摘要
为了实现车身焊装过程中高质量、高灵活性、高效率的自动化柔性螺母/螺栓凸焊,架构了一套集成机器人技术、位移传感器技术、现场总线技术的模块化柔性机器人自动化防错凸焊系统,该系统通过对KUKA机器人的运动控制和逻辑控制实现焊件的搬运;通过螺母/螺栓输送机实现螺母/螺栓的自动输送;通过配置专用的位移控制器,识别上电极线性位移量来判断螺母/螺栓的各种放置状态;通过Profinet总线实现对凸焊系统的自动化控制。现场应用表明:该系统极大地提高了凸焊工艺的精度、效率和灵活性。
In order to realize the high-quality,high-flexibility and high-efficiency automatic flexible nut/bolt projection welding in the body welding process,a modular flexible robot automatic error-proof projection welding system integrating robot technology,displacement sensor technology and field bus technology is constructed.The system realizes the handling of the weldment through the motion control and logic control of the KUKA robot,realizes the automatic transmission of the nut/bolt through the nut/bolt conveyor,and determines the nut by determining the linear displacement of the upper electrode by configuring a dedicated displacement controller/various placement states of the bolts,automatic control of the projection welding system via the Profinet bus.Field applications show that the system greatly improves the accuracy,efficiency and flexibility of the projection welding process.
作者
王睿
刘锋
王剑峰
高忠林
WANG Rui;LIU Feng;WANG Jian-feng;GAO Zhong-lin(College of Artificial Intelligence and Data Science,Hebei University of Technology,Tianjin 300131,China;Harbin Institute of Technology,State Key Laboratory of Advanced Welding and Joining,Harbin 150001,China;Jointo Energy Investment Co.,Ltd.Hebei,Shijiazhuang 050000,China;No.707 Research Institute of CSIC,Tianjin 300131,China)
出处
《仪表技术与传感器》
CSCD
北大核心
2020年第10期58-62,共5页
Instrument Technique and Sensor
关键词
机器人
位移传感器
现场总线
凸焊防错
robot
displacement sensor
fieldbus
error-proof projection welding
