CN105855769B - A kind of Intelligent welding robot - Google Patents
A kind of Intelligent welding robot Download PDFInfo
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- CN105855769B CN105855769B CN201610408972.3A CN201610408972A CN105855769B CN 105855769 B CN105855769 B CN 105855769B CN 201610408972 A CN201610408972 A CN 201610408972A CN 105855769 B CN105855769 B CN 105855769B
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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)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a kind of Intelligent welding robots, welding fixture including a pair of opposing, welding manipulator, CCD camera and control mechanism, welding fixture, welding manipulator, CCD camera is electrically connected with control mechanism, welding manipulator is located between two welding fixtures being oppositely arranged, CCD camera is located at the top of welding manipulator, control mechanism includes host computer, PLC controller and display, PLC controller constantly controls welding fixture, the movement of welding manipulator, CCD camera is mobile with welding manipulator, and it takes pictures to the workpiece in welding process, in welding process, workpiece is soldered fixture and promptly fixes, welding manipulator is subjected to workpiece.The identical welding fixture of two structures is arranged in the welding robot, and two welding fixtures can be improved the replacement efficiency of workpiece, meet the welding demand of welding manipulator, increase substantially welding efficiency.
Description
Technical field:
The present invention relates to technical field of welding equipment, and in particular to a kind of Intelligent welding robot.
Background technique:
Many welding operating process can be encountered in industrial processes, mostly current welding operation is complete by welding manipulator
At, the end of welding manipulator is equipped with fixed welding gun, and the function of automatic welding may be implemented.Welding manipulator have stablize and
Welding quality is improved, guarantees its uniformity；Welding manipulator, which has, raises labour productivity, one day can 24 hours continuous productions；
Welding manipulator can improve worker's working condition, can work under hostile environment；Welding manipulator is reduced to worker operation skill
The requirement of art；Welding manipulator shortens the preparatory period that product reshaping is regenerated, and reduces corresponding equipment investment；Welding manipulator can
Realize the Automation of Welding of be pilot.
But be the corresponding welding fixture of a welding manipulator in existing welding equipment, welding fixture is more
It needs to waste certain time when changing welding workpiece, this reduces the compactness being connected between welding manipulator and welding fixture,
It is difficult to realize efficient, fast workpiece replacing, it is difficult to meet welding demand.
Summary of the invention:
The purpose of the present invention is to the deficiencies in the prior art, provide a kind of Intelligent welding robot, the welding robot
The identical welding fixture of two structures is arranged in people, and two welding fixtures can be improved the replacement efficiency of workpiece, meet electroplating equipment wielding machine
The welding demand of hand, increases substantially welding efficiency.
Technology solution of the invention is as follows:
A kind of Intelligent welding robot, welding fixture, welding manipulator, CCD camera including a pair of opposing and
Control mechanism, welding fixture, welding manipulator, CCD camera are electrically connected with control mechanism, and welding manipulator, which is located at, to be oppositely arranged
Two welding fixtures between, CCD camera is located at the top of welding manipulator, control mechanism include host computer, PLC controller and
Display, PLC controller constantly control the movement of welding fixture, welding manipulator, and CCD camera is mobile with welding manipulator,
And take pictures to the workpiece in welding process, in welding process, workpiece is soldered fixture and promptly fixes, and welding manipulator is to work
Part is subjected to, and CCD camera shot a photo to workpiece every 10 seconds, and the photo of shooting is passed to upper
Machine, host computer analyze and determine photographic intelligence, if analyzing and determining out welding quality qualification, host computer passes qualifying signal
PLC controller is passed, PLC controller controls welding manipulator and stops welding, and controls welding fixture and turn an angle work
Part is placed at workpiece collection, subsequently enters the welding process of next workpiece；It is upper if analyzing and determining that welding quality is unqualified
Unqualified signal is passed to PLC controller by machine, and PLC controller control welding manipulator continues welding until welding has operated
At display can show the photo that workpiece is taken, and transfer and check at any time for operator.
As a preferred embodiment of the above technical solution, welding fixture includes firm banking, is welded with rotating base on firm banking,
Rotating base be it is discoid, rotating base lower part is connected with rotary drive mechanism, be welded with fixing piece on rotating base, Gu
Determine the connection otic placode that part end is provided with a pair of opposing, the first swing arm is hinged with by articulated shaft in connection otic placode,
The end of one swing arm and the second swing arm are rotatablely connected, and the end of the second swing arm is fixedly connected with weld clip by rotating member
Has head.
As a preferred embodiment of the above technical solution, firm banking is made of square plate, and the quadrangle of firm banking passes through first
Fixing bolt fixes on the ground, and the first fixing bolt is hex bolts.
As a preferred embodiment of the above technical solution, welding manipulator includes support base, and the top of support base is welded and fixed
There is cabinet, mechanical arm is rotatably connected on cabinet, one end of mechanical arm is connect by rotary shaft with cabinet, mechanical arm driving mechanism
Positioned at cabinet the other side and be fixedly connected with rotary shaft, offer lifting sliding slot on mechanical arm, sliding setting in lifting sliding slot
There is lifting arm, the lifting carriage of lifting arm is completed by lifting tooth rack-and-pinion, and the end telescopic of lifting arm, which has, to be stretched
Contracting arm is fixed with CCD camera on telescopic arm, and the end universal hinging of telescopic arm has plumb joint.
As a preferred embodiment of the above technical solution, support base is made of rectangle steel plate, and the quadrangle of support base passes through the
Two fixing bolts fix on the ground, and the second fixing bolt is hex bolts.
As a preferred embodiment of the above technical solution, welding fixture head includes clamping jaw portion and vacuum chuck portion, vacuum chuck portion packet
Vacuum pump and hollow mounting plate are included, hollow mounting plate is connect by circular connector with hollow rotary shaft, under hollow rotary shaft
Portion is fixed with evacuated panel, and evacuated panel lower seal is connected with multiple sucker structures, and hollow rotary shaft is internally provided with interior driving
Motor, interior driving motor driving hollow rotary shaft are rotated around hollow mounting plate.
As a preferred embodiment of the above technical solution, penetrating groove body is offered inside hollow mounting plate, vacuum pump passes through vacuum
For piping connection to evacuated panel, vacuum line sequentially passes through hollow mounting plate, circular connector and hollow rotary shaft, sucker structure
Including sucking disk part and branch, sucking disk part is fixedly connected by branch with evacuated panel.
As a preferred embodiment of the above technical solution, clamping jaw portion includes clamping jaw and opening and closing driving cylinder, and clamping jaw is metal inverted F portion
Part, wherein the upper arm of metal inverted F component is hingedly fixed by the mounting blocks being fixed on evacuated panel, metal inverted F component
Vertical arm is connect with opening and closing driving cylinder, and opening and closing driving cylinder is fixed on the top of evacuated panel, metal inverted F component by upright bar
Lower arm be with wedge angle, in order to firmly grasp workpiece.
The beneficial effects of the present invention are: the identical welding fixture of two structures, two welding are arranged in the welding robot
Fixture can be improved the replacement efficiency of workpiece, meets the welding demand of welding manipulator, increases substantially welding efficiency.
Detailed description of the invention:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of welding fixture；
Fig. 3 is the structural schematic diagram of welding manipulator；
Fig. 4 is the structural schematic diagram of welding fixture head.
Specific embodiment:
In order to keep the above objects, features and advantages of the present invention more obvious and easy to understand, with reference to the accompanying drawing to this hair
Bright specific embodiment is described in detail.
As shown in Figure 1, Intelligent welding robot includes the welding fixture 1, welding manipulator 2, CCD phase of a pair of opposing
Machine 3 and control mechanism, welding fixture 1, welding manipulator 2, CCD camera 3 are electrically connected with control mechanism, welding manipulator 2
Between two welding fixtures 1 being oppositely arranged, CCD camera 3 is located at the top of welding manipulator 2, and control mechanism includes upper
Position machine, PLC controller and display, PLC controller constantly control the movement of welding fixture 1, welding manipulator 2, CCD camera 3
It as welding manipulator 2 is mobile, and takes pictures to the workpiece in welding process, in welding process, workpiece is soldered fixture 1 and grabs
It fastening, welding manipulator 2 is subjected to workpiece, and CCD camera 3 shot a photo to workpiece every 10 seconds, and
The photo of shooting is passed into host computer, host computer analyzes and determines photographic intelligence, if analyzing and determining out welding quality
Qualifying signal is passed to PLC controller by qualification, host computer, and PLC controller controls welding manipulator 2 and stops welding, and controls
Welding fixture 1, which turns an angle, is placed on workpiece at workpiece collection, subsequently enters the welding process of next workpiece；If point
Analysis judges that welding quality is unqualified, and unqualified signal is passed to PLC controller by host computer, and PLC controller controls electroplating equipment wielding machine
Hand 2 continues welding until welding operation is completed, and display can show the photo that workpiece is taken, transfer at any time for operator
It checks.
As shown in Fig. 2, welding fixture 1 includes firm banking 11, it is welded with rotating base 12 on firm banking 11, rotates bottom
For seat 12 to be discoid, 12 lower part of rotating base is connected with rotary drive mechanism, and fixing piece 13 is welded on rotating base 12,
13 end of fixing piece is provided with the connection otic placode of a pair of opposing, is hinged with the first swing arm by articulated shaft in connection otic placode
14, the end of the first swing arm 14 and the second swing arm 15 are rotatablely connected, and the end of the second swing arm 15 is solid by rotating member 16
Surely it is connected with welding fixture head 4.
Firm banking 11 is made of square plate, and the quadrangle of firm banking 11 is fixed on ground by the first fixing bolt
On, the first fixing bolt is hex bolts.
As shown in figure 3, welding manipulator 2 includes support base 21, the top of support base 21 is welded with cabinet 22,
Mechanical arm 23 is rotatably connected on cabinet 22, one end of mechanical arm 23 is connect by rotary shaft with cabinet 22, mechanical arm driving machine
Structure is located at the other side of cabinet and is fixedly connected with rotary shaft, and lifting sliding slot 231 is offered on mechanical arm 23, goes up and down sliding slot 231
Interior sliding is provided with lifting arm 24, and the lifting carriage of lifting arm 24 is completed by lifting tooth rack-and-pinion, lifting arm 24
End telescopic has telescopic arm 25, and CCD camera 3 is fixed on telescopic arm 25, and the end universal hinging of telescopic arm 25 has welding
First 26.
Support base 21 is made of rectangle steel plate, and the quadrangle of support base 21 is fixed on ground by the second fixing bolt
On, the second fixing bolt is hex bolts.
As shown in figure 4, welding fixture head 4 includes clamping jaw portion and vacuum chuck portion, vacuum chuck portion includes 410 He of vacuum pump
Hollow mounting plate 41, hollow mounting plate 41 is connect by circular connector 42 with hollow rotary shaft 43, under hollow rotary shaft 43
Portion is fixed with evacuated panel 49, and 49 lower seal of evacuated panel is connected with multiple sucker structures, and hollow rotary shaft 43 is internally provided with
Interior driving motor, interior driving motor driving hollow rotary shaft 43 are rotated around hollow mounting plate 41.
Penetrating groove body (not shown) is offered inside hollow mounting plate 41, vacuum pump 410 is connected by vacuum line
It is connected to evacuated panel 49, vacuum line sequentially passes through hollow mounting plate 41, circular connector 42 and hollow rotary shaft 43, sucker knot
Structure includes sucking disk part 40 and branch, and sucking disk part 40 is fixedly connected by branch with evacuated panel 49.
By being arranged to vacuum line to sequentially pass through hollow mounting plate, circular connector and hollow rotary shaft, avoid
Vacuum line in the handling process impaired；Interior driving motor is arranged in the inside of rotary shaft, simplifies device, reduces motor and occupies
Space.
Clamping jaw portion includes clamping jaw 47 and opening and closing driving cylinder 45, and clamping jaw 47 is metal inverted F component, wherein metal inverted F
The upper arm 48 of component is hingedly fixed by the mounting blocks 46 that are fixed on evacuated panel 49, the vertical arm of metal inverted F component with
It closes driving cylinder 45 to connect, opening and closing driving cylinder 45 is fixed on the top of evacuated panel 49 by upright bar 44, metal inverted F component
Lower arm 471 is with wedge angle, in order to firmly grasp workpiece.
The embodiment is to be illustrated the present invention, and is not intended to limit the present invention.Anyone skilled in the art
Without departing from the spirit and scope of the present invention, it modifies to the embodiment, therefore rights protection model of the invention
It encloses, should be as listed in the claims of the present invention.
Claims (1)
1. a kind of Intelligent welding robot, it is characterised in that: welding fixture (1), welding manipulator including a pair of opposing
(2), CCD camera (3) and control mechanism, welding fixture (1), welding manipulator (2), CCD camera (3) are electric with control mechanism
Connection, welding manipulator (2) are located between two welding fixtures (1) being oppositely arranged, and CCD camera (3) is located at welding manipulator
(2) top, control mechanism include host computer, PLC controller and display, PLC controller constantly control welding fixture (1),
The movement of welding manipulator (2), CCD camera (3) is mobile with welding manipulator (2), and carries out to the workpiece in welding process
It takes pictures, in welding process, workpiece is soldered fixture (1) and promptly fixes, and welding manipulator (2) is subjected to workpiece, CCD
Camera (3) shot a photo to workpiece every 10 seconds, and the photo of shooting is passed to host computer, and host computer believes photo
Breath is analyzed and determined, if analyzing and determining out welding quality qualification, qualifying signal is passed to PLC controller, PLC by host computer
Controller controls welding manipulator (2) and stops welding, and controls welding fixture (1) and turn an angle and workpiece is placed on workpiece
At collection, the welding process of next workpiece is subsequently entered；If analyzing and determining that welding quality is unqualified, host computer is by unqualified letter
PLC controller number is passed to, PLC controller control welding manipulator (2) continues welding until welding operation is completed, display energy
It enough shows the photo that workpiece is taken, transfers and check at any time for operator；
Welding fixture (1) includes firm banking (11), is welded on firm banking (11) rotating base (12), rotating base (12)
To be discoid, rotating base (12) lower part is connected with rotary drive mechanism, and rotating base is welded with fixing piece on (12)
(13), fixing piece (13) end is provided with the connection otic placode of a pair of opposing, is hinged with by articulated shaft in connection otic placode
One swing arm (14), the end and the second swing arm (15) of the first swing arm (14) are rotatablely connected, the end of the second swing arm (15)
End is fixedly connected with welding fixture head (4) by rotating member (16)；
Firm banking (11) is made of square plate, and the quadrangle of firm banking (11) is fixed on ground by the first fixing bolt
On, the first fixing bolt is hex bolts；
Welding manipulator (2) includes support base (21), and the top of support base (21) is welded with cabinet (22), cabinet
(22) it is rotatably connected on mechanical arm (23), one end of mechanical arm (23) is connect by rotary shaft with cabinet (22), and mechanical arm drives
Motivation structure is located at the other side of cabinet (22) and is fixedly connected with rotary shaft, and lifting sliding slot (231) is offered on mechanical arm (23),
Sliding is provided with lifting arm (24) in lifting sliding slot (231), and the lifting carriage of lifting arm (24) is by lifting tooth rack-and-pinion
It completes, the end telescopic of lifting arm (24) has telescopic arm (25), and CCD camera (3) are fixed on telescopic arm (25), stretches
The end universal hinging of arm (25) has plumb joint (26)；
Support base (21) is made of rectangle steel plate, and the quadrangle of support base (21) is fixed on ground by the second fixing bolt
On, the second fixing bolt is hex bolts；
Welding fixture head (4) includes clamping jaw portion and vacuum chuck portion, and vacuum chuck portion includes vacuum pump (410) and hollow mounting plate
(41), hollow mounting plate (41) is connect by circular connector (42) with hollow rotary shaft (43), under hollow rotary shaft (43)
Portion is fixed with evacuated panel (49), and evacuated panel (49) lower seal is connected with multiple sucker structures, the inside of hollow rotary shaft (43)
It is provided with interior driving motor, interior driving motor driving hollow rotary shaft (43) rotates around hollow mounting plate (41)；
Penetrating groove body is offered inside hollow mounting plate (41), vacuum pump (410) is connected to evacuated panel by vacuum line
(49), vacuum line sequentially passes through hollow mounting plate (41), circular connector (42) and hollow rotary shaft (43), sucker structure
Including sucking disk part (40) and branch, sucking disk part (40) is fixedly connected by branch with evacuated panel (49)；
Clamping jaw portion includes clamping jaw (47) and opening and closing driving cylinder (45), and clamping jaw (47) is metal inverted F component, wherein reversed F-typed gold
The upper arm (48) for belonging to component is hingedly fixed by the mounting blocks (46) being fixed on evacuated panel (49), and metal inverted F component erects
Straight-arm is connect with opening and closing driving cylinder (45), and opening and closing driving cylinder (45) is fixed on the upper of evacuated panel (49) by upright bar (44)
Portion, the lower arm (471) of metal inverted F component are with wedge angle, in order to firmly grasp workpiece.
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 |
|---|---|
| CN105855769A CN105855769A (en) | 2016-08-17 |
| CN105855769B true CN105855769B (en) | 2019-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
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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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| CN105855769A (en) | 2016-08-17 |
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