CN105855769A - Intelligent welding robot - Google Patents
Intelligent welding robot Download PDFInfo
- Publication number
- CN105855769A CN105855769A CN201610408972.3A CN201610408972A CN105855769A CN 105855769 A CN105855769 A CN 105855769A CN 201610408972 A CN201610408972 A CN 201610408972A CN 105855769 A CN105855769 A CN 105855769A
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- China
- Prior art keywords
- welding
- manipulator
- arm
- workpiece
- ccd camera
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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.)
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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
- 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
-
- 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
-
- 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
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent welding robot which comprises a pair of opposite welding fixtures, a welding manipulator, a CCD (charge coupled device) camera and a control mechanism. The welding fixtures, the welding manipulator and the CCD camera are electrically connected with the control mechanism, the welding manipulator is positioned between the two opposite welding fixtures, the CCD camera is positioned on the upper portion of the welding manipulator, the control mechanism comprises an upper computer, a PLC (programmable logic controller) and a display, the welding fixtures and the welding manipulator can act under the constant control of the PLC, the CCD camera can move along with the welding manipulator and can photograph workpieces in welding procedures, the workpieces can be fixedly firmly grasped by the welding fixtures in the welding procedures, and welding operation can be carried out on the workpieces by the welding manipulator. The intelligent welding robot has the advantages that the intelligent welding robot is provided with the two structurally identical welding fixtures, the workpiece changing efficiency can be improved by the two welding fixtures, welding requirements of the welding manipulator can be met, and the welding efficiency can be greatly improved.
Description
Technical field:
The present invention relates to technical field of welding equipment, be specifically related to a kind of Intelligent welding robot.
Background technology:
Can run into a lot of welding operation process in industrial processes, mostly current welding operation is
Being completed by welding manipulator, the end of welding manipulator is equipped with fixing welding gun, it is possible to achieve from
The function of dynamic welding.Welding manipulator has stabilizes and increases welding quality, it is ensured that its uniformity；
Welding manipulator has raises labour productivity, and within one day, can produce continuously for 24 hours；Bonding machine
Tool hands can improve workman's labor condition, can work under hostile environment；Welding manipulator reduces
Requirement to operative's technology；Welding manipulator shortens the preparatory period that product reshaping is regenerated,
Reduce corresponding equipment investment；Welding manipulator can realize the Automation of Welding of be pilot.
But, existing welding equipment is all the corresponding weld clip of a welding manipulator
Tool, weld jig needs to waste certain time when changing welding workpiece, this reduces welding
The compactness of linking between mechanical hand and weld jig, it is difficult to realize efficient, fast workpiece more
Change, it is difficult to meet welding job demand.
Summary of the invention:
The purpose of the present invention is aiming at the deficiencies in the prior art, it is provided that a kind of Intelligent welding machinery
People, this welding robot arranges the weld jig that two structures are identical, and two weld jigs can
Improve the replacing efficiency of workpiece, meet the welding demand of welding manipulator, increase substantially welding
Efficiency.
The technology solution of the present invention is as follows:
A kind of Intelligent welding robot, including weld jig, the electroplating equipment wielding machine of pair of opposing
Hands, CCD camera and controlling organization, weld jig, welding manipulator, CCD camera all with
Controlling organization electrically connect, welding manipulator between two weld jigs being oppositely arranged, CCD
Camera is positioned at the top of welding manipulator, and controlling organization includes host computer, PLC and shows
Showing device, PLC controls the action of weld jig, welding manipulator, CCD camera constantly
Along with welding manipulator moves, and the workpiece in welding process is taken pictures, in welding process,
It is the most fixing that workpiece is soldered fixture, and workpiece is subjected to by welding manipulator, CCD phase
Machine shot a photo every 10 seconds to workpiece, and the photo of shooting is passed to host computer,
Photographic intelligence is analyzed judging by host computer, judges that welding quality is qualified if analyzed, on
Qualifying signal is passed to PLC by position machine, and PLC controls welding manipulator and stops
Welding, and control weld jig and turn an angle and workpiece is placed at workpiece collection, subsequently
Enter the welding process of next workpiece；If analyzing and judging that welding quality is defective, host computer will
Defective signal passes to PLC, and PLC controls welding manipulator and continues welding
Until welding operation completes, display can show the photo that workpiece is taken, for operator
Transfer at any time and check.
Preferred as technique scheme, weld jig includes firm banking, on firm banking
Being welded with rotating base, rotating base is discoid, and rotating base bottom connects has rotation to drive
Mechanism, rotating base is welded with fixture, and fixture end is provided with a pair and relatively sets
The connection otic placode put, connects and is hinged with the first swing arm by jointed shaft on otic placode, and first swings
End and second swing arm of arm are rotationally connected, and the end of the second swing arm is fixed by tumbler
Connect and have weld jig head.
Preferred as technique scheme, firm banking is that square plate is made, firm banking
Corner fixing be bolted on ground by first, first to fix bolt be hex bolts.
Preferred as technique scheme, welding manipulator includes supporting base, supports base
Upper weld be fixed with cabinet, cabinet is rotatably connected to mechanical arm, one end of mechanical arm lead to
Crossing rotary shaft to be connected with cabinet, mechanical arm driving mechanism is positioned at opposite side and the rotary shaft of cabinet
Fixing connection, mechanical arm offers lifting chute, and sliding in lifting chute is provided with lifting arm,
The lifting carriage of lifting arm is completed by lifting tooth rack-and-pinion, and the end of lifting arm stretches
Set has telescopic arm, and telescopic arm is fixed with CCD camera, and the end universal hinging of telescopic arm has
Plumb joint.
Preferred as technique scheme, supporting base is that rectangle steel plate is made, and supports the end
The corner of seat fixing is bolted on ground by second, and second to fix bolt be hexagonal spiral shell
Bolt.
Preferred as technique scheme, weld jig head includes jaw portion and vacuum cup
Portion, vacuum cup portion includes vacuum pump and hollow installing plate, and hollow installing plate is connected by annular
Part is connected with hollow rotary shaft, and the bottom of hollow rotary shaft is fixed with evacuated panel, evacuated panel bottom
Be sealedly connected with multiple sucker structure, hollow rotary shaft be internally provided with interior driving motor, interior
Motor is driven to drive hollow rotary shaft to rotate around hollow installing plate.
Preferred as technique scheme, offers penetrating cell body inside hollow installing plate,
Vacuum pump is connected to evacuated panel by vacuum line, vacuum line sequentially pass through hollow installing plate,
Circular connector and hollow rotary shaft, sucker structure includes sucking disk part and branch road, and sucking disk part is led to
Cross that branch road and evacuated panel are fixing to be connected.
Preferred as technique scheme, jaw portion includes that jaw and opening and closing drive cylinder, folder
Pawl is metal inverted F parts, and wherein the upper arm of metal inverted F parts is by being fixed on evacuated panel
Mounting blocks hinged fixing, the vertical arm of metal inverted F parts is connected with opening and closing driving cylinder,
Opening and closing drive cylinder to be fixed on the top of evacuated panel, the underarm of metal inverted F parts by vertical rod
For with wedge angle, in order to promptly workpiece.
The beneficial effects of the present invention is: this welding robot arranges the welding that two structures are identical
Fixture, two weld jigs can improve the replacing efficiency of workpiece, meet the weldering of welding manipulator
Connect demand, increase substantially welding efficiency.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of weld jig；
Fig. 3 is the structural representation of welding manipulator；
Fig. 4 is the structural representation of weld jig head.
Detailed description of the invention:
Understandable in order to enable the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below
In conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in detail.
As it is shown in figure 1, Intelligent welding robot include pair of opposing weld jig 1,
Welding manipulator 2, CCD camera 3 and controlling organization, weld jig 1, welding manipulator 2,
CCD camera 3 all electrically connects with controlling organization, and welding manipulator 2 is positioned at two be oppositely arranged
Between weld jig 1, CCD camera 3 is positioned at the top of welding manipulator 2, controlling organization bag
Include host computer, PLC and display, PLC control constantly weld jig 1,
The action of welding manipulator 2, CCD camera 3 moves along with welding manipulator 2, and to welding
During workpiece take pictures, in welding process, it is the most fixing that workpiece is soldered fixture 1,
Workpiece is subjected to by welding manipulator 2, CCD camera 3 every 10 seconds to workpiece
Shooting a photo, and the photo of shooting is passed to host computer, photographic intelligence is entered by host computer
Row is analyzed and is judged, judges that welding quality is qualified if analyzed, and qualifying signal is transmitted by host computer
To PLC, PLC controls welding manipulator 2 and stops welding, and controls welding
Fixture 1 turns an angle and is placed at workpiece collection by workpiece, subsequently enters next workpiece
Welding process；If analyzing and judging that welding quality is defective, defective signal is transmitted by host computer
To PLC, PLC controls welding manipulator 2 and continues welding until welding operation
Completing, display can show the photo that workpiece is taken, and transfers at any time for operator and checks.
As in figure 2 it is shown, weld jig 1 includes firm banking 11, firm banking 11 welds
It is discoid for having rotating base 12, rotating base 12, and rotating base 12 bottom connects rotation
Turn drive mechanism, rotating base 12 is welded with fixture 13, fixture 13 end
It is provided with the connection otic placode of pair of opposing, connects and be hinged with first by jointed shaft on otic placode
Swing arm 14, end and second swing arm 15 of the first swing arm 14 be rotationally connected, and second
The end of swing arm 15 is fixedly connected with weld jig head 4 by tumbler 16.
Firm banking 11 is made for square plate, and the corner of firm banking 11 is fixed by first
Being bolted on ground, first to fix bolt be hex bolts.
As it is shown on figure 3, welding manipulator 2 includes supporting base 21, support the upper of base 21
Portion is welded with cabinet 22, and cabinet 22 is rotatably connected to mechanical arm 23, mechanical arm 23
One end be connected with cabinet 22 by rotary shaft, mechanical arm driving mechanism is positioned at another of cabinet
Side also fixing with rotary shaft is connected, and mechanical arm 23 offers lifting chute 231, lifting cunning
Sliding in groove 231 and be provided with lifting arm 24, the lifting carriage of lifting arm 24 is to pass through lifting tooth
Rack-and-pinion completes, and the end telescopic of lifting arm 24 has telescopic arm 25, telescopic arm 25
On be fixed with CCD camera 3, the end universal hinging of telescopic arm 25 has plumb joint 26.
Supporting base 21 to make for rectangle steel plate, the corner supporting base 21 is solid by second
Surely being bolted on ground, second to fix bolt be hex bolts.
As shown in Figure 4, weld jig head 4 includes jaw portion and vacuum cup portion, vacuum cup portion
Including vacuum pump 410 and hollow installing plate 41, hollow installing plate 41 by circular connector 42 with
Hollow rotary shaft 43 connects, and the bottom of hollow rotary shaft 43 is fixed with evacuated panel 49, evacuated panel 49
Lower seal connect have multiple sucker structure, hollow rotary shaft 43 be internally provided with interior drive electricity
Machine, interior driving motor drives hollow rotary shaft 43 to rotate around hollow installing plate 41.
Hollow installing plate 41 is internal offers penetrating cell body (not shown), vacuum pump 410
Being connected to evacuated panel 49 by vacuum line, vacuum line sequentially passes through hollow installing plate 41, ring
Shape connector 42 and hollow rotary shaft 43, sucker structure includes sucking disk part 40 and branch road, sucker
Portion 40 is connected by branch road is fixing with evacuated panel 49.
Sequentially pass through hollow installing plate, circular connector and sky by being arranged to by vacuum line
Heart rotary shaft, it is to avoid impaired in handling process of vacuum line；The inside of rotary shaft is arranged
Interior driving motor, simplifies device, reduces the space that motor takies.
Jaw portion includes that jaw 47 and opening and closing drive cylinder 45, and jaw 47 is metal inverted F parts,
Wherein the upper arm 48 of metal inverted F parts is hinged by the mounting blocks 46 being fixed on evacuated panel 49
Fixing, the vertical arm of metal inverted F parts drives cylinder 45 to be connected with opening and closing, and opening and closing drive gas
Cylinder 45 is fixed on the top of evacuated panel 49, the underarm 471 of metal inverted F parts by vertical rod 44
For with wedge angle, in order to promptly workpiece.
Described embodiment is in order to the illustrative present invention, not for limiting the present invention.Any
Those skilled in the art all can be under the spirit and the scope of the present invention, to described embodiment
Modify, therefore the scope of the present invention, should be as listed by the claim of the present invention.
Claims (8)
1. an Intelligent welding robot, it is characterised in that: include the weldering of pair of opposing
Welding fixture (1), welding manipulator (2), CCD camera (3) and controlling organization, welding
Fixture (1), welding manipulator (2), CCD camera (3) all electrically connect with controlling organization,
Welding manipulator (2) is positioned between two weld jigs (1) being oppositely arranged, CCD camera
(3) being positioned at the top of welding manipulator (2), controlling organization includes that host computer, PLC control
Device and display, PLC controls weld jig (1), welding manipulator (2) constantly
Action, CCD camera (3) is mobile along with welding manipulator (2), and in welding process
Workpiece take pictures, in welding process, it is promptly fixing that workpiece is soldered fixture (1), weldering
Workpiece is subjected to by welding manipulator (2), and CCD camera (3) is right every 10 seconds
Workpiece one photo of shooting, and the photo of shooting is passed to host computer, photo is believed by host computer
Breath is analyzed judging, judging that welding quality is qualified if analyzed, host computer is by qualifying signal
Passing to PLC, PLC controls welding manipulator (2) and stops welding, and
Control weld jig (1) turns an angle and is placed on by workpiece at workpiece collection, with laggard
Enter the welding process of next workpiece；If analyzing and judging that welding quality is defective, host computer will not
Qualifying signal passes to PLC, and PLC controls welding manipulator (2) and continues
Welding is until welding operation completes, and display can show the photo that workpiece is taken, for operation
Personnel transfer at any time and check.
A kind of Intelligent welding robot the most according to claim 1, it is characterised in that:
Weld jig (1) includes firm banking (11), and firm banking (11) is welded with the rotation end
Seat (12), rotating base (12) is discoid, and rotating base (12) bottom connects rotation
Turn drive mechanism, rotating base (12) is welded with fixture (13), fixture (13)
End is provided with the connection otic placode of pair of opposing, connects and is hinged with by jointed shaft on otic placode
First swing arm (14), the end of the first swing arm (14) and the second swing arm (15) turn
Being dynamically connected, the end of the second swing arm (15) is fixedly connected with welding by tumbler (16)
Clamp head (4).
A kind of Intelligent welding robot the most according to claim 2, it is characterised in that:
Firm banking (11) is that square plate is made, and the corner of firm banking (11) is solid by first
Surely being bolted on ground, first to fix bolt be hex bolts.
A kind of Intelligent welding robot the most according to claim 1, it is characterised in that:
Welding manipulator (2) includes supporting base (21), and the upper weld supporting base (21) is solid
Surely there is cabinet (22), cabinet (22) is rotatably connected to mechanical arm (23), mechanical arm (23)
One end be connected with cabinet (22) by rotary shaft, mechanical arm driving mechanism is positioned at cabinet (22)
Opposite side and fixing with rotary shaft is connected, mechanical arm (23) offers and lifts chute (231),
Sliding in lifting chute (231) and be provided with lifting arm (24), the lifting of lifting arm (24) is sliding
Moving and completed by lifting tooth rack-and-pinion, the end telescopic of lifting arm (24) has to be stretched
Contracting arm (25), telescopic arm (25) is fixed with CCD camera (3), telescopic arm (25)
End universal hinging has plumb joint (26).
A kind of Intelligent welding robot the most according to claim 4, it is characterised in that:
Supporting base (21) is that rectangle steel plate is made, and supports the corner of base (21) by second
Fixing being bolted on ground, second to fix bolt be hex bolts.
A kind of Intelligent welding robot the most according to claim 1, it is characterised in that: weldering
Welding fixture head (4) includes jaw portion and vacuum cup portion, and vacuum cup portion includes vacuum pump (410)
With hollow installing plate (41), hollow installing plate (41) is by circular connector (42) and sky
Heart rotary shaft (43) connects, and the bottom of hollow rotary shaft (43) is fixed with evacuated panel (49),
Evacuated panel (49) lower seal connects multiple sucker structure, hollow rotary shaft (43) interior
Portion is provided with interior driving motor, and interior driving motor drives hollow rotary shaft (43) around hollow installation
Plate (41) rotates.
A kind of Intelligent welding robot the most according to claim 6, it is characterised in that: empty
Heart installing plate (41) is internal offers penetrating cell body, and vacuum pump (410) passes through vacuum tube
Road is connected to evacuated panel (49), and vacuum line sequentially passes through hollow installing plate (41), annular even
Fitting (42) and hollow rotary shaft (43), sucker structure includes sucking disk part (40) and props up
Road, sucking disk part (40) is connected by branch road and evacuated panel (49) are fixing.
A kind of Intelligent welding robot the most according to claim 7, it is characterised in that:
Jaw portion includes that jaw (47) and opening and closing drive cylinder (45), and jaw (47) is reversed F-typed
Metal parts, wherein the upper arm (48) of metal inverted F parts is by being fixed on evacuated panel (49)
On mounting blocks (46) hinged fixing, the vertical arm of metal inverted F parts drives gas with opening and closing
Cylinder (45) connects, and opening and closing drive cylinder (45) to be fixed on evacuated panel (49) by vertical rod (44)
Top, the underarm (471) of metal inverted F parts is with wedge angle, in order to promptly work
Part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408972.3A CN105855769B (en) | 2016-06-08 | 2016-06-08 | A kind of Intelligent welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408972.3A CN105855769B (en) | 2016-06-08 | 2016-06-08 | A kind of Intelligent welding robot |
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| Publication Number | Publication Date |
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| CN105855769A true CN105855769A (en) | 2016-08-17 |
| CN105855769B CN105855769B (en) | 2019-06-25 |
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| CN201610408972.3A Active CN105855769B (en) | 2016-06-08 | 2016-06-08 | A kind of Intelligent welding robot |
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| CN106338525A (en) * | 2016-09-25 | 2017-01-18 | 东莞市联洲知识产权运营管理有限公司 | Intelligent comparison device for integrated circuit boards |
| CN106736099A (en) * | 2017-03-22 | 2017-05-31 | 杨雪锋 | A kind of multi-functional welding frock clamp with automatic loading and unloading and warning device |
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Effective date of registration: 20190528 Address after: 529000 Longbang Industrial Development Zone, Duruan Town, Pengjiang District, Jiangmen City, Guangdong Province Applicant after: Jiangmen Jinli Hardware Industry Co., Ltd. Address before: 528200 Foshan, Guangdong, Foshan, Guicheng, Nanxia District, Xia Xi Dong ban Wai Industrial Zone Foshan New Technology Co., Ltd. Applicant before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD. |
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Effective date of registration: 20200108 Address after: 529075 huangnican workshop, No.79, Longbang Road, Longbang District, Duran Town, Pengjiang district, Jiangmen City, Guangdong Province Patentee after: Jiangmen Sheng Yu metal products Co., Ltd. Address before: 529000 Longbang Industrial Development Zone, Duruan Town, Pengjiang District, Jiangmen City, Guangdong Province Patentee before: Jiangmen Jinli Hardware Industry Co., Ltd. |