CN105537814A - Automatic welding device with manipulator and operating method - Google Patents
Automatic welding device with manipulator and operating method Download PDFInfo
- Publication number
- CN105537814A CN105537814A CN201610087113.9A CN201610087113A CN105537814A CN 105537814 A CN105537814 A CN 105537814A CN 201610087113 A CN201610087113 A CN 201610087113A CN 105537814 A CN105537814 A CN 105537814A
- Authority
- CN
- China
- Prior art keywords
- arm
- guardrail
- manipulator
- welding
- robotic welder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
Abstract
The invention discloses an automatic welding device with a manipulator and an operating method. The automatic welding device comprises a worktable, the manipulator is fixed to the upper surface of the worktable, a welding head is mounted at the front end of the manipulator, a welding gun is mounted on the welding head and connected with a welder by a cable, positioning piles are arranged on the upper surface of the worktable, and a positioning rack is mounted on the positioning piles. The automatic welding device adopts the manipulator to weld, is high in welding efficiency, degree of automation and welding quality, and can realize large-batch processing and producing.
Description
Technical field
The invention belongs to building materials welding processing technical field, be specifically related to a kind of robotic welder and method of operating.
Background technology
Along with the continuous increase of building quantity, guardrail obtains and uses widely in finishing process of construction, in guardrail process, need often to use solder technology weld the rod member of guardrail and square steel material, and then be assembled into guard bar structure, traditional is all adopt the mode of human weld to carry out, human weld is adopted to there is the defect of the following aspects: (1) human weld's automaticity is low, and operating efficiency is lower; (2) human weld is different to welding technological standards, causes weldquality to ensure; (3) labour intensity of operating personnel is large, cannot carry out in enormous quantities, high accuracy operation; (4) adopt human weld's cost higher.
Summary of the invention
The object of this invention is to provide a kind of robotic welder and method of operating, this automatic welding device adopts manipulator to weld, and welding efficiency is high, and automaticity is high, and welding quality is high, can carry out processing in enormous quantities.
In order to realize above-mentioned technical characteristic, the object of the present invention is achieved like this: a kind of robotic welder, it comprises workbench, the upper surface of workbench is installed with manipulator, and the front end of manipulator is provided with plumb joint, and plumb joint is provided with welding gun, welding gun is connected with welding machine by cable, the upper surface of workbench is provided with guide pile, and guide pile is provided with locating rack, and described manipulator is connected with numerical control programming device by holding wire.
Described manipulator comprises base, and base and workbench are fixedly linked, and the first arm is connected with base by vertical axis; Second arm is connected with the first arm by the second arm rotating shaft of level, 3rd arm is connected with the second arm by the 3rd arm rotating shaft of level, 4th arm is connected with the 3rd arm by axial rotating shaft, 5th arm is by being connected with the 4th arm with the 5th arm rotating shaft of the 5th arm axes normal, plumb joint is connected with the 5th arm by axial rotating shaft, and welding gun is fixedly mounted on the sidewall of plumb joint.
Described locating rack adopts the first crossbar of arranged crosswise and the second crossbar fixedly to form.
Described second crossbar is processed with T-slot, and T-slot inside is provided with bolt, and upwards, turret head matches with T-slot the screw rod of bolt.
The structure of described second crossbar is identical with the structure of the first crossbar.
Rotating range between described first arm and base is ± 180 °, and rotary speed is 115 ~ 140 °/s.
Rotating range between described second arm and the first arm is+40 ° ~-130 °, and rotary speed is 95 ~ 105 °/s.
Rotating range between described 3rd arm and the second arm is+140 ° ~-110 °, and rotary speed is 120 ~ 135 °/s.
Rotating range between 4th arm and the 3rd arm is ± 340 °, and rotary speed is 230 ~ 280 °/s.
Rotating range between 5th arm and the 4th arm is ± 115 °, and rotary speed is 220 ~ 260 °/s.
Rotating range between described plumb joint and the 5th arm is ± 350 °, and rotary speed is 310 ~ 335 °/s;
The repetitive positioning accuracy of described welding gun is ± 0.01mm, welding machine output power stability >=98%.
Adopt the method for operating that robotic welder welds guardrail, it is characterized in that, it comprises the following steps:
1) when needs weld guardrail, first required guardrail raw material are cut into required size, then location is placed on locating rack, the bolt of the T-slot inside of moving positioning frame, bolt is moved to and needs fixing rod member position, at bolt, guardrail rod member is fixed with nut again, guarantees stability maintenance.
2) after guardrail rod member fixedly completes, then the carrying of locating rack entirety is placed on workbench, and by guide pile, locating rack is fixed on the positioning.
3) need the data of welding position to form numerically controlled data the guardrail framework of also fixing formation after splicing assembling, then numerically controlled data is input to numerical control programming device, manipulator is controlled.
4) after numerically controlled data has inputted, first carry out zero load, close welding machine, allow manipulator under the control of numerical control programming device, carry out numerical control teaching trial run, checking running orbit, carrying out corrigendum Update Table in time when there being deviation, make it run according to predetermined welding track.
5) repeatedly teaching determine errorless after, start manipulator and welding machine and guardrail welded.
6) after a guardrail has welded, only need the guardrail rod member of next group to be again mounted by means of bolts on locating rack, again carry out automatic welding operation, middle without the need to carrying out the input of numerically controlled data again, also without the need to carrying out teaching again, and then the welding of guardrail is by the gross realized.
The present invention has following beneficial effect:
1, by plumb joint being fixedly mounted on the head of manipulator, welding gun being connected with plumb joint, automatic welding can being carried out by manipulator control welding gun.
2, the track of manipulator operation can be inputted by numerical control programming device, generate numerical control code, and then control the track operation of manipulator according to setting, realize automatic welding.
3, can be fixed needing the guardrail square tube of welding by locating rack, thus ensure that welding precision, be convenient to automatic welding.
4, slidable adjustment can be carried out to bolt easily by T-slot, thus the adjustment of the guardrail spacing of different size can be adapted to.
5, carry out automatic welding by manipulator, improve welding efficiency and welding quality, reduce welding cost.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is that the present invention opens up front view.
Fig. 2 is top view of the present invention.
Fig. 3 is locating rack structural representation of the present invention.
Fig. 4 is the present invention second crossbar sectional view.
Fig. 5 is the fixed structure schematic diagram of guardrail rod member of the present invention on locating rack.
Fig. 6 is that manipulator of the present invention carries out guardrail rod member welding process schematic diagram.
In figure: workbench 1, base 2, first arm 3, second arm rotating shaft 4, second arm 5, the 3rd arm rotating shaft 6, the 3rd arm 7, the 4th arm 8, the 5th arm rotating shaft 9, the 5th arm 10, plumb joint 11, welding gun 12, numerical control programming device 13, welding machine 14, guide pile 15, adjustment leg 16, locating rack 17, first crossbar 18, second crossbar 19, T-slot 20, bolt 21, nut 22.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the present invention are described further.
As Figure 1-5, a kind of robotic welder, it comprises workbench 1, the upper surface of workbench 1 is installed with manipulator, and the front end of manipulator is provided with plumb joint 11, plumb joint 11 is provided with welding gun 12, welding gun 12 is connected with welding machine 14 by cable, the upper surface of workbench 1 is provided with guide pile 15, guide pile 15 is provided with locating rack 17, and described manipulator is connected with numerical control programming device 13 by holding wire.
Further, described manipulator comprises base 2, and base 2 and workbench 1 are fixedly linked, and the first arm 3 is connected with base 2 by vertical axis; Second arm 5 is connected with the first arm 3 by the second arm rotating shaft 4 of level, 3rd arm 7 is connected with the second arm 5 by the 3rd arm rotating shaft 6 of level, 4th arm 8 is connected with the 3rd arm 7 by axial rotating shaft, 5th arm 10 is by being connected with the 4th arm 8 with the 5th arm rotating shaft 9 of the 5th arm 10 axes normal, plumb joint 11 is connected with the 5th arm 10 by axial rotating shaft, and welding gun 12 is fixedly mounted on the sidewall of plumb joint 11.
Further, described locating rack 17 adopts the first crossbar 18 of arranged crosswise and the second crossbar 19 fixedly to form.
Further, described second crossbar 19 is processed with T-slot 20, and T-slot 20 inside is provided with bolt 21, and upwards, turret head matches with T-slot 20 screw rod of bolt 21.
Further, the structure of described second crossbar 19 is identical with the structure of the first crossbar 18.
Further, the rotating range between described first arm 3 and base 2 is ± 180 °, and rotary speed is 115 ~ 140 °/s.
Further, the rotating range between described second arm 5 and the first arm 3 is+40 ° ~-130 °, and rotary speed is 95 ~ 105 °/s.
Further, the rotating range between described 3rd arm 7 and the second arm 5 is+140 ° ~-110 °, and rotary speed is 120 ~ 135 °/s.
Further, the rotating range between described 4th arm 8 and the 3rd arm 7 is ± 340 °, and rotary speed is 230 ~ 280 °/s.
Further, the rotating range between described 5th arm 10 and the 4th arm 8 is ± 115 °, and rotary speed is 220 ~ 260 °/s.
Further, the rotating range between described plumb joint 11 and the 5th arm 10 is ± 350 °, and rotary speed is 310 ~ 335 °/s;
Further, the repetitive positioning accuracy of described welding gun 12 is ± 0.01mm, welding machine 14 output power stability >=98%.
See Fig. 6, adopt the method for operating that robotic welder welds guardrail, it is characterized in that, it comprises the following steps:
1) when needs weld guardrail, first required guardrail raw material are cut into required size, then location is placed on locating rack 17, the bolt 21 of T-slot 20 inside of moving positioning frame 17, bolt 21 is moved to and needs fixing rod member position, be tightened on bolt 21 pairs of guardrail rod members with nut 22 to be again fixed, guarantee stability maintenance.
2) after guardrail rod member fixedly completes, then the carrying of locating rack 17 entirety is placed on workbench 1, and is fixed on the positioning by guide pile 15 pairs of locating racks 17.
3) need the data of welding position to form numerically controlled data the guardrail framework of also fixing formation after splicing assembling, then numerically controlled data is input to numerical control programming device 13, manipulator is controlled.
4) after numerically controlled data has inputted, first carry out zero load, close welding machine 14, allow manipulator under the control of numerical control programming device 13, carry out numerical control teaching trial run, checking running orbit, carrying out corrigendum Update Table in time when there being deviation, make it run according to predetermined welding track.
5) repeatedly teaching determine errorless after, start manipulator and welding machine 14 pairs of guardrails and weld.
6) after a guardrail has welded, only need the guardrail rod member of next group to be again fixedly mounted on locating rack 17 by bolt 21, again carry out automatic welding operation, middle without the need to carrying out the input of numerically controlled data again, also without the need to carrying out teaching again, and then the welding of guardrail is by the gross realized.
Above-described embodiment is used for explaining and the present invention is described, instead of limits the invention, and in the protection domain of spirit of the present invention and claim, any amendment make the present invention and change, all fall into protection scope of the present invention.
Claims (10)
1. a robotic welder, it comprises workbench (1), the upper surface of workbench (1) is installed with manipulator, it is characterized in that: the front end of manipulator is provided with plumb joint (11), plumb joint (11) is provided with welding gun (12), welding gun (12) is connected with welding machine (14) by cable, the upper surface of workbench (1) is provided with guide pile (15), guide pile (15) is provided with locating rack (17), described manipulator is connected with numerical control programming device (13) by holding wire.
2. a kind of robotic welder according to claim 1, is characterized in that: described manipulator comprises base (2), and base (2) and workbench (1) are fixedly linked, and the first arm (3) is connected with base (2) by vertical axis; Second arm (5) is connected with the first arm (3) by the second arm rotating shaft (4) of level, 3rd arm (7) is connected with the second arm (5) by the 3rd arm rotating shaft (6) of level, 4th arm (8) is connected with the 3rd arm (7) by axial rotating shaft, 5th arm (10) is by being connected with the 4th arm (8) with the 5th arm rotating shaft (9) of the 5th arm (10) axes normal, plumb joint (11) is connected with the 5th arm (10) by axial rotating shaft, and welding gun (12) is fixedly mounted on the sidewall of plumb joint (11).
3. a kind of robotic welder according to claim 1, is characterized in that: described locating rack (17) adopts first crossbar (18) of arranged crosswise and the second crossbar (19) fixedly to form.
4. a kind of robotic welder according to claim 3, it is characterized in that: described second crossbar (19) is processed with T-slot (20), T-slot (20) inside is provided with bolt (21), and upwards, turret head matches with T-slot (20) screw rod of bolt (21).
5. a kind of robotic welder according to claim 4, is characterized in that: the structure of described second crossbar (19) is identical with the structure of the first crossbar (18).
6. a kind of robotic welder according to claim 2, is characterized in that: the rotating range between described first arm (3) and base (2) is ± 180 °, and rotary speed is 115 ~ 140 °/s.
7. a kind of robotic welder according to claim 2, is characterized in that: the rotating range between described second arm (5) and the first arm (3) is+40 ° ~-130 °, and rotary speed is 95 ~ 105 °/s.
8. a kind of robotic welder according to claim 2, is characterized in that: the rotating range between described 3rd arm (7) and the second arm (5) is+140 ° ~-110 °, and rotary speed is 120 ~ 135 °/s;
Rotating range between 4th arm (8) and the 3rd arm (7) is ± 340 °, and rotary speed is 230 ~ 280 °/s;
Rotating range between 5th arm (10) and the 4th arm (8) is ± 115 °, and rotary speed is 220 ~ 260 °/s.
9. a kind of robotic welder according to claim 2, is characterized in that: the rotating range between described plumb joint (11) and the 5th arm (10) is ± 350 °, and rotary speed is 310 ~ 335 °/s;
The repetitive positioning accuracy of described welding gun (12) is ± 0.01mm, welding machine (14) output power stability >=98%.
10. adopt the method for operating that claim 1-9 any one robotic welder welds guardrail, it is characterized in that, it comprises the following steps:
1) when needs weld guardrail, first required guardrail raw material are cut into required size, then location is placed on locating rack (17), the bolt (21) of T-slot (20) inside of moving positioning frame (17), bolt (21) is moved to and needs fixing rod member position, use nut (22) to be tightened on bolt (21) to be again fixed guardrail rod member, guarantee stability maintenance;
2) after guardrail rod member fixedly completes, then the carrying of locating rack (17) entirety is placed on workbench (1), and by guide pile (15), locating rack (17) is fixed on the positioning;
3) need the data of welding position to form numerically controlled data the guardrail framework of also fixing formation after splicing assembling, then numerically controlled data is input to numerical control programming device (13), manipulator is controlled;
4) after numerically controlled data has inputted, first carry out zero load, close welding machine (14), allow manipulator under the control of numerical control programming device (13), carry out numerical control teaching trial run, checking running orbit, carrying out corrigendum Update Table in time when there being deviation, make it run according to predetermined welding track;
5) repeatedly teaching determine errorless after, start manipulator and welding machine (14) and guardrail welded;
6) after a guardrail has welded, the guardrail rod member of next group is only needed again to be fixedly mounted on locating rack (17) by bolt (21), again carry out automatic welding operation, middle without the need to carrying out the input of numerically controlled data again, also without the need to carrying out teaching again, and then the welding of guardrail is by the gross realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610087113.9A CN105537814B (en) | 2016-02-17 | 2016-02-17 | Automatic welding device with manipulator and operating method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610087113.9A CN105537814B (en) | 2016-02-17 | 2016-02-17 | Automatic welding device with manipulator and operating method |
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| Publication Number | Publication Date |
|---|---|
| CN105537814A true CN105537814A (en) | 2016-05-04 |
| CN105537814B CN105537814B (en) | 2017-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610087113.9A Expired - Fee Related CN105537814B (en) | 2016-02-17 | 2016-02-17 | Automatic welding device with manipulator and operating method |
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| Country | Link |
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| CN (1) | CN105537814B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106271369A (en) * | 2016-11-02 | 2017-01-04 | 北京中人联合教育科技研究院（普通合伙） | Railway frog intelligence welding robot |
| CN112959337A (en) * | 2021-03-03 | 2021-06-15 | 珞石（北京）科技有限公司 | Method for cutting invisible tooth appliance based on six-axis industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5606235A (en) * | 1993-12-17 | 1997-02-25 | Comau S.P.A. | Industrial robot with integrated reduction gear units |
| CN202781153U (en) * | 2012-08-28 | 2013-03-13 | 安川首钢机器人有限公司 | Welding robot |
| CN104368899A (en) * | 2014-10-29 | 2015-02-25 | 江阴市巨匠文化创意发展有限公司 | Handrail welding machine |
| CN104476040A (en) * | 2014-12-16 | 2015-04-01 | 新兴铸管股份有限公司 | Automatic welding device of ball joint handrail |
| CN204843338U (en) * | 2015-09-01 | 2015-12-09 | 广州昶兴机械有限公司 | Welding equipment at holding vessel or retort ladle body realization automatic weld |
| CN205342283U (en) * | 2016-02-17 | 2016-06-29 | 湖北长永建材有限公司 | Manipulator automation of welding device |
-
2016
- 2016-02-17 CN CN201610087113.9A patent/CN105537814B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5606235A (en) * | 1993-12-17 | 1997-02-25 | Comau S.P.A. | Industrial robot with integrated reduction gear units |
| CN202781153U (en) * | 2012-08-28 | 2013-03-13 | 安川首钢机器人有限公司 | Welding robot |
| CN104368899A (en) * | 2014-10-29 | 2015-02-25 | 江阴市巨匠文化创意发展有限公司 | Handrail welding machine |
| CN104476040A (en) * | 2014-12-16 | 2015-04-01 | 新兴铸管股份有限公司 | Automatic welding device of ball joint handrail |
| CN204843338U (en) * | 2015-09-01 | 2015-12-09 | 广州昶兴机械有限公司 | Welding equipment at holding vessel or retort ladle body realization automatic weld |
| CN205342283U (en) * | 2016-02-17 | 2016-06-29 | 湖北长永建材有限公司 | Manipulator automation of welding device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106271369A (en) * | 2016-11-02 | 2017-01-04 | 北京中人联合教育科技研究院（普通合伙） | Railway frog intelligence welding robot |
| CN112959337A (en) * | 2021-03-03 | 2021-06-15 | 珞石（北京）科技有限公司 | Method for cutting invisible tooth appliance based on six-axis industrial robot |
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| Publication number | Publication date |
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| CN105537814B (en) | 2017-05-03 |
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