CN107052624A - Multistation Intelligent welding robot - Google Patents

Multistation Intelligent welding robot Download PDF

Info

Publication number
CN107052624A
CN107052624A CN201611080325.0A CN201611080325A CN107052624A CN 107052624 A CN107052624 A CN 107052624A CN 201611080325 A CN201611080325 A CN 201611080325A CN 107052624 A CN107052624 A CN 107052624A
Authority
CN
China
Prior art keywords
welding
welder
slide rail
roll
machine arm
Prior art date
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.)
Pending
Application number
CN201611080325.0A
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Chinese (zh)
Inventor
邵素英
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BEIJING KEHUITONG WISDOM TECHNOLOGY Co Ltd
Original Assignee
BEIJING KEHUITONG WISDOM TECHNOLOGY Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by BEIJING KEHUITONG WISDOM TECHNOLOGY Co Ltd filed Critical BEIJING KEHUITONG WISDOM TECHNOLOGY Co Ltd
Priority to CN201611080325.0A priority Critical patent/CN107052624A/en
Publication of CN107052624A publication Critical patent/CN107052624A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047Auxiliary 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)

Abstract

The invention discloses multistation Intelligent welding robot, including circular slide rail and uniform along the slide rail and some welding posts for setting, welder is installed with the welding post, be provided with the circular slide rail at the uniform velocity to slide thereon, the controllable welding pallet in position, wherein described welder is installed on adjustable for height Telescopic base, it includes rotatable rotating base and is mounted thereon, the electroplating equipment wielding machine arm being made up of multiple joints, it is integrally disposed in the Telescopic base to have the robot control system(RCS) positioned for welder with controlling, the welding pallet includes the Rotary tray that sliding chassis and invaginating are mounted thereon, motor is provided with the Rotary tray, workpiece mounting bracket, the vertical directive slide track being installed on workpiece mounting bracket and the roll-over table being pivotally mounted between directive slide track, it is provided with the roll-over table some for clamping, position the fixture block and locating piece of workpiece to be welded.

Description

Multistation Intelligent welding robot
Technical field
The present invention relates to robotic technology field, specially one kind can complete large-scale workpiece, complicated weld seam be automatically positioned, The Intelligent welding robot of multistation.
Background technology
Welding robot is a kind of can to complete the automation equipment of welding operation.
Generally, welding robot is to constitute operation arm or other forms motion, mechanism end folder by multiple joints The auxiliary welding equipments such as welding gun are held, the required seam track motion of workpiece welding is completed in welding operation space.
At present, welding robot typically uses general six jointed arm robot, or for the special of specific seam track The forms such as manipulator.The former positioning precision is high, and operating space is relatively limited, it is adaptable to the welding of short distance complexity weld seam; The latter operating space is larger, and positioning precision is not relatively high, it is adaptable to the welding operation of simple shape weld seam.
For the welding of the complicated weld seam of large-scale workpiece, said apparatus Shortcomings.Large-scale workpiece is welded to operation equipment It is required that higher, it is necessary to carry out operation welding (for example with multi-robot system to welding workpiece to workpiece on a large scale, accurately Coordinated manipulation is carried out, to complete to weld movement needs, the structure of such robot, control are often more complicated and with high costs, It is unfavorable for production application.
With welding structure manufacturing industry towards scale, maximization, parametrization and the evolution of precise treatment direction in, urgently Need to adapt to the big range of movement of large-scale workpiece welding, high-precision practical automatic welding operation equipment.
The content of the invention
In view of the above-mentioned problems, the invention provides one kind can complete large-scale workpiece, complicated weld seam be automatically positioned, multistation Intelligent welding robot.
The technical solution adopted for the present invention to solve the technical problems is:
Multistation Intelligent welding robot, including circular slide rail and uniform along the slide rail and some welding posts for setting, institute State and welder be installed with welding post, be provided with the circular slide rail can at the uniform velocity slide thereon, position it is controllable Welding pallet, wherein the welder is installed on adjustable for height Telescopic base, it includes rotatable rotating base And the electroplating equipment wielding machine arm for being mounted thereon, being made up of multiple joints, it is integrally disposed in the Telescopic base to have for welder The robot control system(RCS) of positioning and control, the welding pallet includes the Rotary tray that sliding chassis and invaginating are mounted thereon, institute State and motor, workpiece mounting bracket, the vertical directive slide track being installed on workpiece mounting bracket are provided with Rotary tray and can be turned It is provided with the dynamic roll-over table being installed between directive slide track, the roll-over table some for clamping, positioning workpiece to be welded Fixture block and locating piece.
As the improvement of above-mentioned technical proposal, welding post at two is provided with the outside of the circular slide rail, is fixed with thereon Welder, the welder includes Telescopic base and the electroplating equipment wielding machine arm being mounted thereon by rotating base, the weldering Connecing mechanical arm includes the four sections joint set gradually and the driver for being parallelly mounted on each joint, being connected with robot control system(RCS), The electroplating equipment wielding machine arm front end is provided with welding gun.
As the improvement of above-mentioned technical proposal, reset adjuster is additionally provided with each joint of electroplating equipment wielding machine arm and spacing Protector.
As the improvement of above-mentioned technical proposal, the Rotary tray is installed on the middle position of sliding chassis, the workpiece Mounting bracket is symmetrical structure, and its both sides is provided with vertical directive slide track, the directive slide track and is provided with guiding control box, The guiding control box upper end is provided with bearing hole, is provided with roll-over table by rotatable bearing between it, is set at the bearing hole It is equipped with flip angle latch-up structure.
As the improvement of above-mentioned technical proposal, the robot control system(RCS) includes visual sensing system, and it includes being installed on welding gun The pin type video camera at place, to realize the real-time vision measurement and monitoring to welding.
The beneficial effect that the present invention is brought has:
1st, Intelligent welding robot of the present invention can carry out 360 ° of rotary welding, and coverage rate is big, the circular slide rail of design So that welding operation flexibility ratio is greatly improved, large-scale workpiece, the basic free degree demand of complicated weld seam welding can be met;
2nd, by the sliding chassis and Rotary tray being arranged on circular slide rail, the translation of welding robot of the present invention is free Degree and rotary freedom will be completed by different mechanisms respectively, and then realize the separation of translational motion and rotary motion, be simplified The motion control of welding robot, while meeting the advanced free degree demand of welding;
3rd, welder of the present invention includes rotating base, the electroplating equipment wielding machine arm being made up of multiple joints and robot control system(RCS), auxiliary With visual sensing system, high accuracy, self-regulation, Full-automatic welding can be completed, and realize to the measurement of the real-time vision of welding with Monitoring;
4th, it is provided between directive slide track on roll-over table, and roll-over table and is provided with fixture block and locating piece, the presence of roll-over table So that soldering angle regulation is more flexibly abundant, welding quality is favorably improved, fixture block and locating piece are then used for firm welded work Part, it is to avoid welding error occur, improve operating efficiency, while meeting welding high-order free degree demand;
5th, welding robot of the invention, rational in infrastructure, easy to use, using effect is good, is fully compatible for large-scale workpiece weldering Big range of movement, the high-precision practical automatic welding connect, beneficial to popularization.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described,
Accompanying drawing 1 is welding robot structure schematic diagram of the present invention.
Embodiment
The invention provides it is a kind of can complete large-scale workpiece, complicated weld seam be automatically positioned, the Intelligent welding machine of multistation Device people.
Referring to the drawings 1, multistation Intelligent welding robot, including circular slide rail 11 and along the slide rail and the Welder that sets Welder is installed on position, welding post.
Wherein, circular slide rail 11 also may be designed as oval slide rail, arc-shaped slide rail etc., specifically depending on welding surroundings, with Welding pallet 12 can be made, and smoothly movement is advisable, and is installed on the welding pallet 12 on circular slide rail 11, same profile can be designed To be circular, square etc., it includes the Rotary tray 122 that sliding chassis 121 and centrally located invaginating are installed, Rotary tray 122 motion can be realized by micromachine, driving belt, signal transceiver etc., realize long-distance intelligent operational control.
The top of Rotary tray 122 is provided with motor and workpiece mounting bracket 123, and workpiece mounting bracket 123 is symmetrical Structure, the inner side of its two side stand, which is vertically provided with directive slide track, directive slide track, is provided with guiding control box 125, is oriented to Then be provided between control box 125 on roll-over table 124, roll-over table 124 by rotatable bearing be provided with it is some be used to clamping, it is fixed The fixture block and locating piece of position workpiece to be welded.
When needing welding workpiece, workpiece is fixed on roll-over table 124 by fixture block and locating piece, by being oriented to control Roll-over table 124 is adjusted to appropriate angle by box 125, and appropriate height is adjusted to by directive slide track, while collocation can The Rotary tray 122 of rotation and the welding pallet 12 that can be smoothly moved on circular slide rail 11, the present invention can almost be realized 360 ° of rotary welding without dead angle, and the free degree is high, flexibility is strong, and coverage rate is big.
Meanwhile, welder is arranged at welding post, is double shown in accompanying drawing 1, can also be set in practical operation Three stations or four stations etc. are calculated as, welder is specifically installed on adjustable for height Telescopic base 21, it mainly includes turning Dynamic rotating base 22 and the electroplating equipment wielding machine arm 23 for being mounted thereon, being made up of multiple joints, wherein rotating base 22, each joint Action realized by the robot control system(RCS) that is integrally disposed in Telescopic base 21, meet high accuracy positioning and automatically control demand.
In the present embodiment, electroplating equipment wielding machine arm 23 include four joints that set gradually of section and be parallelly mounted on each joint, The driver being connected with robot control system(RCS), the front end of electroplating equipment wielding machine arm 23 is provided with welding gun, and each joint of electroplating equipment wielding machine arm 23 also Reset adjuster and spacing protector are provided with, is considered for plant maintenance.
In said structure, it is oriented to control box 125 upper end and is provided with bearing hole, is installed between it and turned over by rotatable bearing Flip angle latch-up structure is provided with turntable 124, the bearing hole.
In addition, above-mentioned robot control system(RCS) also includes visual sensing system, it includes being installed on the pin type video camera at welding gun, To realize the real-time vision measurement and monitoring to welding.
The present invention should have the following advantages that compared to prior art:
1st, Intelligent welding robot of the present invention can carry out 360 ° of rotary welding, and coverage rate is big, the circular slide rail of design 11 cause welding operation flexibility ratio to greatly improve, and can meet large-scale workpiece, the basic free degree demand of complicated weld seam welding.
2nd, by the sliding chassis 121 and Rotary tray 122 being arranged on circular slide rail 11, welding robot of the present invention Translation freedoms and rotary freedom will be completed by different mechanisms respectively, and then realize point of translational motion and rotary motion From the motion control of welding robot being simplified, while meeting the advanced free degree demand of welding.
3rd, welder of the present invention includes rotating base 22, the electroplating equipment wielding machine arm 23 being made up of multiple joints and automatic control system System, is aided with visual sensing system, can complete high accuracy, self-regulation, Full-automatic welding, and realize the real-time vision survey to welding Amount and monitoring.
4th, it is provided between directive slide track on roll-over table 124, and roll-over table 124 and is provided with fixture block and locating piece, roll-over table 124 presence causes soldering angle regulation more flexibly abundant, is favorably improved welding quality, and fixture block and locating piece are then used for steady Gu welding workpiece, it is to avoid welding error occur, improve operating efficiency, while meeting welding high-order free degree demand.
5th, welding robot of the invention, rational in infrastructure, easy to use, using effect is good, is fully compatible for large-scale workpiece weldering Big range of movement, the high-precision practical automatic welding connect, beneficial to popularization.
The specific embodiment of the present invention is described in detail above, but content is only presently preferred embodiments of the present invention, It is not to be regarded as the practical range for limiting the present invention.Any changes and modifications in accordance with the scope of the present application, Within the patent covering scope that the present invention all should still be belonged to.

Claims (5)

1. multistation Intelligent welding robot, it is characterised in that:Including circular slide rail (11) and if uniform being set along the slide rail It is installed with that be provided with welder, the circular slide rail (11) can be thereon on dry welding post, the welding post At the uniform velocity slide, the controllable welding pallet (12) in position, wherein the welder is installed on adjustable for height Telescopic base (21) On, it includes rotatable rotating base (22) and the electroplating equipment wielding machine arm (23) for being mounted thereon, being made up of multiple joints, described Integrally disposed in Telescopic base (21) to have the robot control system(RCS) for positioning and controlling for welder, the welding pallet (12) includes Driving is provided with the Rotary tray (122) that sliding chassis (121) and invaginating are mounted thereon, the Rotary tray (122) Motor, workpiece mounting bracket (123), the vertical directive slide track being installed on workpiece mounting bracket (123) and it is pivotally mounted to be oriented to Some folders for being used to clamping, positioning workpiece to be welded are provided with roll-over table (124) between slide rail, the roll-over table (124) Block and locating piece.
2. multistation Intelligent welding robot according to claim 1, it is characterised in that:On the outside of the circular slide rail (11) Welding post at two is provided with, welder is fixed with thereon, the welder includes Telescopic base (21) and by rotation The electroplating equipment wielding machine arm (23) that base (22) is mounted thereon, the electroplating equipment wielding machine arm (23) include four joints that set gradually of section and The driver for being parallelly mounted on each joint, being connected with robot control system(RCS), electroplating equipment wielding machine arm (23) front end is provided with welding gun.
3. multistation Intelligent welding robot according to claim 2, it is characterised in that:The electroplating equipment wielding machine arm (23) is each Reset adjuster and spacing protector are additionally provided with joint.
4. multistation Intelligent welding robot according to claim 1, it is characterised in that:Rotary tray (122) peace Middle position loaded on sliding chassis (121), the workpiece mounting bracket (123) is symmetrical structure, and its both sides is provided with vertically Directive slide track, guiding control box (125) is installed, described guiding control box (125) upper end is provided with the directive slide track Bearing hole, is provided with roll-over table (124), the bearing hole between it by rotatable bearing and is provided with flip angle locking knot Structure.
5. multistation Intelligent welding robot according to claim 1, it is characterised in that:The robot control system(RCS) includes vision Sensor-based system, it includes being installed on the pin type video camera at welding gun, to realize the real-time vision measurement and monitoring to welding.
CN201611080325.0A 2016-11-30 2016-11-30 Multistation Intelligent welding robot Pending CN107052624A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611080325.0A CN107052624A (en) 2016-11-30 2016-11-30 Multistation Intelligent welding robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611080325.0A CN107052624A (en) 2016-11-30 2016-11-30 Multistation Intelligent welding robot

Publications (1)

Publication Number Publication Date
CN107052624A true CN107052624A (en) 2017-08-18

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CN201611080325.0A Pending CN107052624A (en) 2016-11-30 2016-11-30 Multistation Intelligent welding robot

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CN (1) CN107052624A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108044239A (en) * 2018-01-12 2018-05-18 青岛理工大学 A kind of efficient laser marking machine of full-automatic multistation
CN108453365A (en) * 2018-04-24 2018-08-28 东莞市富立通超声波设备有限公司 Quantity-produced ultrasonic welding machine
CN108637553A (en) * 2018-05-22 2018-10-12 徐州乐泰机电科技有限公司 A kind of multi-panel welding robot
CN109014765A (en) * 2018-08-22 2018-12-18 广州瑞松北斗汽车装备有限公司 Robot base inner and outer ring welder
CN110722266A (en) * 2019-10-12 2020-01-24 上海理工大学 Manipulator assembly line type workpiece three-dimensional scanning and additive repairing device and method
CN111390460A (en) * 2020-03-30 2020-07-10 深圳市德洋实验设备有限公司 Automatic welding device
CN112605577A (en) * 2020-12-14 2021-04-06 苏州阿甘机器人有限公司 Multi-station rotary welding robot and working method thereof
CN116851987A (en) * 2023-07-31 2023-10-10 江苏禾立拓智能科技有限公司 Welding robot without dead angle in welding

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CN201105364Y (en) * 2007-08-24 2008-08-27 华北石油管理局第一机械厂 Steel plate butt-welded bend longitudinal seam automatic welding equipment
CN102699498A (en) * 2012-06-01 2012-10-03 无锡市新峰管业股份有限公司 Large submerged arc welding device for butt welding of bent pipes
CN102717210A (en) * 2012-03-28 2012-10-10 安徽理士电源技术有限公司 Rotary welding table
CN103358060A (en) * 2012-09-24 2013-10-23 苏州方林科技股份有限公司 Automatic spot-welding equipment
CN104289841A (en) * 2014-10-22 2015-01-21 东方电气集团东方汽轮机有限公司 Automatic surfacing device for inner curved surface of guide ring of turbine
KR20150116678A (en) * 2014-04-08 2015-10-16 안영희 overlay welding apparatus for a ball-valve housing
CN105414826A (en) * 2015-12-15 2016-03-23 济南天辰铝机股份有限公司 Multi-surface marking-off and cutting device with fixed rack
CN205147697U (en) * 2015-11-12 2016-04-13 龙工(上海)挖掘机制造有限公司 Little medium -sized excavator oil tank welding production line device
CN105598626A (en) * 2016-02-19 2016-05-25 江苏华源节水股份有限公司 Automatic tailor-welding tool for reel sprinkler reel wing plate
CN105728952A (en) * 2016-03-29 2016-07-06 苏州恩欧西智能科技有限公司 Two-way laser marking device
CN205414760U (en) * 2015-12-15 2016-08-03 济南天辰铝机股份有限公司 Line cutting device is drawn to fixed multiaspect of frame
CN105945474A (en) * 2016-06-01 2016-09-21 广西大学 MDOF (multi-degree-of-freedom) adjustable welding robot

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201105364Y (en) * 2007-08-24 2008-08-27 华北石油管理局第一机械厂 Steel plate butt-welded bend longitudinal seam automatic welding equipment
CN102717210A (en) * 2012-03-28 2012-10-10 安徽理士电源技术有限公司 Rotary welding table
CN102699498A (en) * 2012-06-01 2012-10-03 无锡市新峰管业股份有限公司 Large submerged arc welding device for butt welding of bent pipes
CN103358060A (en) * 2012-09-24 2013-10-23 苏州方林科技股份有限公司 Automatic spot-welding equipment
KR20150116678A (en) * 2014-04-08 2015-10-16 안영희 overlay welding apparatus for a ball-valve housing
CN104289841A (en) * 2014-10-22 2015-01-21 东方电气集团东方汽轮机有限公司 Automatic surfacing device for inner curved surface of guide ring of turbine
CN205147697U (en) * 2015-11-12 2016-04-13 龙工(上海)挖掘机制造有限公司 Little medium -sized excavator oil tank welding production line device
CN105414826A (en) * 2015-12-15 2016-03-23 济南天辰铝机股份有限公司 Multi-surface marking-off and cutting device with fixed rack
CN205414760U (en) * 2015-12-15 2016-08-03 济南天辰铝机股份有限公司 Line cutting device is drawn to fixed multiaspect of frame
CN105598626A (en) * 2016-02-19 2016-05-25 江苏华源节水股份有限公司 Automatic tailor-welding tool for reel sprinkler reel wing plate
CN105728952A (en) * 2016-03-29 2016-07-06 苏州恩欧西智能科技有限公司 Two-way laser marking device
CN105945474A (en) * 2016-06-01 2016-09-21 广西大学 MDOF (multi-degree-of-freedom) adjustable welding robot

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108044239A (en) * 2018-01-12 2018-05-18 青岛理工大学 A kind of efficient laser marking machine of full-automatic multistation
CN108453365A (en) * 2018-04-24 2018-08-28 东莞市富立通超声波设备有限公司 Quantity-produced ultrasonic welding machine
CN108637553A (en) * 2018-05-22 2018-10-12 徐州乐泰机电科技有限公司 A kind of multi-panel welding robot
CN109014765A (en) * 2018-08-22 2018-12-18 广州瑞松北斗汽车装备有限公司 Robot base inner and outer ring welder
CN109014765B (en) * 2018-08-22 2023-08-29 广州瑞松北斗汽车装备有限公司 Inside and outside girth welding device of robot base
CN110722266A (en) * 2019-10-12 2020-01-24 上海理工大学 Manipulator assembly line type workpiece three-dimensional scanning and additive repairing device and method
CN110722266B (en) * 2019-10-12 2021-08-10 上海理工大学 Manipulator assembly line type workpiece three-dimensional scanning and additive repairing device and method
CN111390460A (en) * 2020-03-30 2020-07-10 深圳市德洋实验设备有限公司 Automatic welding device
CN111390460B (en) * 2020-03-30 2021-10-08 深圳市德洋实验设备有限公司 Automatic welding device
CN112605577A (en) * 2020-12-14 2021-04-06 苏州阿甘机器人有限公司 Multi-station rotary welding robot and working method thereof
CN116851987A (en) * 2023-07-31 2023-10-10 江苏禾立拓智能科技有限公司 Welding robot without dead angle in welding
CN116851987B (en) * 2023-07-31 2024-02-02 江苏禾立拓智能科技有限公司 Welding robot without dead angle in welding

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Application publication date: 20170818