CN105855762B - A kind of welding system based on robot technology - Google Patents
A kind of welding system based on robot technology Download PDFInfo
- Publication number
- CN105855762B CN105855762B CN201610408810.XA CN201610408810A CN105855762B CN 105855762 B CN105855762 B CN 105855762B CN 201610408810 A CN201610408810 A CN 201610408810A CN 105855762 B CN105855762 B CN 105855762B
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- Prior art keywords
- robot
- welding
- fixture
- weld jig
- fixed
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- 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
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- 238000003466 welding Methods 0.000 title claims abstract description 60
- 238000005516 engineering process Methods 0.000 title claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000003028 elevating effect Effects 0.000 claims description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 229910001220 stainless steel Inorganic materials 0.000 claims description 6
- 239000010935 stainless steel Substances 0.000 claims description 6
- 239000008188 pellet Substances 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 3
- 238000009987 spinning Methods 0.000 claims description 3
- 229910000679 solder Inorganic materials 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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
-
- 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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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
- B23K37/0247—Driving 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of welding system based on robot technology, including welding robot, weld jig component and control assembly, weld jig component to electrically connect with control assembly, and control assembly controls the movement of weld jig component；Welding robot includes robot part and plumb joint, and plumb joint is located in robot part, and does multifreedom motion under the drive of robot part；Robot part includes robot body and control cabinet, the software that the hardware of control machine human body motion is provided with control cabinet and is pre-installed in hardware；Robot part also includes image sensor and position sensor, and image sensor electrically connects with position sensor with control cabinet.The welding system combines Industrial Robot Technology and traditional welding technique, and completing complicated, cumbersome welding by multivariant welding robot operates, and welding efficiency not only greatly improved, moreover it is possible to effective improved welding quality, improves solder yield.
Description
Technical field：
The present invention relates to technical field of welding equipment, and in particular to a kind of welding system based on robot technology.
Background technology：
With the continuous development of China's economy domestic heavy-duty machinery, metallurgical machinery, shipbuilding, mine engineering machinery, electricity
Boiler, pressure vessel, petrochemical industry, rolling stock, the automobile and other industries of standing have been enter into world's same industry rank of advanced units, due to these
It is leading using welding procedure that industry, which is all, and plus the increase of domestic investment, good development is provided for Chinese welding machine profession
Opportunity.Energy-efficient welding jig will be surgingly increased, and Rapid Popularization is obtained in industries such as petrochemical industry, shipbuilding, boiler, railways.
Industrial robot is one kind by overprogram and automatically controlled, and can complete some operation tasks in manufacturing process
Multi-functional, multivariant Mechatronics Automatics tool equipment and system, it combines manufacture main frame or production line, can group
Into unit or multimachine automated system, in unmanned presence, a variety of production operations such as carrying, welding, assembling and spraying are realized.Such as
What combines Industrial Robot Technology with conventional soldering techniques, and it is welding skill to realize efficient, high-quality welding operating process
It is badly in need of the technical problem solved in art field.
The content of the invention：
The purpose of the present invention is aiming at the deficiencies in the prior art, there is provided a kind of welding system based on robot technology,
The welding system combines Industrial Robot Technology and traditional welding technique, is completed by multivariant welding robot multiple
Miscellaneous, cumbersome welding operation, not only greatly improved welding efficiency, moreover it is possible to effective improved welding quality, improve solder yield.
The technology solution of the present invention is as follows：
A kind of welding system based on robot technology, including welding robot, weld jig component and control assembly,
Weld jig component electrically connects with control assembly, and control assembly controls the movement of weld jig component；Welding robot includes machine
Device people part and plumb joint, plumb joint is located in robot part, and does multifreedom motion under the drive of robot part；
Robot part includes robot body and control cabinet, and the hardware of control machine human body motion and pre- is provided with control cabinet
The software being first arranged in hardware；Robot part also includes image sensor and position sensor, image sensor and position
Put sensor to electrically connect with control cabinet, image sensor carries out the workpiece in welding process photograph taking and passes to photo
Control cabinet, the host computer in control cabinet analyze workpiece welding situation, and the position of binding site sensor passes according to pictorial information
Confidence breath constantly adjusts the motion of welding robot, until welding process terminates.
As the preferred of above-mentioned technical proposal, robot body includes base, and rotating seat is rotatablely equipped with base, rotation
The top of seat is fixed with two relative supporting plates, and the structure of two supporting plates is identical, and the opposite side of two supporting plates is set
There is vertical lifting chute, slided in lifting chute and be provided with lifting slider, fixed arm is installed with lifting slider, it is fixed
Arm is hollow-core construction, and its one end is connected with rotary drive motor, and the other end is connected with expansion link, and expansion link is actively socketed on fixation
The inside of arm, the end of expansion link are rotatably connected to revolving part, and the bottom of revolving part is connected with a rotary pin shaft, on rotary pin shaft
It is rotatably connected to swing arm simultaneously.
As the preferred of above-mentioned technical proposal, robot body also includes elevation driving unit, and elevation driving unit is liter
Oil cylinder is dropped, and hoist cylinder is fixedly mounted on rotating seat, and the piston rod of hoist cylinder is fixedly connected with lifting slider.
As the preferred of above-mentioned technical proposal, base is square structure, is made up of stainless-steel sheet, and its corner passes through fixation
Part is fixed with ground, and fixture is hex bolts, and rotary drive motor is driven by planet-cycloid reducer or harmonic speed reducer
Fixed arm rotates.
As the preferred of above-mentioned technical proposal, plumb joint includes the support bar for being welded on swing arm end, the end of support bar
End is provided with pellet part, is rotated on pellet part and is socketed with universal ball joint, the outer surface of universal ball joint is welded with welding gun.
As the preferred of above-mentioned technical proposal, weld jig component includes support and the weld jig on support
Head, support are flame support, and it includes two vertical beams being oppositely arranged and is fixedly connected with integral crossbeam with two vertical beams,
Two vertical beams are respectively and fixedly installed on a bracket base, and bracket base is square structure, is made up of stainless-steel sheet, its
Corner is fixed by fixture and ground, and fixture is hex bolts.
Slided as the preferred of above-mentioned technical proposal, on crossbeam and be provided with traversing sliding block, traversing sliding block and crossbeam it is relative
Slip is completed by traversing rack-pinion, is lifted on traversing sliding block and is connected with elevating lever, elevating lever and traversing sliding block
Relative slide is completed by lifter rack gear pair, and the end of elevating lever is fixed with telescoping rod, and telescoping rod can enter
360 ° of spinning movements of row, end and the weld jig head of telescoping rod are hinged.
As the preferred of above-mentioned technical proposal, weld jig head includes two connection otic placodes being oppositely arranged, connection otic placode
Between be integrally fixed by connector, offered in connection otic placode pin shaft hole, the first fixture and the second fixture by installed in
Hinging pin shaft connection in pin shaft hole, the structure of the first fixture and the second fixture is identical, and the position of both and workpiece joint is set
Magnetic strips are equipped with, the first fixture and the second fixture are to realize opening and closing by telescopic cylinder driving, and telescopic cylinder one end passes through solid
Reservation is fixed with connector, and the other end is hinged by articulated element and the first fixture or the second fixture.
The beneficial effects of the present invention are：The welding system combines Industrial Robot Technology and traditional welding technique,
Complicated, cumbersome welding is completed by multivariant welding robot to operate, and welding efficiency not only greatly improved, moreover it is possible to have
Improved welding quality is imitated, improves solder yield.
Brief description of the drawings：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of welding robot；
Fig. 3 is the structural representation of plumb joint；
Fig. 4 is the structural representation of weld jig component；
Fig. 5 is the structural representation of weld jig head.
Embodiment：
In order that the above objects, features and advantages of the present invention can be more obvious understandable, below in conjunction with the accompanying drawings to this hair
Bright embodiment is described in detail.
As shown in figure 1, the welding system based on robot technology includes welding robot 1, weld jig component 2 and control
Component processed, weld jig component 2 electrically connect with control assembly, the movement of control assembly control weld jig component 2；Welding robot
People includes robot part and plumb joint, and plumb joint is located in robot part, and is done more certainly under the drive of robot part
Moved by degree；Robot part includes robot body and control cabinet, and control machine human body motion is provided with control cabinet
Hardware and the software being pre-installed in hardware；Robot part also includes image sensor and position sensor, shooting
Sensor electrically connects with position sensor with control cabinet, and image sensor carries out photograph taking to the workpiece in welding process and will
Photo passes to control cabinet, and the host computer in control cabinet analyzes workpiece welding situation according to pictorial information, and binding site senses
The positional information of device transmission constantly adjusts the motion of welding robot 1, until welding process terminates.
As shown in Fig. 2 robot body includes base 11, rotating seat 12 is rotatablely equipped with base 11, rotating seat 12
Top is fixed with two relative supporting plates 13, and the structure of two supporting plates 13 is identical, and the opposite side of two supporting plates 13 is set
Vertical lifting chute is equipped with, is slided in lifting chute and is provided with lifting slider, fixed arm 16 is installed with lifting slider,
Fixed arm 16 is hollow-core construction, and its one end is connected with rotary drive motor 15, and the other end is connected with expansion link 17, and expansion link 17 is lived
The dynamic inside for being socketed in fixed arm 16, the end of expansion link 17 are rotatably connected to revolving part 18, the bottom of revolving part 18 and a rotation
Ship and resell on another market axis connection, swing arm 19 is rotatably connected to simultaneously on rotary pin shaft.
As shown in Fig. 2 robot body also includes elevation driving unit, elevation driving unit is hoist cylinder 14, lifting
Oil cylinder 14 is fixedly mounted on rotating seat 12, and the piston rod of hoist cylinder 14 is fixedly connected with lifting slider.
Base 11 is square structure, is made up of stainless-steel sheet, and its corner is fixed by fixture and ground, and fixture is
Hex bolts, rotary drive motor 15 drive fixed arm 16 to rotate by planet-cycloid reducer or harmonic speed reducer.
As shown in figure 3, plumb joint 3 includes the support bar 31 for being welded on the end of swing arm 19, the end of support bar 31 is set
There is pellet part 32, rotated on pellet part 32 and be socketed with universal ball joint 33, the outer surface of universal ball joint 33 is welded with welding gun 34.
As shown in figure 4, weld jig component 2 includes support 22 and the weld jig first 4 on support 22, support 22
For flame support, it includes two vertical beams being oppositely arranged and integral crossbeam is fixedly connected with two vertical beams, and two perpendicular
Beam is respectively and fixedly installed on a bracket base 21, and bracket base 21 is square structure, is made up of stainless-steel sheet, and it four
Angle is fixed by fixture and ground, and fixture is hex bolts.
Slided on crossbeam and be provided with traversing sliding block 23, the relative slip of traversing sliding block 23 and crossbeam is by traversing rack tooth
What wheel set was completed, lifted on traversing sliding block 23 and be connected with elevating lever 24, the relative slip of elevating lever 24 and traversing sliding block 23 is logical
The completion of lifter rack gear pair is crossed, the end of elevating lever 24 is fixed with telescoping rod 25, and telescoping rod 25 can carry out 360 °
Spinning movement, the end of telescoping rod 25 and weld jig first 4 are be hinged.
As shown in figure 5, weld jig first 4 includes two connection otic placodes 41 being oppositely arranged, pass through between connection otic placode 41
Connector is integrally fixed, offered in connection otic placode 41 pin shaft hole 44, the first fixture 42 and the second fixture 43 by installed in
Hinging pin shaft connection in pin shaft hole 4, the first fixture 42 is identical with the structure of the second fixture 43, both portions with workpiece joint
Position is provided with magnetic strips 46, and the first fixture 42 and the second fixture 43 are to realize opening and closing by the driving of telescopic cylinder 45, and stretch gas
The one end of cylinder 45 is fixed by fixed seat 411 with connector, and the other end passes through the fixture 42 of articulated element 431 and first or the second fixture
43 is be hinged.
The embodiment is to the illustrative present invention, not for the limitation present invention.Any those skilled in the art
The embodiment can be modified under the spirit and scope without prejudice to the present invention, therefore the rights protection model of the present invention
Enclose, should be as listed by the claim of the present invention.
Claims (4)
- A kind of 1. welding system based on robot technology, it is characterised in that：Including welding robot (1), weld jig component (2) and control assembly, weld jig component (2) electrically connect with control assembly, control assembly control weld jig component (2) It is mobile；Welding robot includes robot part and plumb joint (3), and plumb joint (3) is located in robot part, and in robot Multifreedom motion is done under partial drive；Robot part includes robot body and control cabinet, and control is provided with control cabinet The hardware of robot body motion processed and the software being pre-installed in hardware；Robot part also include image sensor with And position sensor, image sensor electrically connect with position sensor with control cabinet, image sensor is to the work in welding process Part carries out photograph taking and photo is passed into control cabinet, and the host computer in control cabinet analyzes workpiece welding shape according to pictorial information Condition, and the positional information of binding site sensor passes constantly adjusts the motion of welding robot (1), until welding process knot Beam；Robot body includes base (11), is rotatablely equipped with rotating seat (12) on base (11), the top of rotating seat (12) is fixed There are two relative supporting plates (13), the structure of two supporting plates (13) is identical, and the opposite side of two supporting plates (13) is set There is vertical lifting chute, slided in lifting chute and be provided with lifting slider, fixed arm (16) is installed with lifting slider, Fixed arm (16) is hollow-core construction, and its one end is connected with rotary drive motor (15), and the other end is connected with expansion link (17), is stretched Bar (17) is actively socketed on the inside of fixed arm (16), and the end of expansion link (17) is rotatably connected to revolving part (18), revolving part (18) bottom is connected with a rotary pin shaft, and swing arm (19) is rotatably connected to simultaneously on rotary pin shaft；Weld jig component (2) Weld jig head (4) including support (22) and on support (22), support (22) are flame support, and it is included relatively Set two vertical beams and integral crossbeam is fixedly connected with two vertical beams, two vertical beams are respectively and fixedly installed to a branch On frame base (21), bracket base (21) is square structure, is made up of stainless-steel sheet, and its corner passes through fixture and ground Fixed, fixture is hex bolts；Slided on crossbeam and be provided with traversing sliding block (23), traversing sliding block (23) is relatively sliding with crossbeam It is dynamic to be completed by traversing rack-pinion, on traversing sliding block (23) lifting be connected with elevating lever (24), elevating lever (24) with The relative slip of traversing sliding block (23) is completed by lifter rack gear pair, and the end of elevating lever (24) is fixed with expansion link Part (25), telescoping rod (25) can carry out 360 ° of spinning movements, and end and the weld jig head (4) of telescoping rod (25) are cut with scissors Connect；Weld jig head (4) includes two connection otic placodes (41) being oppositely arranged, and connection otic placode is fixed between (41) by connector Integrally, pin shaft hole (44) is offered in connection otic placode (41), the first fixture (42) and the second fixture (43) are by installed in pin Hinging pin shaft connection in axis hole (44), the first fixture (42) is identical with the structure of the second fixture (43), and both connect with workpiece The position at place is provided with magnetic strips (46), and the first fixture (42) and the second fixture (43) are driven in fact by telescopic cylinder (45) Existing opening and closing, telescopic cylinder (45) one end are fixed by fixed seat (411) with connector, the other end by articulated element (431) and First fixture (42) or the second fixture (43) are be hinged.
- A kind of 2. welding system based on robot technology according to claim 1, it is characterised in that：Robot body is also Including elevation driving unit, elevation driving unit is hoist cylinder (14), and hoist cylinder (14) is fixedly mounted on rotating seat (12) On, the piston rod of hoist cylinder (14) is fixedly connected with lifting slider.
- A kind of 3. welding system based on robot technology according to claim 1, it is characterised in that：Base (11) is side Shape structure, is made up of stainless-steel sheet, and its corner is fixed by fixture and ground, and fixture is hex bolts, rotation driving Motor (15) drives fixed arm (16) to rotate by planet-cycloid reducer or harmonic speed reducer.
- A kind of 4. welding system based on robot technology according to claim 1, it is characterised in that：Plumb joint (3) wraps The support bar (31) for being welded on swing arm (19) end is included, the end of support bar (31) is provided with pellet part (32), globular part Rotated on part (32) and be socketed with universal ball joint (33), the outer surface of universal ball joint (33) is welded with welding gun (34).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408810.XA CN105855762B (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
| CN201711042378.8A CN107855688A (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408810.XA CN105855762B (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711042378.8A Division CN107855688A (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
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| Publication Number | Publication Date |
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| CN105855762A CN105855762A (en) | 2016-08-17 |
| CN105855762B true CN105855762B (en) | 2017-12-19 |
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| CN201711042378.8A Withdrawn CN107855688A (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
| CN201610408810.XA Expired - Fee Related CN105855762B (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711042378.8A Withdrawn CN107855688A (en) | 2016-06-08 | 2016-06-08 | A kind of welding system based on robot technology |
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| CN106736135A (en) * | 2016-11-28 | 2017-05-31 | 苏州五圣通机器人自动化有限公司 | A kind of floating tool and its method of work for grid plate weld |
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| CN202963826U (en) * | 2012-11-30 | 2013-06-05 | 南通好的防腐装备有限公司 | Flange welding manipulator |
| CN203091984U (en) * | 2012-12-11 | 2013-07-31 | 南京熊猫电子股份有限公司 | Welding robot system |
| KR101258170B1 (en) * | 2013-01-31 | 2013-05-02 | 주식회사 현성오토텍 | Welded state image detection apparatus of spot welding robot |
| CN104308333B (en) * | 2014-09-12 | 2017-02-15 | 新疆威奥科技股份有限公司 | Multifunctional single-cantilever cutting and welding integrated machine |
| CN204262620U (en) * | 2014-11-21 | 2015-04-15 | 重庆嘉丰汽车零部件股份有限公司 | Robot welding system |
| CN104977305A (en) * | 2015-06-29 | 2015-10-14 | 华中科技大学 | Welding quality analysis device based on infrared vision and analysis method thereof |
| CN104942510B (en) * | 2015-07-06 | 2017-01-18 | 河海大学常州校区 | Box structure plate welding tool |
| CN105370226B (en) * | 2015-11-02 | 2017-12-08 | 湖南三一石油科技有限公司 | Oil drilling and extracting equipment, drilling floor surface manipulator and tubing string help mechanism |
| CN205166949U (en) * | 2015-11-26 | 2016-04-20 | 东莞技研新阳电子有限公司 | Flexible universal machine clamping jaw |
| CN105597981B (en) * | 2016-03-08 | 2018-05-11 | 佳马机械涂覆科技（苏州）有限公司 | A kind of moveable five degree of freedom spray equipment |
-
2016
- 2016-06-08 CN CN201711042378.8A patent/CN107855688A/en not_active Withdrawn
- 2016-06-08 CN CN201610408810.XA patent/CN105855762B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN107855688A (en) | 2018-03-30 |
| CN105855762A (en) | 2016-08-17 |
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