CN106112289B - A kind of intelligent robot integrated system - Google Patents
A kind of intelligent robot integrated system Download PDFInfo
- Publication number
- CN106112289B CN106112289B CN201610727146.5A CN201610727146A CN106112289B CN 106112289 B CN106112289 B CN 106112289B CN 201610727146 A CN201610727146 A CN 201610727146A CN 106112289 B CN106112289 B CN 106112289B
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- substrate
- welding
- robot
- turntable
- control cabinet
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/006—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to using of neural networks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—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
-
- 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
- B23K37/0461—Welding tables
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses a kind of intelligent robot integrated system, including welding robot, electrode cap sharpening machine, welding post is equipped with flexible revolving platform, is equipped with safe fence around the system, is additionally provided with robot control cabinet, welding controller, PLC control cabinet；Flexible revolving platform fixes revolving platform, it is equipped with turntable substrate above fixed revolving platform substrate, turntable substrate is arranged with substrate-parallel interval, turntable substrate is connect with substrate by slewing equipment, the slewing equipment includes servo motor, servo motor drives turntable substrate rotating, is additionally provided with accurate positioning device, analog positioner on substrate, frock clamp is detachably arranged in the turntable upper surface of base plate.The present invention completes the automation control of whole system centered on welding robot and PLC control system, substantially increases welding production efficiency, and flexible revolving platform carries flexible fixture tooling, can support the weld job of various workpieces, realize flexible production.
Description
Technical field
The present invention relates to robot welding field more particularly to a kind of intelligent robot integrated systems.
Background technology
The demand in market is constantly changing, and the production cycle of new product is shorter and shorter, but fierce market competition is again
It is required that product quality really up to the mark, new challenge is proposed to research and development of products team.Intelligent flexible welding workstation has height
Flexibility, longevity of service, dependable performance are stablized, greatly improve the quality and production efficiency of product, apply more and more
In various manufacturings.
Industrial robot intelligent flexible welding workstation is to organically combine Industrial Robot Technology and Product flexible manufacturing,
Enterprise is not only set to have saved Product Process exploitation, equipment purchase and cost of labor, also prodigious raising production efficiency and new product
Workmanship, for further further investigation new product development trial-production provide gross data basis.Fall behind compared to past tradition
Manual welding work station, the appearance of the new technologies such as industrial robot, fieldbus is that the intelligence manufacture of modern factories is brought
New opportunity so that the whole line of product is produced and processed to full-automatic, high flexibility, intelligentized Mode change.It is industrial in conjunction with combining
The extensive use of robot technology, by the Mathematical Model Analysis and technical study to multiple product, by with compatible a variety of productions
The high flexibility frock clamp of product and the integrated intelligentized control system of height so that intelligent flexible welding workstation is realized to all kinds of
The Development and Trial and batch production function of new product.
Invention content
The purpose of the present invention is a kind of intelligent robot integrated systems.
For achieving the above object, the technical scheme is that：A kind of intelligent robot integrated system, including welding
Robot, the front of welding robot are equipped with the electrode cap sharpening machine replaced for electrode tip reconditioning and electrode cap, and electrode cap is repaiied
The both sides of grinding machine are respectively equipped with welding post, and screen blocking means are equipped between two welding posts, and welding post is equipped with flexible turn round
Platform, welding robot carry out weld job in welding post；Safe fence is equipped with around the system, safe fence is close to institute
The side for stating welding post is equipped with the opening passed in and out for operator；The opening is equipped with safe grating；The outside of the opening
Equipped with the touch screen and control box monitored for piece uploading station；Robot control cabinet, welding are additionally provided on the outside of the safe fence
Controller, PLC control cabinet；
The welding robot is connect by robot cable with robot control cabinet, is controlled by welding cable and welding
Device connects, and is circumscribed with cooling water；The welding controller is connect with robot control cabinet, and robot control cabinet passes through communication
Bus and safety signal line are connect with PLC control cabinet；The touch screen, control box, safe grating connect with PLC control cabinet respectively
It connects；
The electrode cap sharpening machine is connect with robot control cabinet；
The PLC control cabinet is connect with workshop MES system；
The flexibility revolving platform, including fixed revolving platform, fixed revolving platform include substrate, and turntable base is equipped with above substrate
Plate, turntable substrate are arranged with substrate-parallel interval, and turntable substrate is connect with substrate by slewing equipment, and the slewing equipment includes
There are servo motor, servo motor to drive turntable substrate rotating；
Accurate positioning device is additionally provided on the substrate, accurate positioning device includes locating support, is equipped on locating support perpendicular
The push rod end of straight upward positioning cylinder, positioning cylinder is connected with positioning pin, and the corresponding position of the turntable substrate, which is equipped with, determines
The push rod of position pin hole, positioning cylinder stretches out, and positioning pin is pushed into dowel hole, realizes the positioning of turntable substrate and circumferential locking；
Analog positioner is additionally provided on the substrate, analog positioner includes being mounted under the upper surface of base plate
Mounting base, mounted on the upper mounting seat of the turntable base lower surface, the lower mounting seat, upper mounting seat are respectively equipped with corresponding
Keyway, when robot simulation, by installing standard key in the keyway of upper mounting seat, lower mounting seat, debugging turntable substrate
Positioning accuracy；
Frock clamp is detachably arranged in the turntable upper surface of base plate, and fine positioning, tooling folder are carried out by step pin
It is polyhedral cone shaped to have top, and multiple inclined surfaces can install more set frock clamps simultaneously, realize flexible carry；Frock clamp is integrated
A variety of sensors for workpiece induction and vehicle cab recognition.
The beneficial effects of the invention are as follows：
Centered on welding robot and PLC (abbreviation of programmable controller) control system, by Industrial Ethernet and
The connection of PLC network field control layer, realization data interaction and the production schedule issue.It is real between PLC controller and field device
When data exchange, complete the automation control of whole system, provide double-station, when system works, worker can be with wherein one
A station clamps workpiece, and at the same time robot can carry out weld job at another station, and concurrent job carries significantly
High welding production efficiency, flexible revolving platform carry flexible fixture tooling, can support the weld job of various workpieces, realize
Flexible production.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the connection diagram of the present invention；
Fig. 3 is flexible revolving platform structural schematic diagram.
Specific implementation mode
Below in conjunction with attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
As shown in Figure 1, 2, a kind of intelligent robot integrated system, including welding robot 1, the front of welding robot 1
Equipped with the electrode cap sharpening machine 2 for electrode tip reconditioning and electrode cap replacement, the both sides of electrode cap sharpening machine 2 are respectively equipped with welding
Station 3 is equipped with screen blocking means 4 between two welding posts 3, and welding post 3 is equipped with flexible revolving platform 5, and welding robot 1 is welding
It connects station 3 and carries out weld job, while operator carries out putting part work in another station 3；Safety is equipped with around the system to enclose
Column 6, safe fence 6 are being equipped with the opening 601 for operator's disengaging close to the side of the welding post 3；The opening 601
Equipped with safe grating 602；The outside of the opening 601 is equipped with touch screen 603 and control box 604 for the monitoring of piece uploading station；
6 outside of the safe fence is additionally provided with robot control cabinet 9, welding controller 8, PLC control cabinet 7；
The welding robot 1 is connect by robot cable 101 with robot control cabinet 9, by welding cable 102 with
Welding controller 8 connects, and is circumscribed with cooling water；The welding controller 8 is connect with robot control cabinet 9, robot control
Cabinet 9 processed is connect by communication bus 801 and safety signal line 802 with PLC control cabinet 7；The touch screen 603, control box 604,
Safe grating 602 is connect with PLC control cabinet 7 respectively；
The electrode cap sharpening machine 2 is connect with robot control cabinet 9；
The PLC control cabinet 7 is connect with workshop MES system (not shown).
As shown in figure 3, the flexibility revolving platform 5, including substrate 501,501 top of substrate are equipped with turntable substrate 502, turntable
Substrate 502 is arranged with 501 parallel interval of substrate, and turntable substrate 502 is connect with substrate 501 by slewing equipment 503, the revolution
Device 503 includes servo motor 5031, and servo motor 5031 drives turntable substrate 502 to rotate；
Accurate positioning device 504 is additionally provided on the substrate 501, accurate positioning device 504 includes locating support 5041, positioning branch
Positioning cylinder 5042 straight up is installed on frame 5041, the push rod end of positioning cylinder 5042 is connected with positioning pin 5043,
The corresponding position of the turntable substrate 502 is equipped with dowel hole 5021, and the push rod of positioning cylinder 5042 stretches out, and positioning pin 5043 pushes away
Enter dowel hole 5021, realizes the positioning of turntable substrate 502 and circumferential locking；
Analog positioner 505 is additionally provided on the substrate 501, analog positioner 505 includes being mounted on the substrate
The lower mounting seat 5051 of 501 upper surfaces, the upper mounting seat (not shown) mounted on 502 lower surface of turntable substrate, institute
State lower mounting seat 5051, upper mounting seat is respectively equipped with corresponding keyway (not shown), when robot simulation, by upper
The interior installation standard key of keyway of mounting base, lower mounting seat 5051, the positioning accuracy of debugging turntable substrate 502；
Frock clamp 10 is dismountable, is mounted on 502 upper surface of turntable substrate, and it is fixed to carry out essence by step pin
Position, frock clamp top are polyhedral cone shaped, and multiple inclined surfaces can install more set frock clamps simultaneously, realize flexible carry；Work
Clamps are integrated with a variety of sensors for workpiece induction and vehicle cab recognition.
Described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Claims (1)
1. a kind of intelligent robot integrated system, which is characterized in that including welding robot, the front of welding robot, which is equipped with, to be used
In the electrode cap sharpening machine that electrode tip reconditioning and electrode cap are replaced, the both sides of electrode cap sharpening machine are respectively equipped with welding post, and two
Screen blocking means are equipped between welding post, welding post is equipped with flexible revolving platform, and welding robot is welded in welding post
Connect operation；Safe fence is equipped with around the system, safe fence is equipped with close to the side of the welding post for operating
The opening of person's disengaging；The opening is equipped with safe grating；The outside of the opening is equipped with the touch screen for the monitoring of piece uploading station
And control box；It is additionally provided with robot control cabinet, welding controller, PLC control cabinet on the outside of the safe fence；
The welding robot is connect by robot cable with robot control cabinet, is connected by welding cable and welding controller
It connects, and is circumscribed with cooling water；The welding controller is connect with robot control cabinet, and robot control cabinet passes through communication bus
It is connect with safety signal line with PLC control cabinet；The touch screen, control box, safe grating are connect with PLC control cabinet respectively；
The electrode cap sharpening machine is connect with robot control cabinet；
The PLC control cabinet is connect with workshop MES system；
The flexibility revolving platform, including fixed revolving platform, fixed revolving platform include substrate, are equipped with turntable substrate above substrate, turn
Stylobate plate is arranged with substrate-parallel interval, and turntable substrate is connect with substrate by slewing equipment, and the slewing equipment includes to watch
Motor is taken, servo motor drives turntable substrate rotating；
Accurate positioning device is additionally provided on the substrate, accurate positioning device includes locating support, be equipped on locating support vertically to
On positioning cylinder, the push rod end of positioning cylinder is connected with positioning pin, and the corresponding position of the turntable substrate is equipped with positioning pin
The push rod in hole, positioning cylinder stretches out, and positioning pin is pushed into dowel hole, realizes the positioning of turntable substrate and circumferential locking；
Analog positioner is additionally provided on the substrate, analog positioner includes the lower installation mounted on the upper surface of base plate
Seat, mounted on the upper mounting seat of the turntable base lower surface, the lower mounting seat, upper mounting seat are respectively equipped with corresponding key
Slot when robot simulation, by installing standard key in the keyway of upper mounting seat, lower mounting seat, debugs the positioning of turntable substrate
Precision；
Frock clamp is detachably arranged in the turntable upper surface of base plate, fine positioning is carried out by step pin, on frock clamp
Portion is polyhedral cone shaped, and multiple inclined surfaces can install more set frock clamps simultaneously, realize flexible carry；Frock clamp is integrated with more
Sensor of the kind for workpiece induction and vehicle cab recognition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610727146.5A CN106112289B (en) | 2016-08-25 | 2016-08-25 | A kind of intelligent robot integrated system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610727146.5A CN106112289B (en) | 2016-08-25 | 2016-08-25 | A kind of intelligent robot integrated system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106112289A CN106112289A (en) | 2016-11-16 |
| CN106112289B true CN106112289B (en) | 2018-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610727146.5A Active CN106112289B (en) | 2016-08-25 | 2016-08-25 | A kind of intelligent robot integrated system |
Country Status (1)
| Country | Link |
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| CN (1) | CN106112289B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881538A (en) * | 2017-03-31 | 2017-06-23 | 广州瑞松北斗汽车装备有限公司 | Horizontal rotation vehicle switching flexible welding system |
| CN106938377A (en) * | 2017-03-31 | 2017-07-11 | 广州瑞松北斗汽车装备有限公司 | Vertical rotary vehicle switches flexible welding system |
| CN106944780A (en) * | 2017-03-31 | 2017-07-14 | 广州瑞松北斗汽车装备有限公司 | Vertical rotary vehicle switches flexible welding workbench |
| CN107052558B (en) * | 2017-04-18 | 2019-11-19 | 湖北三环汽车工程塑料有限公司 | A kind of door-plate welding production line and production method |
| CN109562495A (en) * | 2017-04-19 | 2019-04-02 | 深圳配天智能技术研究院有限公司 | A kind of automatic welding work system and its operating method |
| CN108422121A (en) * | 2018-05-31 | 2018-08-21 | 广东省焊接技术研究所（广东省中乌研究院） | A kind of robot welding system of thin-walled heating furnace body |
| CN109175851A (en) * | 2018-09-19 | 2019-01-11 | 广州富士汽车整线集成有限公司 | Trihedral servo turntable |
| CN109048190A (en) * | 2018-10-16 | 2018-12-21 | 东莞市先行者智能设备科技有限公司 | A kind of Double-station welding positioner |
| CN110064826B (en) * | 2019-04-26 | 2023-11-14 | 西安航天自动化股份有限公司 | Flexible welding system and welding method for nine-fold sectional material cabinet |
| CN112355442A (en) * | 2020-10-09 | 2021-02-12 | 中车唐山机车车辆有限公司 | Welding system and method |
| CN114799683A (en) * | 2022-04-20 | 2022-07-29 | 中国建筑土木建设有限公司 | Reinforcing mesh welding device and construction method thereof |
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| CN106112289A (en) | 2016-11-16 |
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Address after: 300000 Seat A1, No. 10, Saidabei Road, Xiqing Economic and Technological Development Zone, Tianjin Patentee after: Tianjin Ribei Automation Equipment Co., Ltd. Address before: 300380 Tianjin city Xiqing District Xiqing Road No. 315, No. 1 West Jinsheng Industrial Park Patentee before: Tianjin Ruisong Beidou automotive equipment Co. Ltd. |
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