CN107685211A - A kind of fixture welding robot that joint control is realized based on computer technology - Google Patents
A kind of fixture welding robot that joint control is realized based on computer technology Download PDFInfo
- Publication number
- CN107685211A CN107685211A CN201710962442.8A CN201710962442A CN107685211A CN 107685211 A CN107685211 A CN 107685211A CN 201710962442 A CN201710962442 A CN 201710962442A CN 107685211 A CN107685211 A CN 107685211A
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- Prior art keywords
- motor
- rotary shaft
- vehicle seat
- singlechip controller
- welding
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
-
- 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
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of fixture welding robot that joint control is realized based on computer technology, including vehicle seat, supporting table is installed on the vehicle seat front end face, supporting table is connected with hollow fixation support bar, fixed supporting bar top is connected with rotary shaft A, and rotary shaft A outputs are connected with welding gun and place pipe；It is provided with supporting table and draws high motor A；Vehicle seat upper surface center is provided with fixed station, mounting rotary electric machine in fixed station, and hollow vertical rod is installed on fixed station；Installation singlechip controller in vehicle seat, singlechip controller electrically connect with drawing high motor A, drawing high motor B, electric rotating machine, kneading motor control, and that mediates motor drive connection front end mediates pincers hand, and installation sheet type pressure sensor is attached on the pincers hand end face；The computer realizes that remote signal control connects with singlechip controller.The achievable multi-process welding of the present invention and precisely welding operate, and soldering angle and the free degree are adjustable, greatly improve welding efficiency.
Description
Technical field
The present invention relates to weld jig technical field, more particularly to a kind of welding fixture that joint control is realized based on computer technology
Welding robot.
Background technology
Weld jig, it is exactly to ensure weldment size, improves assembly precision and efficiency, prevents from pressing from both sides used by welding deformation
Tool.In the process of manufacture of part, it is often necessary to carry out soldering to workpiece, how to put workpiece during welding will be straight
Connecing influences the difficulty and quality of welding, so weldment is put, it is always an important step of welding process；But current city
Weld jig on field is all fixed, can not flexibly carry out the welding job of multi-angle, and can not freely adjust height,
So as to which the requirement in operation can not be reached comprehensively, welding job difficulty is added, while during corresponding different size of object welding
Also to reduce welding efficiency with changing fixture, and general weld jig is without welder, during welding fixture and welding fill
Put to carry simultaneously, very inconvenient.
Secondly, existing weld jig is all completely manual mechanical operation, manipulation accuracy deficiency, and welding efficiency is too low.
The content of the invention
For problem above, the invention provides a kind of fixture welding robot that joint control is realized based on computer technology,
One can freely pick up different size of weldment, it is not necessary to change fixture, while the device can free alignment jig height
And angle, greatly improve the flexibility of operation；Second, being based on computer combination single-chip microcomputer joint control technology, realize semi-automatic or complete
It is automatically brought into operation, enhancing manipulation accuracy, reduces weld interval, improve welding efficiency.
In order to achieve the above object, the technical proposal of the invention is realized in this way：
A kind of fixture welding robot that joint control is realized based on computer technology, including vehicle seat, the saddle base installation
There is wheel, supporting table is installed on the vehicle seat front end face, the supporting table is connected with hollow fixation support bar, the fixation
Supporting bar top is connected with rotary shaft A, and the rotary shaft A outputs are connected with welding gun and place pipe；Drawing is installed in the supporting table
Lifting motor A, the motor A that draws high are drivingly connected to rotary shaft A vertically by line shaft A, by rotary shaft A welding gun can be driven to put
Pipe is put to rotate upwardly and downwardly；
Vehicle seat upper surface center is provided with fixed station, mounting rotary electric machine in the fixed station, on the fixed station
Hollow vertical rod is installed, the electric rotating machine is drivingly connected to vertical rod, and vertical rod can be driven to do 360 ° of horizontal rotations；
Fixed cross beam is connected with above the vertical rod, the fixed cross beam other end is provided with rotary shaft B, the rotary shaft
Output is connected with clamp handle, and institute's vertical rod and installation in the hollow pipe of fixed cross beam junction draw high motor B, and the motor B that draws high leads to
Cross line shaft B horizontal drives and be connected to rotary shaft B, can be moved up and down by rotary shaft B band caliper handles；
The clamp handle end is connected with motor machine hand vice, and kneading motor, institute are provided with inside the motor machine hand vice
That states kneading motor drive connection front end mediates pincers hand, and described mediate attaches installation sheet type pressure sensing on pincers hand end face
Device；
Installation singlechip controller in the vehicle seat, the singlechip controller is with drawing high motor A, drawing high motor B, rotation
Motor, motor control electrical connection is mediated, the pressure sensor connects with the transmission of singlechip controller signal；
The computer and singlechip controller realize that remote signal control connects, and the computer can simultaneously with it is multiple
Singlechip controller remote control connects.Realize joint control.
Preferably, the left and right end face of pincers hand of mediating respectively attaches a sheet type pressure sensor.Hand clamping fixture is clamped to receive
When tight, when being tightened to proper strength, pressure sensor returning pressure data to singlechip controller, singlechip controller control is pinched
Close kneading work of the motor stopping to pincers hand.
Preferably, motor is installed at the close wheel in the vehicle seat, the motor output is connected to wheel,
Control moves integrally, and the singlechip controller electrically connects with wheel control.
Preferably, the wheel uses universal wheel, and wheel surface is provided with rubber layer.
Preferably, the clamp handle is fixedly connected on rotary shaft B using demountable structure, while described mediates pincers wrist-watch
Face uses coarse frosted structure.
The technical scheme that the invention of the disclosure provides can include the following benefits：
(1) by setting rotatable welding gun to place pipe, rotatable vertical rod, motor machine hand vice and rotary shaft knot
Structure, it can reach comprehensive requirement to welding according to rotary shaft is freely rotated come the height and the anglec of rotation of alignment jig,
Make the more convenient high efficiency of welding job；Meanwhile for different size of weldment, can be light using motor control is mediated
The size of dehiscing of regulation pincers hand, so as to which stable clamps weldment to complete welding job；And the device is by setting rotary shaft
Place and manage with welding gun, welding gun can be carried, improve welding efficiency.
(2) above-mentioned rotary shaft rotates, rotation and pincers hand kneading operation are all based on motor powered control, and motor statistics by
Singlechip controller logic control, while pressure sensor can be fed back by pressure data, indirect control clamps the accurate folder of hand
Hold；The accurate control of implementation above fixture welding, reduces weld interval, improves welding efficiency.
(3), not only can be more by the singlechip controller of one or more fixture welding robot of computer remote joint control
Platform manipulates simultaneously, and realizes the semi-automatic or full-automatic manipulation of fixture welding, substantially increases bonding accuracy and welding
Efficiency.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural principle block diagram of the present invention.
In figure：1- vehicle seats；2- wheels；3- supporting tables；4- fixes support bar；5- welding guns place pipe；6- rotary shafts A；7- is drawn
Lifting motor A；8- line shafts A；9- fixed stations；10- electric rotating machines；11- vertical rods；12- fixed cross beams；13- rotary shafts B；14- is clamped
Handle；15- draws high motor B；16- line shafts B；17- motor machine hand vice；18- pressure sensors；19- singlechip controllers；20-
Computer；21- mediates motor；22- motors；23- can mediate pincers hand.
Embodiment
Clear, complete description is carried out to the technical scheme of various embodiments of the present invention below with reference to accompanying drawing, it is clear that retouched
The embodiment stated is only the 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's all other embodiment resulting on the premise of creative work is not made, belongs to this
The protected scope of invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
The present invention is described in further detail below by specific examples of the implementation and with reference to accompanying drawing.
Embodiment one：
A kind of fixture welding robot that joint control is realized based on computer technology as shown in Figure 1 and Figure 2, including vehicle seat 1,
The bottom of vehicle seat 1 is provided with wheel 2, and supporting table 3 is provided with the front end face of vehicle seat 1, and the supporting table 3 is connected with hollow
Fixation support bar 4, the fixed top of support bar 4 is connected with rotary shaft A6, and the rotary shaft A6 outputs are connected with welding gun and put
Put pipe 5；It is provided with the supporting table 3 and draws high motor A7, the motor A7 that draws high is drivingly connected to vertically by line shaft A8
Rotary shaft A6, welding gun can be driven to place pipe 5 by rotary shaft A6 and rotated upwardly and downwardly；
The upper surface center of vehicle seat 1 is provided with fixed station 9, mounting rotary electric machine 10 in the fixed station 9, the fixation
Hollow vertical rod 11 is installed, the electric rotating machine 10 is drivingly connected to vertical rod 11, and vertical rod 11 can be driven to do 360 ° of horizontal rotations on platform 9
Turn；
The top of vertical rod 11 is connected with fixed cross beam 12, and the other end of fixed cross beam 12 is provided with rotary shaft B13, institute
State the output of rotary shaft 13 and be connected with clamp handle 14, institute's vertical rod 11 draws high motor with installation in the hollow pipe of the junction of fixed cross beam 12
B15, the motor B15 that draws high are connected to rotary shaft B13 by line shaft B16 horizontal drives, can be driven and clamped by rotary shaft B13
Handle 14 moves up and down；
The end of clamp handle 14 is connected with motor machine hand vice 17, and kneading electricity is provided with inside the motor machine hand vice 17
Pincers hand 23 is mediated in machine 21, the kneading motor 21 drive connection front end, and described mediate attaches installation on pincers hand 23 end face
Sheet type pressure sensor 18；
Installation singlechip controller 19 in the vehicle seat 1, the singlechip controller 19 is with drawing high motor A7, drawing high motor
B15, electric rotating machine 10, the control electrical connection of motor 21 is mediated, the pressure sensor 18 transmits with the signal of singlechip controller 19
Connection；
The computer 20 realizes that remote signal control connects with singlechip controller 19.
Wherein, the 23 left and right end face of pincers hand of mediating respectively attaches a sheet type pressure sensor 18.Clamp hand clamping fixture
When tightening up, when being tightened to proper strength, pressure sensor returning pressure data to singlechip controller, singlechip controller controls
Mediate kneading work of the motor stopping to pincers hand.
Wherein, motor 22 is installed, the output of motor 22 is connected at the close wheel 2 in the vehicle seat 1
Wheel 2, the singlechip controller 19 electrically connect with the control of wheel 2.
Wherein, the wheel 2 uses universal wheel, and the surface of wheel 2 is provided with rubber layer.
Wherein, the clamp handle 14 is fixedly connected on rotary shaft B13 using demountable structure, while described mediates pincers hand
23 surfaces use coarse frosted structure.
The operation principle of the present embodiment：Promote or controlled by computer manually, first move the device into suitable work
Make position, after fixing, welding gun used is put into welding gun and places pipe 5, manually or computer control rotary shaft A6 is rotated, regulation
The angle of good welding gun.Meanwhile weldment needed for taking-up, mediate manually or computer control pincers hand is dehisced, weldment is utilized and clamps hand folder
Firmly, it is further continued for clutching manually or computer control grips weldment, when the return stop signal of pressure sensor 18, stops pinching
Close；The height of weld jig is adjusted using rotary shaft B13 simultaneously, mediates manually or computer controls, after adjusting, rotation
Motor 10 rotating upright post 11 adjusts weld jig close to welding gun.When angle and height reach requirement, you can start Welder
Make.After welding is completed, computer control is mediated the release pincers hand of motor 21 and dehisced, and weldment is removed.
Computer 20 can be connected with multiple remote controls of singlechip controller 19 simultaneously, realized multi-process welding operation, carried
High welding efficiency.The accurate controlled motor of simultaneous computer rotates, and realizes precisely welding operation.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that, it still may be used
To be modified to the technical scheme described in previous embodiment, either which part or all technical characteristic are equal
Replace；And these modifications or replacement, the essence of appropriate technical solution is departed from the model of technical scheme of the embodiment of the present invention
Enclose.
Claims (5)
1. a kind of fixture welding robot that joint control is realized based on computer technology, including vehicle seat (1), vehicle seat (1) bottom
Wheel (2) is installed, it is characterised in that：Supporting table (3), supporting table (3) connection are installed on vehicle seat (1) front end face
There is hollow fixation support bar (4), fixed support bar (4) top is connected with rotary shaft A (6), and the rotary shaft A (6) is defeated
Go out to be connected with welding gun and place pipe (5)；It is provided with the supporting table (3) and draws high motor A (7), the motor A (7) that draws high passes through
Line shaft A (8) is drivingly connected to rotary shaft A (6) vertically, and welding gun can be driven to place pipe (5) by rotary shaft A (6) and rotated upwardly and downwardly；
Vehicle seat (1) the upper surface center is provided with fixed station (9), the interior mounting rotary electric machine of the fixed station (9) (10), the fixation
Hollow vertical rod (11) is installed, the electric rotating machine (10) is drivingly connected to vertical rod (11), vertical rod (11) can be driven to do on platform (9)
360 ° of horizontal rotations；Fixed cross beam (12) is connected with above the vertical rod (11), fixed cross beam (12) other end is provided with
Rotary shaft B (13), rotary shaft (13) output are connected with clamp handle (14), institute's vertical rod (11) and fixed cross beam (12) junction
Installation draws high motor B (15) in hollow pipe, and the motor B (15) that draws high is connected to rotation by line shaft B (16) horizontal drive
Axle B (13), it can be moved up and down by rotary shaft B (13) band caliper handles (14)；Clamp handle (14) end is connected with motor machine
Hand vice (17), internal be provided with of the motor machine hand vice (17) mediate motor (21), described kneading motor (21) drive connection
Pincers hand (23) is mediated in front end, and described mediate attaches installation sheet type pressure sensor (18) on pincers hand (23) end face；Institute
Installation singlechip controller (19) in vehicle seat (1) is stated, the singlechip controller (19) is with drawing high motor A (7), drawing high motor B
(15), electric rotating machine (10), kneading motor (21) control electrical connection, the pressure sensor (18) and singlechip controller (19)
Signal transmission connection；The computer (20) realizes that remote signal control connects with singlechip controller (19), and the calculating
Machine (20) can be connected with multiple singlechip controllers (19) remote control simultaneously.
2. the fixture welding robot according to claim 1 that joint control is realized based on computer technology, it is characterised in that：Institute
Pincers hand (23) left and right end face can be mediated by, which stating, respectively attaches a sheet type pressure sensor (18).
3. the fixture welding robot according to claim 1 that joint control is realized based on computer technology, it is characterised in that：Institute
Close wheel (2) place installation motor (22) in vehicle seat (1) is stated, motor (22) output is connected to wheel (2),
The singlechip controller (19) electrically connects with wheel (2) control.
4. the fixture welding robot according to claim 1 that joint control is realized based on computer technology, it is characterised in that：Institute
State wheel (2) and use universal wheel, wheel (2) surface is provided with rubber layer.
5. the fixture welding robot according to claim 1 that joint control is realized based on computer technology, it is characterised in that：Institute
State clamp handle (14) to be fixedly connected on rotary shaft B (13) using demountable structure, while described pincers hand (23) surface of mediating is adopted
With coarse frosted structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710962442.8A CN107685211A (en) | 2017-09-28 | 2017-09-28 | A kind of fixture welding robot that joint control is realized based on computer technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710962442.8A CN107685211A (en) | 2017-09-28 | 2017-09-28 | A kind of fixture welding robot that joint control is realized based on computer technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107685211A true CN107685211A (en) | 2018-02-13 |
Family
ID=61153830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710962442.8A Withdrawn CN107685211A (en) | 2017-09-28 | 2017-09-28 | A kind of fixture welding robot that joint control is realized based on computer technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107685211A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108311849A (en) * | 2018-04-12 | 2018-07-24 | 江苏锡宇汽车有限公司 | Turbocharger rotor axis special rotary welding bench |
| CN109128086A (en) * | 2018-09-25 | 2019-01-04 | 贵州大学 | A kind of surface deburring device for die casting |
| CN112621795A (en) * | 2020-12-21 | 2021-04-09 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
| CN112621794A (en) * | 2020-12-21 | 2021-04-09 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
| CN112720486A (en) * | 2020-12-21 | 2021-04-30 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
| CN114351770A (en) * | 2021-12-06 | 2022-04-15 | 天津一冶建设工程有限公司 | Water-stopping steel plate installation device and construction method |
-
2017
- 2017-09-28 CN CN201710962442.8A patent/CN107685211A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108311849A (en) * | 2018-04-12 | 2018-07-24 | 江苏锡宇汽车有限公司 | Turbocharger rotor axis special rotary welding bench |
| CN109128086A (en) * | 2018-09-25 | 2019-01-04 | 贵州大学 | A kind of surface deburring device for die casting |
| CN112621795A (en) * | 2020-12-21 | 2021-04-09 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
| CN112621794A (en) * | 2020-12-21 | 2021-04-09 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
| CN112720486A (en) * | 2020-12-21 | 2021-04-30 | 深圳市越疆科技有限公司 | Mechanical arm end effector, control method thereof, mechanical arm and memory |
| CN114351770A (en) * | 2021-12-06 | 2022-04-15 | 天津一冶建设工程有限公司 | Water-stopping steel plate installation device and construction method |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180213 |
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| WW01 | Invention patent application withdrawn after publication |