CN105215590A - A kind of many arm robot for sheet material welding and welding method thereof - Google Patents
A kind of many arm robot for sheet material welding and welding method thereof Download PDFInfo
- Publication number
- CN105215590A CN105215590A CN201510730962.7A CN201510730962A CN105215590A CN 105215590 A CN105215590 A CN 105215590A CN 201510730962 A CN201510730962 A CN 201510730962A CN 105215590 A CN105215590 A CN 105215590A
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- China
- Prior art keywords
- welding
- robot
- sheet material
- arm
- robot base
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Classifications
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/18—Sheet panels
- B23K2101/185—Tailored blanks
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of many arm robot for sheet material welding, comprise robot base, arm, arm is positioned on robot base, the robot base left and right sides is provided with crane, and robot base is provided with elevating mechanism, and elevating mechanism is positioned at the left side of left end crane, on robot base, medium position is provided with lifting platform, lifting platform, elevating mechanism, left and right sides crane are provided with arm, arm is provided with welding gun, arm bending adjustable; Robot base is also provided with the welding checkout gear for detecting soldered board quality; Robot base is also provided with weld jig.The invention has the beneficial effects as follows: can carry out multi-faceted welding job to parts, structure is simple, improves welding robot task efficiency simultaneously.The present invention also announces a kind of welding method based on above-mentioned many arm robot.
Description
Technical field
The present invention relates to welding machine robot, particularly relate to a kind of many arm robot for sheet material welding and welding method thereof.
Background technology
Welding robot carries out welding machine operation by welding arm, current welding robot only has an arm, if when the required bonding area of parts is large or welding position is many, arm constantly need adjust operating position, and welding production efficiency is low, and the requirement of butt welding machine device people is higher, if use multiple robot device to weld simultaneously, though can increase work efficiency, because robot device is expensive, increase business economic burden.Therefore the problem improving welding robot production efficiency seems particularly important.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of many arm robot for sheet material welding and welding method thereof, solves the deficiencies in the prior art.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of many arm robot for sheet material welding, comprise robot base, arm, arm is positioned on robot base, the robot base left and right sides is provided with crane, robot base is provided with elevating mechanism, elevating mechanism is positioned at the left side of left end crane, on robot base, medium position is provided with lifting platform, lifting platform, elevating mechanism, left and right sides crane are provided with arm, arm is provided with welding gun, arm bending adjustable; Robot base is also provided with the welding checkout gear for detecting soldered board quality, and each welding checkout gear is connected with robot base by mechanical hand; Welding checkout gear is by visual detection equipment and the integrated functional device of sheet material plumb joint; Robot base is also provided with weld jig.
The invention has the beneficial effects as follows: the present invention is by arranging multiple arm, multi-faceted welding job can be carried out to parts simultaneously, welding gun is can be combined to be suitable for the distributional pattern of different welding demand by arm bending adjustability, and characteristic can be moved by arm and realize welding gun lasting welding in moving process, be particularly useful for the parts that bonding area is large or welding position is many, structure is simple, improves welding robot task efficiency.
The present invention also announces a kind of welding method based on above-mentioned many arm robot, and it comprises the following steps:
A, the sheet material of welding will be needed to assemble, and be fixed on weld jig;
B, by welding checkout gear be installed on the mechanical hand of robot base, sheet material assembling quality is detected;
The robot teaching program that C, startup preset, positions sheet material;
D, after sheet material has been located, start the tack welding welding procedure that presets, weldering has been positioned to each weld seam;
E, weldering to be positioned detect tack welding welding quality after having welded;
F, startup backing welding welding procedure, weld sheet material;
G, after backing welding has welded, backing welding welding quality to be detected;
H, startup cosmetic welding welding procedure, weld sheet material;
I, after cosmetic welding has welded, robot has returned initial position, completes the automatic welding of sheet material.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Detailed description of the invention
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
As shown in Figure 1, a kind of many arm robot for sheet material welding, comprise robot base 1, arm 2, arm 2 is positioned on robot base 1, described robot base 1 left and right sides is provided with crane 3, described robot base 1 is provided with elevating mechanism 4, described elevating mechanism 4 is positioned at the left side of crane 3 described in left end, on described robot base 1, medium position is provided with lifting platform 5, described lifting platform 5, described elevating mechanism 4, crane 3 described in the left and right sides is provided with arm 2, described arm 2 is provided with welding gun 6, described arm 2 bending adjustable, described robot base 1 is also provided with the welding checkout gear for detecting soldered board quality, and each described welding checkout gear is connected with described robot base 1 by mechanical hand, described welding checkout gear is by visual detection equipment and the integrated functional device of sheet material plumb joint, described robot base 1 is also provided with weld jig.
The present embodiment is by arranging multiple arm 2, multi-faceted welding job can be carried out to parts simultaneously, and make welding gun 6 can be combined to the distributional pattern being suitable for different welding demands by the bending adjustability of arm 2, and characteristic can be moved by arm 2 and realize welding gun 6 lasting welding in moving process, be particularly useful for the parts that bonding area is large or welding position is many, structure is simple, improves welding robot task efficiency.
Further: all detachable and liftable of described crane 3, elevating mechanism 4, lifting platform 5, crane 3, elevating mechanism 4, lifting platform 5 all can on robot base 1 left and right, seesaw.
Further: described elevating mechanism 4 is higher than crane 3.
Further: welding gun 6 muzzle of four described arms 2 can distribute or linear distribution in the form of a ring.
The present invention also announces a kind of welding method based on many arm robot described above, and it comprises the following steps:
A, the sheet material of welding will be needed to assemble, and be fixed on weld jig;
B, by welding checkout gear be installed on the mechanical hand of robot base, sheet material assembling quality is detected;
The robot teaching program that C, startup preset, positions sheet material;
D, after sheet material has been located, start the tack welding welding procedure that presets, weldering has been positioned to each weld seam;
E, weldering to be positioned detect tack welding welding quality after having welded;
F, startup backing welding welding procedure, weld sheet material;
G, after backing welding has welded, backing welding welding quality to be detected;
H, startup cosmetic welding welding procedure, weld sheet material;
I, after cosmetic welding has welded, robot has returned initial position, completes the automatic welding of sheet material.
Further: described welding checkout gear is by visual detection equipment and the integrated functional device of sheet material plumb joint.
Further: described welding quality detection method, be robot vision method, by ccd image collection, weld beam shape, weld defect detected automatically.
Further: described tack welding welding procedure, backing welding welding procedure and cosmetic welding welding procedure all can according to Welding quality test feedback result auto modification path of welding.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. the many arm robot for sheet material welding, comprise robot base (1), arm (2), arm (2) is positioned on robot base (1), it is characterized in that: described robot base (1) left and right sides is provided with crane (3), described robot base (1) is provided with elevating mechanism (4), described elevating mechanism (4) is positioned at the left side of crane described in left end (3), the upper medium position of described robot base (1) is provided with lifting platform (5), described lifting platform (5), described elevating mechanism (4), crane described in the left and right sides (3) is provided with arm (2), described arm (2) is provided with welding gun (6), described arm (2) bending adjustable,
Described robot base (1) is also provided with the welding checkout gear for detecting soldered board quality, and each described welding checkout gear is connected with described robot base (1) by mechanical hand; Described welding checkout gear is by visual detection equipment and the integrated functional device of sheet material plumb joint;
(1) is also provided with weld jig to described robot base.
2. as claimed in claim 1 a kind of for sheet material welding many arm robot, it is characterized in that: all detachable and liftable of described crane (3), elevating mechanism (4), lifting platform (5), crane (3), elevating mechanism (4), lifting platform (5) all can in the upper left and right of robot base (1), seesaw.
3. as claimed in claim 1 or 2 a kind of for sheet material welding many arm robot, it is characterized in that: described elevating mechanism (4) is higher than crane (3).
4. as claimed in claim 1 a kind of for sheet material welding many arm robot, it is characterized in that: welding gun (6) muzzle of four described arms (2) can distribute or linear distribution in the form of a ring.
5., based on a welding method for many arm robot described in any one of Claims 1-4, it is characterized in that: comprise the following steps:
A, the sheet material of welding will be needed to assemble, and be fixed on weld jig;
B, by welding checkout gear be installed on the mechanical hand of robot base, sheet material assembling quality is detected;
The robot teaching program that C, startup preset, positions sheet material;
D, after sheet material has been located, start the tack welding welding procedure that presets, weldering has been positioned to each weld seam;
E, weldering to be positioned detect tack welding welding quality after having welded;
F, startup backing welding welding procedure, weld sheet material;
G, after backing welding has welded, backing welding welding quality to be detected;
H, startup cosmetic welding welding procedure, weld sheet material;
I, after cosmetic welding has welded, robot has returned initial position, completes the automatic welding of sheet material.
6. welding method according to claim 5, is characterized in that: described welding checkout gear is by visual detection equipment and the integrated functional device of sheet material plumb joint.
7. welding method according to claim 5, is characterized in that: described welding quality detection method, is robot vision method, is automatically detected by ccd image collection, weld beam shape to weld defect.
8. welding method according to claim 5, is characterized in that: described tack welding welding procedure, backing welding welding procedure and cosmetic welding welding procedure all can according to Welding quality test feedback result auto modification path of welding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510730962.7A CN105215590A (en) | 2015-10-31 | 2015-10-31 | A kind of many arm robot for sheet material welding and welding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510730962.7A CN105215590A (en) | 2015-10-31 | 2015-10-31 | A kind of many arm robot for sheet material welding and welding method thereof |
Publications (1)
| Publication Number | Publication Date |
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| CN105215590A true CN105215590A (en) | 2016-01-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510730962.7A Pending CN105215590A (en) | 2015-10-31 | 2015-10-31 | A kind of many arm robot for sheet material welding and welding method thereof |
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| CN (1) | CN105215590A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109317902A (en) * | 2018-12-07 | 2019-02-12 | 涡阳县盛鸿科技有限公司 | A kind of method of suspension type robot welding box beam |
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| FR2664519B1 (en) * | 1990-07-11 | 1994-12-23 | Commissariat Energie Atomique | |
| CN101372070A (en) * | 2008-08-15 | 2009-02-25 | 东莞华中科技大学制造工程研究院 | Connecting rod type laser welding and measuring integrated device |
| CN102059485A (en) * | 2009-11-17 | 2011-05-18 | 徐礼学 | Welding bed for automatically detecting welding seams |
| CN102794566A (en) * | 2012-08-24 | 2012-11-28 | 无锡汉神电气有限公司 | Paraxial CCD (Charge Coupled Device)-based laser welding quality online monitoring device |
| CN103506789A (en) * | 2013-10-12 | 2014-01-15 | 芜湖开瑞金属科技有限公司 | Multi-arm welding robot |
| CN104384763A (en) * | 2014-09-24 | 2015-03-04 | 江南大学 | Welding method for tube plate of robot |
| CN204524571U (en) * | 2015-02-11 | 2015-08-05 | 成都思尔特机器人科技有限公司 | A kind of intelligent robot welding system for welding of automotive parts |
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2015
- 2015-10-31 CN CN201510730962.7A patent/CN105215590A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2664519B1 (en) * | 1990-07-11 | 1994-12-23 | Commissariat Energie Atomique | |
| CN101372070A (en) * | 2008-08-15 | 2009-02-25 | 东莞华中科技大学制造工程研究院 | Connecting rod type laser welding and measuring integrated device |
| CN102059485A (en) * | 2009-11-17 | 2011-05-18 | 徐礼学 | Welding bed for automatically detecting welding seams |
| CN102794566A (en) * | 2012-08-24 | 2012-11-28 | 无锡汉神电气有限公司 | Paraxial CCD (Charge Coupled Device)-based laser welding quality online monitoring device |
| CN103506789A (en) * | 2013-10-12 | 2014-01-15 | 芜湖开瑞金属科技有限公司 | Multi-arm welding robot |
| CN104384763A (en) * | 2014-09-24 | 2015-03-04 | 江南大学 | Welding method for tube plate of robot |
| CN204524571U (en) * | 2015-02-11 | 2015-08-05 | 成都思尔特机器人科技有限公司 | A kind of intelligent robot welding system for welding of automotive parts |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109317902A (en) * | 2018-12-07 | 2019-02-12 | 涡阳县盛鸿科技有限公司 | A kind of method of suspension type robot welding box beam |
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Application publication date: 20160106 |