should belong to the part in method.

In this utility model, processor, microprocessor, microcontroller can be replaced by single-chip microcomputer, DSP, PLC, ARM, FPGA, industrial computer or computer etc..

The foregoing is only preferred embodiment of the present utility model, be merely illustrative for this utility model, and nonrestrictive.Those skilled in the art understands, it can be carried out many changes, amendment, even equivalence, but fall within protection domain of the present utility model in the spirit and scope that this utility model claim is limited.

Although the most more employing processor 1, sensing device 2, robot arm device 3, track adjusting device 4, welding gun 5, pretreatment module 11, frame processing module 12, memory module 13, actual value computing module 14, acceleration calculation module 15, adjust generation module 16, Y-axis support 41a, Y-axis power device 42a, Z axis support 43a, Z axis power device 44a, fixed support 45a, microprocessor 46a, radian support 41b, radian frame power device 42b, telescope support 43b, expansion bracket power device 44b, fixed mount 45b, microcontroller 46b, slide rail 31, balladeur train 32, drive the terms such as sub-device 33 and dilaton device 34, but it is not precluded from using the probability of other term.Use these terms to be only used to more easily and describe and explain essence of the present utility model；It is all contrary with this utility model spirit for being construed as any additional restriction.

Claims (7)

1. a manipulator motion track adjusts system, it is characterised in that including: processor, sensing device, robot arm device, track adjusting device and welding gun；

Weld seam and the plumb joint of described welding gun on described sensing device butt welded seam plate are scanned, and the vedio data scanned is transferred to described processor；

Described processor receives described vedio data, processes, and obtains acceleration signal and track adjusts signal and sends；

Described robot arm device by user guide along described weld seam move one time as teaching track, then repeat this teaching track according to the described acceleration signal received；

Described track adjusting device is installed between described robot arm device and described welding gun, receives described track and adjusts signal and be finely adjusted the position of described welding gun；

Described weld seam is welded by described welding gun.

Manipulator motion track the most according to claim 1 adjusts system, it is characterised in that described manipulator motion track adjusts system and also includes display screen；Described sensing device is photographic head, and described display screen electrically connects with described photographic head.

Manipulator motion track the most according to claim 1 adjusts system, it is characterised in that described robot arm device includes: slide rail, balladeur train, the sub-device of driving and dilaton device；Described slide rail level is laid on ground or workbench both sides；Described balladeur train is erected on described slide rail, moves along described slide rail；The sub-device of described driving is fixed on described balladeur train, receives described acceleration signal, drives and controls described balladeur train and moves；Described dilaton device one end is fixed on described balladeur train, and described track adjusting device is fixed in one end, along described teaching orbiting motion under the control of the sub-device of described driving.

4. adjust system according to described manipulator motion track arbitrary in claim 1-3, it is characterised in that described manipulator motion track adjusts system and also includes ultrasonic sensor and quality treatment module；Described ultrasonic sensor utilizes echo that ultrasound wave reflects to form through described weld seam to detect welding position, and sends detection data；Described quality treatment module receives described detection data and contrasts with default normal data, by the transmission of undesirable welding position information to described processor；Described processor transmission control instruction, to described robot arm device, carries out repair welding to described welding position.

5. adjust system according to described manipulator motion track arbitrary in claim 1-3, it is characterised in that described track adjusting device includes: Y-axis support, the sub-device of Y-axis power, Z axis support, the sub-device of Z axis power, fixed support and microprocessor；Described fixed support is fixed on the end of described robot arm device；Described microprocessor is fixed on described fixed support, receives after described track adjusts signal and generates control instruction；Described Y-axis support is connected on described fixed support, moves in the Y-axis direction relative to described fixed support；The described sub-device of Y-axis power is clipped in the middle of described fixed support and described Y-axis support, and side is fixed on described fixed support, and opposite side is combined with described Y-axis support, receives Y-axis support described in described control instruction rear drive and moves；Described Z axis support is connected on described Y-axis support, moves in the Z-axis direction relative to described Y-axis support；The described sub-device of Z axis power is clipped between described Y-axis support and described Z axis support, and side is fixed on described Y-axis support, and opposite side is combined with described Z axis support, receives Z axis support described in described control instruction rear drive and moves.

6. adjust system according to described manipulator motion track arbitrary in claim 1-3, it is characterised in that described track adjusting device includes: radian support, the sub-device of radian frame power, telescope support, the sub-device of expansion bracket power, fixed mount and microcontroller；Described fixed mount is fixed on the end of described robot arm device；Described microcontroller is fixed on described fixed mount, receives after described track adjusts signal and generates control instruction；Described radian support is connected on described fixed mount, and the most described fixed mount moves along radian centered by the corresponding center of circle；The described radian device of frame power is clipped in the middle of described fixed mount and described radian support, and side is fixed on described fixed mount, and opposite side is combined with described radian support, receives radian support motion described in described control instruction rear drive；Described telescope support is connected on described radian support, relative to described radian support along the linear motion through the described radian support center of circle；The described sub-device of expansion bracket power is clipped between described radian support and described telescope support, and side is fixed on described radian support, and opposite side is combined with described telescope support, receives telescope support motion described in described control instruction rear drive.

7. adjust system according to described manipulator motion track arbitrary in claim 1-3, it is characterized in that, described manipulator motion track adjusts system and also includes man machine interface, described man machine interface is connected with described processor, the data processed in inputting control instruction or showing described processor.