Research On The Plug And Play Technologies For Robotic Welding Fixture

In order to adapt to the competition in the market, the job of industrial robots takes on the feature of multi-group and multi-batch. The study subject advances a kind of teaching-free control technology of plug and play for robot welding fixture.We can get the position and orientation of the welding torch in the station coordinate system, because we can know the position of welding line in the fixture coordinate system. Through calibration, the relationship between the station coordinate system and the base coordinate system can be got. With transformation matrix, we can obtain the welding torch's position and orientation in the base coordinate system. At last solving the robot motion function to get each axes'impulse value, we can change the relative job procedure to standard job procedure.Because different fixtures have different jigs control logic, we designed a kind of control scheme. According to the number of the cylinders and the number of sensors added in each cylinder, the jigs control logic can be easily formed.We added an embedded controller to the welding fixture and preplaced the relative job procedure and the control logic of jigs of the fixture in it. When embedded controller transmits the relative job procedure to the system controller, the system controller can automatically change the relative job procedure to standard job procedure. By this method, the system can support the plug and play when changing fixtures.