CN101559548A - Demonstrator used for demonstrating welding robot - Google Patents
Demonstrator used for demonstrating welding robot Download PDFInfo
- Publication number
- CN101559548A CN101559548A CNA200910072011XA CN200910072011A CN101559548A CN 101559548 A CN101559548 A CN 101559548A CN A200910072011X A CNA200910072011X A CN A200910072011XA CN 200910072011 A CN200910072011 A CN 200910072011A CN 101559548 A CN101559548 A CN 101559548A
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- cramping body
- welding robot
- turbine
- teaching
- groove
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- Laser Beam Processing (AREA)
Abstract
The invention provides a demonstrator used for demonstrating a welding robot, which comprises a frame body, and the frame body is provided with a fixed holding body and a rotary holding body; the fixed holding body is fixedly arranged on the frame body; the rotary holding body is arranged on the frame body through a rotating mechanism; and each holding body is provided with a laser. The demonstrator mainly comprises two laser diodes which are arranged on the two holding bodies respectively, one holding body is fixed, and the other holding body can rotate relatively to the holding body. The laser beams emitted by the two laser diodes are crossed on the same plane, and the distance from the holding position to the crossed point can be determined by a geometry relation, wherein the crossed point of the laser beams is the demonstration point. When the crossed point of the laser beams are not on a welding bead surface, two laser spots can be formed on the welding bead surface.
Description
(1) technical field
What the present invention relates to is a kind of laser teaching machine, is specifically related to be used to carry out the teaching machine of multi-pass welding welding robot end effector.
(2) background technology
Connect in the operation process at multi-pass welding, wherein the welding in each road all will be followed according to the welding situation of front and be judged, with the position of this welding of decision; Yet because in the welding process of carrying out the multilayer multiple tracks, the surface is out-of-flatness very; In the situation of surface irregularity, adopt traditional non-contact sensor just to be difficult to the real training data that obtains to want the position; Because the weld metal that has need weld under the situation of heating, temperature is higher, adopts touch sensor that teaching machine is had certain destruction, is difficult to long-term use.At above-mentioned situation, be badly in need of in the reality a kind of have good reliability, safe and long service life and can be used for welding robot carry out the apparatus that multi-pass welding connects teaching.
(3) summary of the invention
The object of the present invention is to provide a kind of by good, safe, the long service life of property and can be used for welding robot and carry out the teaching machine that welding robot carries out teaching that is used for that multi-pass welding connects teaching
The object of the present invention is achieved like this: it comprises support body, a fixed clamp body and a rotation cramping body are installed on support body, the fixed clamp body is fixedly mounted on the support body, and the rotation cramping body is installed on the support body by rotating mechanism, installs by a laser instrument on each cramping body.
The present invention can also comprise:
1, have groove on each cramping body, described laser instrument is installed in the groove, and gland is installed on the cramping body, have on the gland can with cramping body on groove form the groove of cylindrical cavity jointly.
2, described rotating mechanism turbine and worm decelerator and handwheel, clamper links to each other with the output shaft of turbine and worm decelerator, and the rotation cramping body is installed on the clamper, and handwheel is installed on the turbine and worm input shaft of speed reducer.
3, the axle center of fixed clamp body from being a fixed value, is carved with the angle table at support body around the clamper place of rotation cramping body to the distance of shaft centers of turbine and worm reducer output shaft.
The present invention is a kind of teaching machine that welding robot carries out teaching that is used for, mainly constitute by two laser diodes, be installed in respectively on two cramping bodies, one of them cramping body is fixed, the another one cramping body can rotate relative to cramping body, the laser beam that two laser diodes send intersects in same plane, can determine the distance of clip position by geometrical relationship to the crosspoint, wherein the laser beams intersect point is taught point, when laser beams intersect point is not on the welding bead surface, can on the welding bead surface, form two laser point.
(4) description of drawings
Fig. 1 is the structural representation behind the gland of dismantling of the present invention;
Fig. 2 is a general structure schematic diagram of the present invention.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1 and Fig. 2, formation of the present invention comprises cramping body 1, gland 2, set screws 3, support body 4, cramping body 5, gland 6, set screws 7, turbine and worm decelerator 8, handwheel 9, screw 10, laser instrument 11, laser instrument 12 and clamper 13.
When welding robot carries out teaching, one end of cramping body 1 is installed on the welding robot robot end joint, laser instrument 11 is installed in the groove of cramping body 1, also be processed with groove on the gland 2, groove in groove in the cramping body 1 and the gland 2 forms cylindrical cavity jointly, and gland 2 is fixed on the cramping body 1 by set screws 3; Laser instrument 12 is installed in the groove of cramping body 5, also is processed with groove on the gland 6, and the groove in groove in the cramping body 5 and the gland 6 forms cylindrical cavity jointly, and gland 6 is fixed on the cramping body 5 by set screws 7; Turbine and worm decelerator 8 is fixedly mounted on the support body 4, and support body 4 is fixedly mounted on the cramping body 1; Clamper 13 links to each other with the output shaft of turbine and worm decelerator 8, and cramping body 5 is installed on the clamper 13, and fixes by screw 5; Handwheel 9 is installed on the power shaft of turbine and worm decelerator 8.The axle center of cramping body 1 to the distance of shaft centers of turbine and worm decelerator 8 output shafts from being a fixed value, can be carved with the angle table around clamper 13 places at support body 4, carrying out distance by geometrical relationship calculates, perhaps hold the distance of locating two laser crosspoints, relative position information is provided by apparatus measures welding robot robot end articulated splint.When turn handwheel 9, turbine and worm decelerator 8 output shafts rotate, and promptly drive cramping body 5 and rotate together around the turbine and worm reducer output shaft together, thereby can realize the setting of different distance.
Claims (5)
1, a kind ofly is used for the teaching machine that welding robot carries out teaching, it comprises support body, it is characterized in that: a fixed clamp body and a rotation cramping body are installed on support body, the fixed clamp body is fixedly mounted on the support body, the rotation cramping body is installed on the support body by rotating mechanism, installs by a laser instrument on each cramping body.
2, according to claim 1ly be used for the teaching machine that welding robot carries out teaching, it is characterized in that: have groove on each cramping body, described laser instrument is installed in the groove, and gland is installed on the cramping body, have on the gland can with cramping body on groove form the groove of cylindrical cavity jointly.
3, according to claim 1 and 2ly be used for the teaching machine that welding robot carries out teaching, it is characterized in that: described rotating mechanism turbine and worm decelerator and handwheel, clamper links to each other with the output shaft of turbine and worm decelerator, the rotation cramping body is installed on the clamper, and handwheel is installed on the turbine and worm input shaft of speed reducer.
4, according to claim 1 and 2ly be used for the teaching machine that welding robot carries out teaching, it is characterized in that: the axle center of fixed clamp body from being a fixed value, is carved with the angle table at support body around the clamper place of rotation cramping body to the distance of shaft centers of turbine and worm reducer output shaft.
5, according to claim 3ly be used for the teaching machine that welding robot carries out teaching, it is characterized in that: the axle center of fixed clamp body from being a fixed value, is carved with the angle table at support body around the clamper place of rotation cramping body to the distance of shaft centers of turbine and worm reducer output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200910072011XA CN101559548A (en) | 2009-05-12 | 2009-05-12 | Demonstrator used for demonstrating welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200910072011XA CN101559548A (en) | 2009-05-12 | 2009-05-12 | Demonstrator used for demonstrating welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101559548A true CN101559548A (en) | 2009-10-21 |
Family
ID=41218614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA200910072011XA Pending CN101559548A (en) | 2009-05-12 | 2009-05-12 | Demonstrator used for demonstrating welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101559548A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127668A (en) * | 2017-12-19 | 2018-06-08 | 合肥欣奕华智能机器有限公司 | The teaching apparatus and robot system of a kind of teaching method of robot, robot |
| CN108340100A (en) * | 2017-01-25 | 2018-07-31 | 中国电建集团上海能源装备有限公司 | A kind of positioning tool and welding gun that welding robot teaching programming precision can be improved |
| CN108621133A (en) * | 2016-10-12 | 2018-10-09 | 常州信息职业技术学院 | The teaching method of laser opposite-radiation industry mechanical arm work point coordinates teaching display-tool with sticking plastic |
| CN110355503A (en) * | 2019-07-25 | 2019-10-22 | 陕西丝路机器人智能制造研究院有限公司 | Contactless welding robot auxiliary teaching display-tool with sticking plastic |
| CN115446825A (en) * | 2021-06-08 | 2022-12-09 | 广东博智林机器人有限公司 | Vision system, vision device, and vision guidance method |
-
2009
- 2009-05-12 CN CNA200910072011XA patent/CN101559548A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621133A (en) * | 2016-10-12 | 2018-10-09 | 常州信息职业技术学院 | The teaching method of laser opposite-radiation industry mechanical arm work point coordinates teaching display-tool with sticking plastic |
| CN108340100A (en) * | 2017-01-25 | 2018-07-31 | 中国电建集团上海能源装备有限公司 | A kind of positioning tool and welding gun that welding robot teaching programming precision can be improved |
| CN108127668A (en) * | 2017-12-19 | 2018-06-08 | 合肥欣奕华智能机器有限公司 | The teaching apparatus and robot system of a kind of teaching method of robot, robot |
| CN110355503A (en) * | 2019-07-25 | 2019-10-22 | 陕西丝路机器人智能制造研究院有限公司 | Contactless welding robot auxiliary teaching display-tool with sticking plastic |
| CN115446825A (en) * | 2021-06-08 | 2022-12-09 | 广东博智林机器人有限公司 | Vision system, vision device, and vision guidance method |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Open date: 20091021 |