CN106271285B - Welding robot - Google Patents
Welding robot Download PDFInfo
- Publication number
- CN106271285B CN106271285B CN201610882325.6A CN201610882325A CN106271285B CN 106271285 B CN106271285 B CN 106271285B CN 201610882325 A CN201610882325 A CN 201610882325A CN 106271285 B CN106271285 B CN 106271285B
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- China
- Prior art keywords
- welding
- processor
- welding gun
- welding robot
- photoelectric detector
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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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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of welding robot.The welding robot includes：Body and welding gun, processor and the photoelectric detector being arranged on body；Processor is connected with welding gun and photoelectric detector respectively；Processor is used for the motion that body and welding gun are controlled according to the detection signal of photoelectric detector.Welding robot provided by the invention, by setting photoelectric detector on body, speed and distance of the photoelectric detector detection machine body phase to actual welding environment, so that the control signal that processor is sent to body and welding gun changes according to the change of welding surroundings, so as to realize that the automatic welding of welding robot can adaptively adjust according to welding surroundings, welding effect ensure that.
Description
Technical field
The present invention relates to mechanical field, more particularly to a kind of welding robot.
Background technology
Welding robot is the industrial robot for carrying out automatic welding.Welding robot is widely used in weld job
In constantly repeat, the weld job scene of dull long working scene or high-risk adverse circumstances, there is high production rate, high-quality
The features such as amount and high stability.
Usual welding robot is by teaching box, control panel, robot body and send welding wire device, source of welding current etc. automatically
Part forms.Welding robot general at present, can be according to corresponding with memory, store function still in the teaching playback stage
Program, which is realized, repeats operation.
But because welding robot only repeats operation according to corresponding program, therefore when welding condition changes, it is existing
There is welding robot can not adaptively be adjusted according to the change of welding condition, reduce welding effect.Existing welding robot
The problem of intelligence degree is not high, running orbit is restricted, can not adaptively be welded be present in people.
The content of the invention
The present invention provides a kind of welding robot, has that intelligence degree is high, fortune for solving existing welding robot
The problem of row track is restricted, can not adaptively welded.
The present invention provides a kind of welding robot, including body and the welding gun, processor and the light that are arranged on the body
Photodetector；
The processor is connected with the welding gun and the photoelectric detector respectively；
The processor is used for the fortune that the body and the welding gun are controlled according to the detection signal of the photoelectric detector
It is dynamic.
Welding robot as described above, seam track identifier and the smooth scanning of solder side are additionally provided with the body
Device；
The processor is also connected with the seam track identifier and the smooth scanner of the solder side respectively；
The processor is additionally operable to, when the seam track identifier recognizes weld seam, control the solder side is smooth to sweep
Retouch device and scan the weld seam, the motion of the welding gun is adjusted according to the scanning information of the weld seam.
Welding robot as described above, in addition to：Welding gun arm and welding gun arm tracking controller；Wherein
One end of the welding gun arm is arranged on the body, and the welding gun is arranged on the other end of the welding gun arm；Institute
Welding gun tracking controller is stated to be arranged on the body；
The processor is also connected with the welding gun tracking controller, and the processor is additionally operable to by the welding gun track
Controller controls the motion of the welding gun arm.
Welding robot as described above, the other end of the welding gun arm are provided with chucking device, the chucking device folder
The welding gun is held, welding gun inclination angle trimmer is provided with the chucking device；
The processor is also connected with the chucking device and welding gun inclination angle trimmer respectively, and the processor is also used
In the shape for controlling the chucking device, pass through the angle of the welding gun inclination angle trimmer adjustment welding gun.
Welding robot as described above, is additionally provided with welding rod holder on the body, inside the welding rod holder
It is provided with welding rod ejector；
The processor is also connected with the welding rod ejector, controls the ejection of welding rod.
Welding robot as described above, in addition to：Remote controllers；
Wireless signal transceiver is additionally provided with the body, the wireless signal transceiver leads to the remote controllers
Letter connection, the wireless signal transceiver are also connected with the processor.
Welding robot as described above, image acquisition device, described image collector and institute are additionally provided with the body
State processor connection；
Display is provided with the remote controllers.
Welding robot as described above, obstacle avoidance sensor, the obstacle avoidance sensor and institute are additionally provided with the body
State processor connection.
Welding robot as described above, the bottom of the body are provided with the driving magnet-wheel of caterpillar belt structure.
Welding robot as described above, stand-by power supply and driving trace restoring device are additionally provided with the body；
The processor is connected with the stand-by power supply and the driving trace restoring device；
The stand-by power supply is connected with the driving trace restoring device and the driving magnet-wheel respectively, for the traveling
Track restoring device and the driving magnet-wheel power supply；
The processor is used for when detecting failure, cuts off the device power supply (DPS) of the welding robot and starts described standby
With power supply, the driving trace restoring device is used for the traveling rail that the driving magnet-wheel is recorded in the processor normal work
Mark, when the processor detects failure, the driving magnet-wheel is controlled to be returned by track traveling.
Welding robot provided by the invention, including body and the welding gun, processor and the Photoelectric Detection that are arranged on body
Device, processor are connected with welding gun and photoelectric detector respectively, and processor, which is used to be controlled according to the detection signal of photoelectric detector, to be welded
The motion of rifle, by setting photoelectric detector, speed of the photoelectric detector detection machine body phase to actual welding environment on body
And distance so that the control signal that processor is sent to body and welding gun changes according to the change of welding surroundings, so as to realize
The automatic welding of welding robot can adaptively adjust according to welding surroundings, ensure that welding effect.Weldering provided by the invention
Welding robot intelligence degree is high, running orbit is unrestricted, can adaptively be welded.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, for ability
For the those of ordinary skill of domain, without having to pay creative labor, it can also be obtained according to these accompanying drawings other
Accompanying drawing.
Fig. 1 is the structural representation of welding robot embodiment one provided by the invention；
Fig. 2 is the structural representation of welding robot embodiment two provided by the invention；
Fig. 3 is the structural representation of welding robot embodiment three provided by the invention.
Reference：
10-body；11-welding gun；
12-processor；13-photoelectric detector；
14-seam track identifier；The smooth scanner of 15-solder side；
16-welding gun arm；17-welding gun arm tracking controller；
18-chucking device；19-welding gun inclination angle trimmer；
20-welding rod holder；21-welding rod ejector；
22-remote controllers；23-wireless signal transceiver；
24-display；25-driving magnet-wheel；
26-stand-by power supply；27-driving trace restoring device.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 is the structural representation of welding robot embodiment one provided by the invention, as shown in figure 1, welding robot
Including：Body 10 and welding gun 11, processor 12 and the photoelectric detector 13 being arranged on body 10；
Processor 12 is connected with welding gun 11 and photoelectric detector 13 respectively；
Processor 12 is used for the motion that body 10 and welding gun 11 are controlled according to the detection signal of photoelectric detector 13.
Exemplary, welding robot includes the body 10 that can be automatically moved, and is provided with processor 12 on body 10, handles
Device 12 controls body 10 according to the movement of welding surroundings demand or rotation special angle.Welding gun 11 is additionally provided with body 10, it is optional
, welding gun 11 is arranged on the top of body 10, and processor 12 not only can control the motion of body 10, the fortune of also controllable welding gun 11
It is dynamic, to realize welding.Optionally, welding robot can be used for realizing arc-welding.
Processor 12 controls body 10 and welding gun 11 to be moved along corresponding track according to pre-set programs in the prior art, realizes weight
Multiple weld job.Welding robot provided by the invention also includes photoelectric detector 13, and photoelectric detector 13 is arranged on body 10
Outer surface on, for detect body 10 the speed of service and body 10 relative to the distance of workpiece to be welded, can be achieved to treat
The automatic identification of welding workpiece and the automatic tracing of workpiece surface track.Processor 12 is according to the detection signal of photoelectric detector 13
The motion of body 10 and welding gun 11 is controlled, realizes automatic welding.Because the detection signal of photoelectric detector 13 is with welding surroundings
Change and change, therefore processor 12 can be according to the motion of actual welding environmental Kuznets Curves body 10 and welding gun 11.
Welding robot provided by the invention, including body and the welding gun, processor and the Photoelectric Detection that are arranged on body
Device, processor are connected with welding gun and photoelectric detector respectively, and processor, which is used to be controlled according to the detection signal of photoelectric detector, to be welded
The motion of rifle, by setting photoelectric detector, speed of the photoelectric detector detection machine body phase to actual welding environment on body
And distance so that the control signal that processor is sent to body and welding gun changes according to the change of welding surroundings, so as to realize
The automatic welding of welding robot can adaptively adjust according to welding surroundings, ensure that welding effect.Weldering provided by the invention
Welding robot intelligence degree is high, running orbit is unrestricted, can adaptively be welded.
Further, on the basis of welding robot shown in Fig. 1, Fig. 2 is implemented for welding robot provided by the invention
The structural representation of example two, as shown in Fig. 2 being additionally provided with seam track identifier 14 and the smooth scanner of solder side on body 10
15；
Processor 12 is also connected with seam track identifier 14 and the smooth scanner 15 of solder side respectively；
Processor 12 is additionally operable to when seam track identifier 14 recognizes weld seam, and the control smooth scanner 15 of solder side is swept
Weld seam is retouched, the motion of welding gun 11 is adjusted according to the scanning information of weld seam.
Exemplary, in order to further improve welding quality, weldquality can be exercised supervision while welding, and root
Welding optimization is carried out according to the quality of completed weld seam, so as to ensure welding quality.Specifically, weld seam can be set on body 10
Track identification device 14 and the smooth scanner 15 of solder side, seam track identifier 14 are used to identify weld seam, the smooth scanning of solder side
Device 15 is used to scan weld seam, extracts the characteristic information in welding process, processor 12 respectively with seam track identifier 14 and weldering
The smooth scanner 15 of junction connects, and receives the detection signal of seam track identifier 14 and the smooth scanner 15 of solder side.
When specifically used, when processor 12 receives the signal for recognizing weld seam of the transmission of seam track identifier 14
When, or the signal that processor 12 is sent according to seam track identifier 14 determines that seam track identifier 14 recognizes weld seam
When, the control smooth scanner 15 of solder side is scanned to the weld seam identified, obtains the characteristic information in welding process, processing
Device 12 determines the welding quality of weld seam according to the characteristic information of weld seam.When welding quality is higher, welding can be worked as without amendment
When quality is relatively low, as precision is relatively low, processor 12 adjusts the motion of welding gun 11 according to welding quality and the gap of prospective quality, with
Improve welding quality.
Further, as shown in Fig. 2 welding robot also includes：Welding gun arm 16 and welding gun arm tracking controller 17；Wherein
One end of welding gun arm 16 is arranged on body 10, and welding gun 11 is arranged on the other end of welding gun arm 16；Control welding gun track
Device 17 processed is arranged on body 10；
Processor 12 is connected with welding gun tracking controller 17, and processor 12 is used for by the control weldering of welding gun tracking controller 17
The motion of rifle arm 16.
Exemplary, welding gun 11 is arranged on body 10 by welding gun arm 16.Welding gun arm 16 is made up of at least one connecting rod,
By set up can deformation welding gun arm 16, increase the range of movement of welding gun 11, improve the scope of application of welding robot,
Improve the flexibility of welding gun 11.Welding gun tracking controller 17 is arranged on body 10, is specifically as follows welding gun arm 16 and body
10 junction, welding gun tracking controller 17 are used for the motion for controlling welding gun arm 16.In specific implementation, welding gun tracking controller
17 function can be also integrated in processor 12.Processor 12 controls welding gun arm according to the detection signal of photoelectric detector
16 and welding gun 11, to facilitate welding gun 11 to realize welding.
Further, as shown in Fig. 2 the other end of welding gun arm 16 is provided with chucking device 18, the clamping weldering of chucking device 18
Rifle 11, welding gun inclination angle trimmer 19 is provided with chucking device 18；
Processor 12 is also connected with chucking device 18 and welding gun inclination angle trimmer 19 respectively, and processor 12 is additionally operable to control folder
The shape of holding equipment 12, the angle of welding gun 11 is adjusted by welding gun inclination angle trimmer 19.
Exemplary, the on-fixed end that welding gun arm 16 is used to connect welding gun 11 clamps welding gun 11, folder by chucking device 18
Holding equipment 18 is that deformable welding gun clamps the mechanism that follows an example, and processor 12 is connected with chucking device 18, controls chucking device 18
Factually the welding surroundings on border are deformed, and facilitate the welding gun 11 deeply welding surroundings of complexity, the applicable surface of raising welding.
Optionally,, can be on chucking device 18 for the soldering angle of more flexible control welding gun 11 on chucking device 18
Welding gun inclination angle trimmer 19 is set.The effect of welding gun inclination angle trimmer 19 is the flatness for improving solder side, prevents from being moved through
Slope change caused by journey and destroyed the flatness of solder side.
Optionally, as shown in Fig. 2 being additionally provided with welding rod holder 20 on the body 10 of welding robot, welding rod holder
20 are internally provided with welding rod ejector 21；
Processor 12 is also connected with welding rod ejector 21, controls the ejection of welding rod.
Exemplary, welding rod holder 20 is additionally provided with the body 10 of welding robot, welding rod holder 20 is generally set
Put in the upper surface of body 10, to facilitate welding gun 11 to take welding rod.Further, welding rod holder 20 is internally provided with welding rod bullet
Go out device 21, welding rod ejector 21 is connected with processor 12, and processor 12 is additionally operable to according to actual welding situation, controls welding rod oneself
Move out, to improve welding efficiency.
Further, on the basis of welding robot shown in Fig. 1 or Fig. 2, Fig. 3 is welding robot provided by the invention
The structural representation of embodiment three, as shown in figure 3, welding robot also includes remote controllers 22, it is additionally provided with body 10
Wireless signal transceiver 23, wireless signal transceiver 23 communicate to connect with remote controllers 22, wireless signal transceiver 23 also with
Processor 12 connects.
Specifically, further to improve the scope of application of welding robot, the flexibility of welding robot is improved, can be in machine
Wireless signal transceiver 23 is set up on body 10, wireless signal transceiver 23 is connected with processor 12, wireless signal transceiver 23 with
Remote controllers 22 realize communication connection by mobile network's technology or Bluetooth technology.
User enters the operating instructions on remote controllers 22, and remote controllers 22 pass through the operational order of user wireless
Network is sent to wireless signal transceiver 23, and the operational order of user is sent to processor 12 by wireless signal transceiver 23, place
Manage the motion that device 12 controls body 10, welding gun arm 16, welding gun 11 according to the operational order of user.Specifically, remote controllers 22
It is upper that the devices such as control stick can be set to facilitate user to enter the operating instructions.
Further, image acquisition device is additionally provided with body 10, image acquisition device is connected with processor 12；Remote control
Display 24 is provided with device 22.
When welding surroundings are severe, it has not been convenient to when technical staff observes, further can be set on body 10 or welding arm 16
Image acquisition device, image acquisition device are connected with processor 12, and the image collected is sent into processor 12.Remote controllers
Display 24 is set on 22, and display 24 is used for the image that the image acquisition device that video-stream processor 12 is sent collects.
Further, obstacle avoidance sensor is additionally provided with body 10, obstacle avoidance sensor is connected with processor 12.It is exemplary
, when there is foreign matter suddenly in welding surroundings, obstacle avoidance sensor be used for detect may collide when, to processor 12
Send a warning message, processor 12 controls welding robot pause welding when receiving warning information.Optionally, on body 10
Multiple obstacle avoidance sensors can be set, obstacle avoidance sensor can also be provided on welding gun arm 16.
Optionally, as shown in figure 3, the bottom of body 10 is provided with the driving magnet-wheel 25 of caterpillar belt structure.
Exemplary, the inside of driving magnet-wheel 25 of caterpillar belt structure includes two magnet-wheels.Driving magnet-wheel has magnetic in itself, can
Absorption is on metal works to be welded, therefore welding machine robot can walk on the steel face of any angle, solves existing
There is the mobility that welding robot walked on designed track the problem of, can only improve welding robot, simultaneously
Track structure obstacle climbing ability is stronger, also further increases the flexibility of welding robot.
Optionally, as shown in figure 3, being additionally provided with stand-by power supply 26 and driving trace restoring device 27 on body 10；
Processor 12 is connected with stand-by power supply 26 and driving trace restoring device 27；
Stand-by power supply 26 is connected with driving trace restoring device 27 and driving magnet-wheel 25 respectively, for driving trace restoring device
27 power with driving magnet-wheel 25；
Processor 12 is used for when detecting failure, cuts off the device power supply (DPS) of welding robot and starts stand-by power supply 26,
Driving trace restoring device 27 is used for the driving trace of the record driving magnet-wheel 25 in 12 normal work of processor, is examined in processor 12
When measuring failure, control driving magnet-wheel 25 is returned by track traveling.
Specifically, stand-by power supply 26 and driving trace restoring device 27 are additionally provided with body 10, it is contemplated that work as welding process
During middle failure, if welding robot exits welding chamber lattice not in time, it is understood that there may be welding robot is stuck in the lattice of cabin not side
Just the problem of taking out, welding robot is controlled, by backtracking, to exit welding when failure occurs by driving trace restoring device 27
Cabin lattice.Exemplary, processor 12 is connected with stand-by power supply 26 and driving trace restoring device 27, when processor 12 detects failure
When, cut off the device power supply (DPS) of welding robot and start stand-by power supply 26.Exemplary, failure can be that obstacle avoidance sensor detects
To may collide, or processor 12 is true according to the scanning result of seam track identifier 14 and the smooth scanner 15 of solder side
Settled preceding welding quality is poor to be needed to check.Driving trace restoring device 27 is used for the record driving magnetic in 12 normal work of processor
The driving trace of wheel 25, when processor 12 detects failure, control driving magnet-wheel 25 is returned by track traveling, so as to control weldering
Welding robot exits current welding surroundings, protects welding robot, facilitates maintenance, avoids welding robot when failure occurs
People is stuck in the problem of being inconvenient to take out in the lattice of cabin.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (8)
- A kind of 1. welding robot, it is characterised in that including：Body and welding gun, processor and the light being arranged on the body Photodetector；The processor is connected with the welding gun and the photoelectric detector respectively；The photoelectric detector is used for the distance of the speed of service for detecting body and body relative to workpiece to be welded, and realization is treated The automatic identification of welding workpiece and the automatic tracing of workpiece surface track；The processor is used for the motion that the body and the welding gun are controlled according to the detection signal of the photoelectric detector；The bottom of the body is provided with the driving magnet-wheel of caterpillar belt structure；Stand-by power supply and driving trace restoring device are additionally provided with the body；The processor is connected with the stand-by power supply and the driving trace restoring device；The stand-by power supply is connected with the driving trace restoring device and the driving magnet-wheel respectively, for the driving trace Restoring device and the driving magnet-wheel power supply；The processor is used for when detecting failure, cuts off the device power supply (DPS) of the welding robot and starts the standby electricity Source, the driving trace restoring device are used for the driving trace that the driving magnet-wheel is recorded in the processor normal work, When the processor detects failure, the driving magnet-wheel is controlled to be returned by track traveling.
- 2. welding robot according to claim 1, it is characterised in that seam track identification is additionally provided with the body Device and the smooth scanner of solder side；The processor is also connected with the seam track identifier and the smooth scanner of the solder side respectively；The processor is additionally operable to, when the seam track identifier recognizes weld seam, control the smooth scanner of the solder side The weld seam is scanned, the motion of the welding gun is adjusted according to the scanning information of the weld seam.
- 3. welding robot according to claim 2, it is characterised in that also include：Welding gun arm and welding gun arm TRAJECTORY CONTROL Device；WhereinOne end of the welding gun arm is arranged on the body, and the welding gun is arranged on the other end of the welding gun arm；The weldering Rifle arm tracking controller is arranged on the body；The processor is also connected with the welding gun tracking controller, and the processor is additionally operable to control by the welding gun arm track Device processed controls the motion of the welding gun arm.
- 4. welding robot according to claim 3, it is characterised in that the other end of the welding gun arm is provided with clamping and set Standby, the chucking device clamps the welding gun, and welding gun inclination angle trimmer is provided with the chucking device；The processor is also connected with the chucking device and welding gun inclination angle trimmer respectively, and the processor is additionally operable to control The shape of the chucking device is made, the angle of the welding gun is adjusted by welding gun inclination angle trimmer.
- 5. welding robot according to claim 4, it is characterised in that welding rod holder is additionally provided with the body, The welding rod holder is internally provided with welding rod ejector；The processor is also connected with the welding rod ejector, controls the ejection of welding rod.
- 6. welding robot according to claim 5, it is characterised in that also include：Remote controllers；Wireless signal transceiver, the wireless signal transceiver and the remote controllers communication link are additionally provided with the body Connect, the wireless signal transceiver is also connected with the processor.
- 7. welding robot according to claim 6, it is characterised in that image acquisition device is additionally provided with the body, Described image collector is connected with the processor；Display is provided with the remote controllers.
- 8. welding robot according to claim 7, it is characterised in that obstacle avoidance sensor is additionally provided with the body, The obstacle avoidance sensor is connected with the processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610882325.6A CN106271285B (en) | 2016-10-10 | 2016-10-10 | Welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610882325.6A CN106271285B (en) | 2016-10-10 | 2016-10-10 | Welding robot |
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| CN106271285A CN106271285A (en) | 2017-01-04 |
| CN106271285B true CN106271285B (en) | 2018-02-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610882325.6A Expired - Fee Related CN106271285B (en) | 2016-10-10 | 2016-10-10 | Welding robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107855704A (en) * | 2017-12-01 | 2018-03-30 | 河南宝盛精密机械有限公司 | Rush-harvesting and rush-planting coordinate welding robot |
| CN109986251B (en) * | 2019-05-16 | 2020-10-16 | 南京勒佳电气有限公司 | Multifunctional automatic stable welding robot |
| CN111037174A (en) * | 2019-12-09 | 2020-04-21 | 中建钢构有限公司 | Welding control method and welding control system |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6152988A (en) * | 1984-08-24 | 1986-03-15 | Mitsubishi Heavy Ind Ltd | Welding device |
| CN2460987Y (en) * | 2000-09-15 | 2001-11-21 | 清华大学 | Real-time investigating device for welded seam path trajectory |
| CN1241710C (en) * | 2003-05-22 | 2006-02-15 | 湘潭大学 | Photoelectric sensor type welding seam automatic tracing control method |
| CN102500876A (en) * | 2011-11-23 | 2012-06-20 | 南昌工程学院 | Double-cross-slipper adjusting mechanism of welding seam tracking system and control method of double-cross-slipper adjusting mechanism |
| CN103170767B (en) * | 2011-12-20 | 2015-01-21 | 徐州工程学院 | Welding robot control method |
| CN203621711U (en) * | 2013-11-15 | 2014-06-04 | 中国石油天然气股份有限公司 | Welding line detection device for automatic welder |
| CN104759736B (en) * | 2014-01-07 | 2018-05-22 | 深圳中集智能科技有限公司 | Container corrugated plate welding robot and its Visual servoing control system |
| CN104588838B (en) * | 2015-02-07 | 2016-08-17 | 芜湖安普机器人产业技术研究院有限公司 | A kind of automatic tracing control of welding gun on-line amending system and control method thereof |
| CN206273467U (en) * | 2016-10-10 | 2017-06-23 | 山东科技大学 | Welding robot |
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2016
- 2016-10-10 CN CN201610882325.6A patent/CN106271285B/en not_active Expired - Fee Related
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| CN106271285A (en) | 2017-01-04 |
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