CN105537814B - Automatic welding device with manipulator and operating method - Google Patents
Automatic welding device with manipulator and operating method Download PDFInfo
- Publication number
- CN105537814B CN105537814B CN201610087113.9A CN201610087113A CN105537814B CN 105537814 B CN105537814 B CN 105537814B CN 201610087113 A CN201610087113 A CN 201610087113A CN 105537814 B CN105537814 B CN 105537814B
- Authority
- CN
- China
- Prior art keywords
- arm
- guardrail
- welding
- welded
- mechanical hand
- 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.)
- Expired - Fee Related
Links
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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Manipulator (AREA)
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, and in particular to a kind of robotic welder and operation
Method.
Background technology
With being continuously increased for building quantity, guardrail has obtained extensive utilization in finishing process of construction, in guardrail
Need Jing to commonly use solder technology to weld the rod member and square steel material of guardrail in the course of processing, and then be assembled into guardrail knot
Structure, traditional are carried out by the way of human weld, there is the defect of the following aspects using human weld：（1）People
Work Automation of Welding low degree, work efficiency are relatively low；（2）Human weld is different to welding technological standardss, cause weldquality without
Method ensures；（3）The high labor intensive of operating personnel, it is impossible to carry out high-volume, high accuracy operation；（4）Using human weld's cost
It is higher.
The content of the invention
It is an object of the invention to provide a kind of robotic welder and operational approach, this automatic welding device
Welded using mechanical hand, welding efficiency is high, high degree of automation, welding quality is high, can carry out high-volume processing.
In order to realize above-mentioned technical characteristic, the object of the present invention is achieved like this：A kind of robotic welding
Device, it includes workbench, and the upper surface of workbench is installed with mechanical hand, and the front end of mechanical hand is provided with plumb joint, weldering
Welding gun is installed on joint, welding gun is connected with welding machine by cable, the upper surface of workbench is provided with guide pile, is pacified on guide pile
Equipped with locating rack, the mechanical hand is connected with numerical control programming device by holding wire.
The mechanical hand includes base, and base is fixedly linked with workbench, and the first arm is connected with base by vertical axises；The
Two arms are connected with the first arm by the second horizontal arm rotating shaft, and the 3rd arm is connected with the second arm by the 3rd horizontal arm rotating shaft,
4th arm is connected with the 3rd arm by axial rotating shaft, and the 5th arm is by the fiveth arm rotating shaft vertical with the 5th arm axle line and the 4th arm
Connection, plumb joint are connected with the 5th arm by axial rotating shaft, and welding gun is fixedly mounted on the side wall of plumb joint.
The locating rack is fixed using first crossbar and the second crossbar of arranged crosswise and is formed.
T-slot is machined with second crossbar, bolt is installed inside T-slot, the screw rod of bolt upwards, turret head
It is engaged with T-slot.
The structure of second crossbar is identical with the structure of the first crossbar.
Rotating range between first arm and base is ± 180 °, and rotary speed is 115 ~ 140 °/s.
Rotating range between second arm and the first arm is+40 ° ~ -130 °, and rotary speed is 95 ~ 105 °/s.
Rotating range between 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 the plumb joint and the 5th arm is ± 350 °, and rotary speed is 310 ~ 335 °/s；
The repetitive positioning accuracy of the welding gun be ± 0.01mm, welding machine output power stability >=98%.
Operational approach guardrail welded using robotic welder, it is characterised in that it includes following step
Suddenly：
1）When needing to weld guardrail, the size required for first be cut into required guardrail raw material,
Then positioning is placed on locating rack, the bolt inside the T-slot of moving positioning frame, and moving to bolt needs fixed rod member
Position, then guardrail rod member is fixed in bolt with nut, it is ensured that stability maintenance.
2）Guardrail rod member is fixed after completing, then locating rack is integrally carried is placed on workbench, and passes through guide pile
Locating rack is fixed on the positioning.
3）To splice after assembling and the fixed guardrail framework for being formed will need the data of welding position to form numerically controlled data, then
Numerically controlled data is input to into numerical control programming device, mechanical hand is controlled.
4）After numerically controlled data input is completed, zero load is carried out first, close welding machine, allow mechanical hand in the control of numerical control programming device
Numerical control teaching trial operation is carried out under system, running orbit is checked, corrigendum modification data is carried out when there is deviation in time so as to according to pre-
Fixed welding track operation.
5）Repeatedly teaching determine it is errorless after, start mechanical hand and welding machine welded to guardrail.
6）After a guardrail welding is completed, it is only necessary to which the guardrail rod member of next group is fixedly mounted again by bolt
On locating rack, automatic welding operation is carried out again, the middle input without the need for carry out numerically controlled data again, without being shown again
Religion, and then realize the welding of guardrail by the gross.
The method have the advantages that：
1st, by plumb joint to be fixedly mounted on the head of mechanical hand, welding gun is connected with plumb joint, can be by machinery
Hand control welding gun carries out automatic welding.
2nd, the track of mechanical hand operation can be input into by numerical control programming device, numerical control code, and then control machinery hand is generated
According to the track operation of setting, automatic welding is realized.
3rd, the guardrail square tube for needing welding being fixed by locating rack, so as to ensure that welding precision, is easy to
Automatic welding.
4th, slidable adjustment easily can be carried out to bolt by T-slot, so which can adapt to various sizes of shield
The regulation of column gutter.
5th, automatic welding is carried out by mechanical hand, improves welding efficiency and welding quality, reduce welding cost.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is present invention exhibition 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 second crossbar sectional view of the invention.
Fig. 5 is fixed structure schematic diagram of the guardrail rod member of the present invention on locating rack.
Fig. 6 carries out guardrail rod member welding process schematic diagram for mechanical hand of the present invention.
In figure：Workbench 1, base 2, the first arm 3, the second arm rotating shaft 4, the second arm 5, the 3rd arm rotating shaft 6, the 3rd arm 7,
Four arms 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, regulation
Leg 16, locating rack 17, the first crossbar 18, the second crossbar 19, T-slot 20, bolt 21, nut 22.
Specific embodiment
Below in conjunction with the accompanying drawings embodiments of the present invention are described further.
As Figure 1-5, a kind of robotic welder, it includes workbench 1, and the upper surface of workbench 1 is solid
Dingan County is equipped with mechanical hand, and the front end of mechanical hand is provided with plumb joint 11, and welding gun 12 is provided with plumb joint 11, and welding gun 12 passes through line
Cable is connected with welding machine 14, and the upper surface of workbench 1 is provided with guide pile 15, and locating rack 17, the machine are provided with guide pile 15
Tool handss are connected with numerical control programming device 13 by holding wire.
Further, the mechanical hand includes base 2, and base 2 is fixedly linked with workbench 1, and the first arm 3 passes through vertical axises
It is connected with base 2；Second arm 5 is connected with the first arm 3 by the second horizontal arm rotating shaft 4, and the 3rd arm 7 passes through the 3rd horizontal arm
Rotating shaft 6 is connected with the second arm 5, and the 4th arm 8 is connected with the 3rd arm 7 by axial rotating shaft, the 5th arm 10 by with 10 axle of the 5th arm
The 5th vertical arm rotating shaft 9 of line is connected with the 4th arm 8, and plumb joint 11 is connected with the 5th arm 10 by axial rotating shaft, and welding gun 12 is solid
Dingan County is mounted on the side wall of plumb joint 11.
Further, the locating rack 17 using arranged crosswise the first crossbar 18 and the second crossbar 19 fix and
Into.
Further, T-slot 20 is machined with second crossbar 19, bolt 21, bolt are installed inside T-slot 20
Upwards, turret head is engaged 21 screw rod with T-slot 20.
Further, the structure of second crossbar 19 is identical with the structure of the first crossbar 18.
Further, the rotating range between first arm 3 and base 2 be ± 180 °, rotary speed be 115 ~ 140 °/
s。
Further, the rotating range between second arm 5 and the first arm 3 be+40 ° ~ -130 °, rotary speed be 95 ~
105°/s。
Further, the rotating range between the 3rd arm 7 and the second arm 5 is+140 ° ~ -110 °, and rotary speed is
120~135°/s。
Further, the rotating range between the 4th arm 8 and the 3rd arm 7 be ± 340 °, rotary speed be 230 ~
280°/s。
Further, the rotating range between the 5th arm 10 and the 4th arm 8 be ± 115 °, rotary speed be 220 ~
260°/s。
Further, the rotating range between the plumb joint 11 and the 5th arm 10 be ± 350 °, rotary speed be 310 ~
335°/s；
Further, the repetitive positioning accuracy of the welding gun 12 be ± 0.01mm, 14 output power stability of welding machine >=
98%。
Referring to Fig. 6, the operational approach welded to guardrail using robotic welder, it is characterised in that it wraps
Include following steps：
1）When needing to weld guardrail, the size required for first be cut into required guardrail raw material,
Then positioning is placed on locating rack 17, and the bolt 21 inside the T-slot 20 of moving positioning frame 17 makes bolt 21 move to needs
Fixed rod member position, then be tightened on bolt 21 with nut 22 guardrail rod member is fixed, it is ensured that stability maintenance.
2）Guardrail rod member is fixed after completing, then locating rack 17 overall carrying is placed on workbench 1, and by positioning
15 pairs of locating racks 17 of stake are fixed on the positioning.
3）To splice after assembling and the fixed guardrail framework for being formed will need the data of welding position to form numerically controlled data, then
Numerically controlled data is input to into numerical control programming device 13, mechanical hand is controlled.
4）After numerically controlled data input is completed, zero load is carried out first, close welding machine 14, allow mechanical hand in numerical control programming device 13
Control under carry out numerical control teaching trial operation, check running orbit, when there is deviation in time carry out corrigendum modification data so as to press
Run according to predetermined welding track.
5）Repeatedly teaching determine it is errorless after, start mechanical hand and welding machine 14 welded to guardrail.
6）After a guardrail welding is completed, it is only necessary to which the guardrail rod member of next group is fixed peace again by bolt 21
It is mounted on locating rack 17, carries out automatic welding operation again, the middle input without the need for carry out numerically controlled data again, without carrying out again
Teaching, and then realize the welding of guardrail by the gross.
Above-described embodiment is used for illustrating the present invention, rather than limits the invention, the present invention spirit and
In scope of the claims, any modifications and changes made to the present invention both fall within protection scope of the present invention.
Claims (6)
1. the operational approach that a kind of employing robotic welder is welded to guardrail, it is characterised in that：
The robotic welder, it includes workbench（1）, workbench（1）Upper surface be installed with machinery
Handss, the front end of mechanical hand are provided with plumb joint（11）, plumb joint（11）On welding gun is installed（12）, welding gun（12）By cable with
Welding machine（14）It is connected, workbench（1）Upper surface be provided with guide pile（15）, guide pile（15）On locating rack is installed（17）,
The mechanical hand is by holding wire and numerical control programming device（13）It is connected；
The mechanical hand includes base（2）, base（2）With workbench（1）It is fixedly linked, the first arm（3）By vertical axises and bottom
Seat（2）Connection；Second arm（5）By the second arm rotating shaft of level（4）With the first arm（3）Connection, the 3rd arm（7）By level
3rd arm rotating shaft（6）With the second arm（5）Connection, the 4th arm（8）By axial rotating shaft and the 3rd arm（7）Connection, the 5th arm（10）
By with the 5th arm（10）The 5th vertical arm rotating shaft of axis（9）With the 4th arm（8）Connection, plumb joint（11）By axial rotating shaft
With the 5th arm（10）Connection, welding gun（12）It is fixedly mounted on plumb joint（11）Side wall on；
The locating rack（17）Using the first crossbar of arranged crosswise（18）With the second crossbar（19）Fixation is formed；
Second crossbar（19）On be machined with T-slot（20）, T-slot（20）Inside is provided with bolt（21）, bolt（21）
Screw rod upwards, turret head and T-slot（20）It is engaged；
The operational approach welded to guardrail using robotic welder, it comprises the following steps：
1）When needing to weld guardrail, the size required for first be cut into required guardrail raw material, then
Positioning is placed into locating rack（17）On, moving positioning frame（17）T-slot（20）Internal bolt（21）, make bolt（21）It is mobile
To the rod member position for needing fixation, then use nut（22）It is tightened on bolt（21）Guardrail rod member is fixed, it is ensured that fixed stably
It is qualitative；
2）Guardrail rod member is fixed after completing, then by locating rack（17）Overall carrying is placed into workbench（1）On, and by positioning
Stake（15）To locating rack（17）It is fixed on the positioning；
3）Will be after splicing assembling and the fixed guardrail framework for being formed needs the data formation numerically controlled data of welding position, then by number
Control data input is to numerical control programming device（13）, mechanical hand is controlled；
4）After numerically controlled data input is completed, zero load is carried out first, close welding machine（14）, mechanical hand is allowed in numerical control programming device（13）
Control under carry out numerical control teaching trial operation, check running orbit, when there is deviation in time carry out corrigendum modification data so as to press
Run according to predetermined welding track；
5）Repeatedly teaching determine it is errorless after, start mechanical hand and welding machine（14）Guardrail is welded；
6）After a guardrail welding is completed, it is only necessary to by the guardrail rod member of next group again by bolt（21）Fixed installation
In locating rack（17）On, carry out automatic welding operation again, the middle input without the need for carry out numerically controlled data again, without carrying out again
Teaching, and then realize the welding of guardrail by the gross.
2. the operational approach that a kind of employing robotic welder according to claim 1 is welded to guardrail, its
It is characterised by：Second crossbar（19）Structure and the first crossbar（18）Structure it is identical.
3. the operational approach that a kind of employing robotic welder according to claim 1 is welded to guardrail, its
It is characterised by：First arm（3）With base（2）Between rotating range be ± 180 °, rotary speed be 115 ~ 140 °/s.
4. the operational approach that a kind of employing robotic welder according to claim 1 is welded to guardrail, its
It is characterised by：Second arm（5）With the first arm（3）Between rotating range be+40 ° ~ -130 °, rotary speed be 95 ~
105°/s。
5. the operational approach that a kind of employing robotic welder according to claim 1 is welded to guardrail, its
It is characterised by：3rd arm（7）With the second arm（5）Between rotating range be+140 ° ~ -110 °, rotary speed be 120 ~
135°/s；
4th arm（8）With the 3rd arm（7）Between rotating range be ± 340 °, rotary speed be 230 ~ 280 °/s；
5th arm（10）With the 4th arm（8）Between rotating range be ± 115 °, rotary speed be 220 ~ 260 °/s.
6. the operational approach that a kind of employing robotic welder according to claim 1 is welded to guardrail, its
It is characterised by：The plumb joint（11）With the 5th arm（10）Between rotating range be ± 350 °, rotary speed be 310 ~ 335 °/
s；
The welding gun（12）Repetitive positioning accuracy be ± 0.01mm, welding machine（14）Output power stability >=98%.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105537814A CN105537814A (en) | 2016-05-04 |
| CN105537814B true CN105537814B (en) | 2017-05-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610087113.9A Expired - Fee Related CN105537814B (en) | 2016-02-17 | 2016-02-17 | Automatic welding device with manipulator and operating method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105537814B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106271369B (en) * | 2016-11-02 | 2018-11-20 | 北京中人联合教育科技研究院（普通合伙） | Railway frog intelligence welding robot |
| CN112959337B (en) * | 2021-03-03 | 2022-08-30 | 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 |
|---|---|---|---|---|
| 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 |
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| Publication number | Publication date |
|---|---|
| CN105537814A (en) | 2016-05-04 |
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