CN105690380A - Circulating water control system of robot - Google Patents
Circulating water control system of robot Download PDFInfo
- Publication number
- CN105690380A CN105690380A CN201610263390.0A CN201610263390A CN105690380A CN 105690380 A CN105690380 A CN 105690380A CN 201610263390 A CN201610263390 A CN 201610263390A CN 105690380 A CN105690380 A CN 105690380A
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- CN
- China
- Prior art keywords
- mechanical hand
- water
- robot
- welding gun
- control system
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Resistance Welding (AREA)
Abstract
The invention relates to a robot, in particular to a circulating water control system of a robot. The robot comprises a welding controller, a robot forearm and a manipulator, wherein the manipulator is hinged to the forearm through a wrist part; the manipulator is connected with a welding gun; a water valve which is connected with a water source is arranged at the wrist part; after receiving a gas supply signal of the welding gun, the controller controls the gas valve to be opened and closed, then cooling water can flow into the manipulator from the wrist part, further flows into the electrode part of the welding gun from the manipulator, and flows back to the wrist part directly from the electrode part. As the cooling water is introduced from the hollow manipulator, on one hand, the manipulator can stretch out and draw back under the action of the cooling water, and on the other hand, the welding gun can be supplied with water; the control system is smart in design, convenient to use and easy to maintain, and the working efficiency of the robot can be greatly improved.
Description
Technical field
The present invention relates to the robot of automobile manufacturing field, specifically the circulation water control system of robot。
Background technology
Robot is widely used in commercial production, produces and in the welding process of processing particularly in auto parts, and the arm of robot meets industrial demand by doing swing and circumference rotary motion。Along with the development of advanced manufacturing technology, robot welding is adopted to become the modern outstanding feature of welding automatization technology。Welding robot, due to the advantage of highly versatile, reliable operation, is subject to people and more and more payes attention to。But matched spot welding aqueous vapor transport of kinetic energy, control mode are comparatively chaotic。Pipe-line layout trend is random, various terminal is multifarious, safeguards
Work complexity and function singleness, many problems that Robot Spot Welding is occurred cannot make effective control, has had a strong impact on machine task efficiency, has reduced the stability of welding quality。
Summary of the invention
For above-mentioned technical problem, the present invention provides the circulation water control system of a kind of robot being undertaken by flexible mechanical hand and supplying water。
This invention address that the technical scheme that above-mentioned technical problem adopts is: the circulation water control system of robot, including welding controller, robot forearm and mechanical hand, mechanical hand is hinged by wrist and forearm, mechanical hand is connected to welding gun, and described wrist is provided with the water valve being connected with water source, after described controller receives the water supply signal of welding gun, control water valve to open, make cooling water flow into mechanical hand from wrist, then flow into welding gun electrode part from mechanical hand, be then directly back to wrist from electrode part。
As preferably, described wrist includes rotating hollow gyroaxis, and the radial direction side of this gyroaxis is fixing connects described mechanical hand, and the radial direction opposite side of gyroaxis is hinged with described forearm, and the inner chamber of gyroaxis is connected with water source by described water valve；Described mechanical hand is hollow manipulator, is provided with outlet valve between mechanical hand and welding gun, after described controller controls water valve unlatching, then controls the unlatching of described outlet valve, makes the cooling water of mechanical hand inner chamber flow into described welding gun electrode part through this outlet valve。
As preferably, described mechanical hand front end is provided with position sensor, and described controller elongates or shortens according to the signal driving tool hands of position sensor。
As preferably, described mechanical hand includes hollow shell and is arranged on this shell inner cavity and the front end hollow inner shell by cover closure, inner shell is connected with described welding gun, cover plate is provided with described position sensor, described shell inner cavity and inner shell inner chamber constitute described mechanical hand inner chamber, described gyroaxis inner chamber and this mechanical hand inner space, mechanical hand inner chamber is connected with welding gun water inlet by described outlet valve；The described controller signal according to position sensor, controls described water valve and opens, and controls the closedown of described outlet valve, and described inner shell is extended or retraction shell inner cavity by the cooling water of intracavity in mechanical hand。
As preferably, described gyroaxis sidewall offers through hole, and gyroaxis inner chamber is by this through hole and described mechanical hand inner space；In described mechanical hand, intracavity is provided with a spring, and this spring one end is connected with described cover plate, the other end is connected with described gyroaxis sidewall。
As preferably, described welding gun is installed on the cover board, and cover plate is provided with and the water hole of inner shell inner space, and this water hole is connected with the water inlet of welding gun by water pipe, and this water pipe is installed described outlet valve。
As preferably, offering several grooves along its length at described shell inner cavity inwall, described inner shell outer wall is provided with several slide block, and each slide block stretches in corresponding groove and can move along groove。
As preferably, being provided with sealing strip along its length in each described groove。
From upper technical scheme it can be seen that the present invention by passing into cooling water in the mechanical hand of hollow, mechanical hand can be made to elongate or shorten under the effect of cooling water on the one hand, can supply water for welding gun on the other hand；The design of this device is ingenious, easy to use, it is easy to safeguards, greatly improves robot work efficiency。
Accompanying drawing explanation
Fig. 1 is the structural representation of optimal way of the present invention。
Detailed description of the invention
The present invention is discussed in detail below in conjunction with Fig. 1:
A kind of circulation water control system of robot, including welding controller 7, robot forearm 1 and mechanical hand 2, mechanical hand is hinged by wrist 4 and forearm, and mechanical hand is connected to welding gun 6, and described wrist 4 is provided with the water valve 8 being connected with water source, after described controller receives the water supply signal of welding gun, control water valve to open, make cooling water flow into mechanical hand from wrist, then flow into welding gun electrode part from mechanical hand, then electrode part is directly back to wrist, thus cooling water circulation。
The wrist of the present invention includes rotating hollow gyroaxis 42, the radial direction side of this gyroaxis is fixing connects described mechanical hand, the radial direction opposite side of gyroaxis is hinged with described forearm, by being driven back to axis of rotation, can rotate by driving mechanical hands, can being swung by driving mechanical hands by the swing of forearm, it is ensured that welding gun is in optimum welding position, the inner chamber 43 of gyroaxis is connected with water source by described water valve；Described mechanical hand is hollow manipulator, it is provided with outlet valve 9 between mechanical hand and welding gun, after described controller controls water valve unlatching, then controls the unlatching of described outlet valve, the cooling making mechanical hand inner chamber flows into described welding gun electrode part through this outlet valve, thus realizing periodical feeding。
Described mechanical hand 2 front end is provided with position sensor 10, and described controller elongates or shortens according to the signal driving tool hands of position sensor；Described mechanical hand 2 includes hollow shell 21 and is arranged on the hollow inner shell 23 that this shell inner cavity 22 and front end are closed by cover plate 3 specifically, inner shell is connected with described welding gun, cover plate is provided with described position sensor 10, described shell inner cavity 22 and inner shell inner chamber 24 constitute described mechanical hand inner chamber 25, described gyroaxis inner chamber and this mechanical hand inner space, mechanical hand inner chamber is connected with welding gun water inlet by described outlet valve；The described controller signal according to position sensor, controls described water valve and opens, and controls the closedown of described outlet valve, thus ensureing that mechanical hand inner chamber is airtight, inner shell is extended or retraction shell inner cavity by the cooling water of intracavity in mechanical hand。
Described cover plate is provided with the water hole 31 with inner shell inner space, and this water hole can be passed through water pipe 32 and connect with the water inlet of welding gun, and this water pipe is installed described outlet valve 9；Described gyroaxis sidewall offers through hole 41, and gyroaxis inner chamber is by this through hole and described mechanical hand inner space；Being provided with a spring 5 in described mechanical hand inner chamber 25, this spring one end is connected with described cover plate, the other end is connected with described gyroaxis sidewall；In welding process, when welding gun from pad farther out time, water source enters mechanical hand inner chamber from gyroaxis inner chamber by described through hole, stretches out shell under the effect of inner shell cooling water, thus driving welding gun close to pad, spring elongation simultaneously；If welding gun from pad too close to, in mechanical hand, the cooling water of intracavity can return to water source from through hole through rotating shaft inner chamber, and under the effect of spring-return power, inner shell is retracted shell inner cavity gradually, so that welding gun is in the welding position of the best。
As preferably, offering several grooves 221 along its length at described shell inner cavity 22 inwall, described inner shell outer wall is provided with several slide block 241, and each slide block stretches in corresponding groove and can move along groove；In the process that inner shell stretches out and retracts, slide block moves along groove, it may be achieved the accurate of inner shell is moved；Sealing strip 222 it is provided with along its length, it is ensured that the sealing of mechanical hand inner chamber in each described groove。
The technical scheme above embodiment of the present invention provided is described in detail, principle and the embodiment of the embodiment of the present invention are set forth by specific case used herein, and the explanation of above example is only applicable to help to understand the principle of the embodiment of the present invention；Simultaneously for one of ordinary skill in the art, according to the embodiment of the present invention, all will change in detailed description of the invention and range of application, in sum, this specification content should not be construed as limitation of the present invention。
Claims (8)
1. the circulation water control system of a robot, including welding controller, robot forearm and mechanical hand, mechanical hand is hinged by wrist and forearm, mechanical hand is connected to welding gun, it is characterised in that: described wrist is provided with the water valve being connected with water source, after described controller receives the water supply signal of welding gun, control water valve to open, make cooling water flow into mechanical hand then the electrode part from mechanical hand inflow welding gun from wrist, be then partly refluxed to wrist from electrode。
2. the circulation water control system of robot as claimed in claim 1, it is characterized in that: described wrist includes rotating hollow gyroaxis, the radial direction side of this gyroaxis is fixing connects described mechanical hand, the radial direction opposite side of gyroaxis is hinged with described forearm, and the inner chamber of gyroaxis is connected with water source by described water valve；Described mechanical hand is hollow manipulator, is provided with outlet valve between mechanical hand and welding gun, after described controller controls water valve unlatching, then controls the unlatching of described outlet valve, makes the cooling water of mechanical hand inner chamber flow into described welding gun electrode part through this outlet valve。
3. the circulation water control system of robot as claimed in claim 2, it is characterised in that: described mechanical hand front end is provided with position sensor, and described controller elongates or shortens according to the signal driving tool hands of position sensor。
4. the circulation water control system of robot as claimed in claim 3, it is characterized in that: described mechanical hand includes hollow shell and is arranged on this shell inner cavity and the front end hollow inner shell by cover closure, inner shell is connected with described welding gun, cover plate is provided with described position sensor, described shell inner cavity and inner shell inner chamber constitute described mechanical hand inner chamber, described gyroaxis inner chamber and this mechanical hand inner space, mechanical hand inner chamber is connected with welding gun water inlet by described outlet valve；The described controller signal according to position sensor, controls described water valve and opens, and controls the closedown of described outlet valve, and described inner shell is extended or retraction shell inner cavity by the cooling water of intracavity in mechanical hand。
5. the circulation water control system of robot as claimed in claim 4, it is characterised in that: described gyroaxis sidewall offers through hole, and gyroaxis inner chamber is by this through hole and described mechanical hand inner space；In described mechanical hand, intracavity is provided with a spring, and this spring one end is connected with described cover plate, the other end is connected with described gyroaxis sidewall。
6. the circulation water control system of robot as claimed in claim 4, it is characterised in that: described welding gun is installed on the cover board, and cover plate is provided with and the water hole of inner shell inner space, and this water hole is connected with the water inlet of welding gun by water pipe, and this water pipe is installed described outlet valve。
7. the circulation water control system of robot as claimed in claim 4, it is characterised in that: offering several grooves along its length at described shell inner cavity inwall, described inner shell outer wall is provided with several slide block, and each slide block stretches in corresponding groove and can move along groove。
8. the circulation water control system of robot as claimed in claim 7, it is characterised in that: it is provided with sealing strip along its length in each described groove。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610263390.0A CN105690380B (en) | 2016-04-26 | 2016-04-26 | A kind of cycle water control system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610263390.0A CN105690380B (en) | 2016-04-26 | 2016-04-26 | A kind of cycle water control system of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105690380A true CN105690380A (en) | 2016-06-22 |
| CN105690380B CN105690380B (en) | 2018-10-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610263390.0A Active CN105690380B (en) | 2016-04-26 | 2016-04-26 | A kind of cycle water control system of robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105690380B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1317459A (en) * | 1970-06-02 | 1973-05-16 | Chavarria M J | Hydraulic jacks for motor vehicles |
| EP0016921A1 (en) * | 1979-02-05 | 1980-10-15 | Georg Fischer Aktiengesellschaft | Telescopic device |
| CN88101578A (en) * | 1987-04-01 | 1988-10-12 | 海德堡印刷机械股份公司 | Band promotes the paper sucking machine of suction nozzle |
| JPH06126673A (en) * | 1992-10-20 | 1994-05-10 | Matsushita Electric Ind Co Ltd | Parts holding unit |
| CN2410093Y (en) * | 2000-03-10 | 2000-12-13 | 简新锋 | Clamping jaw for combined manipulator |
| CN2514960Y (en) * | 2001-07-12 | 2002-10-09 | 重庆运达焊接设备有限公司 | Plasma arc-welding gun |
| CN102489845A (en) * | 2011-11-18 | 2012-06-13 | 南京理工大学 | Hybrid heat source stud welding method using welding robot and hybrid heat source stud welding system with welding robot |
| CN202715953U (en) * | 2012-06-29 | 2013-02-06 | 上海新朋联众汽车零部件有限公司 | C-shaped welding clamp arm with cooling water pipeline |
| CN104512014A (en) * | 2014-12-17 | 2015-04-15 | 富强鑫（宁波）机器制造有限公司 | Clamping mechanism of injection molding machine |
-
2016
- 2016-04-26 CN CN201610263390.0A patent/CN105690380B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1317459A (en) * | 1970-06-02 | 1973-05-16 | Chavarria M J | Hydraulic jacks for motor vehicles |
| EP0016921A1 (en) * | 1979-02-05 | 1980-10-15 | Georg Fischer Aktiengesellschaft | Telescopic device |
| CN88101578A (en) * | 1987-04-01 | 1988-10-12 | 海德堡印刷机械股份公司 | Band promotes the paper sucking machine of suction nozzle |
| JPH06126673A (en) * | 1992-10-20 | 1994-05-10 | Matsushita Electric Ind Co Ltd | Parts holding unit |
| CN2410093Y (en) * | 2000-03-10 | 2000-12-13 | 简新锋 | Clamping jaw for combined manipulator |
| CN2514960Y (en) * | 2001-07-12 | 2002-10-09 | 重庆运达焊接设备有限公司 | Plasma arc-welding gun |
| CN102489845A (en) * | 2011-11-18 | 2012-06-13 | 南京理工大学 | Hybrid heat source stud welding method using welding robot and hybrid heat source stud welding system with welding robot |
| CN202715953U (en) * | 2012-06-29 | 2013-02-06 | 上海新朋联众汽车零部件有限公司 | C-shaped welding clamp arm with cooling water pipeline |
| CN104512014A (en) * | 2014-12-17 | 2015-04-15 | 富强鑫（宁波）机器制造有限公司 | Clamping mechanism of injection molding machine |
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| Publication number | Publication date |
|---|---|
| CN105690380B (en) | 2018-10-02 |
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