CN107877053A - A kind of double robot robot welding system - Google Patents
A kind of double robot robot welding system Download PDFInfo
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- CN107877053A CN107877053A CN201711360619.3A CN201711360619A CN107877053A CN 107877053 A CN107877053 A CN 107877053A CN 201711360619 A CN201711360619 A CN 201711360619A CN 107877053 A CN107877053 A CN 107877053A
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- 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
- B23K37/006—Safety devices
-
- 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
- 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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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a kind of double robot robot welding system, including：Fixed feed bin, loading and unloading handling robot system, Double-station welding workbench, welding robot system, control system and welding room.Wherein, fixed feed bin is used to deposit workpiece and workpiece to be added, loading and unloading transfer robot is used for the automatic loading/unloading for realizing workpiece, Double-station welding workbench is arranged between welding room and loading and unloading transfer robot, positioning for realizing workpiece clamps and conversion station, and welding robot system and control system are arranged in welding room.The present invention realizes the functions such as the automatic loading/unloading, automated exchanged cutter, automatic welding of sheet metal box body, and automation degree of equipment is high, accurate positioning, strong adaptability, effectively increases welding efficiency and welding quality；By setting necessary isolating and protecting facility, injury of the welding process to worker can be greatly reduced.
Description
Technical field
The present invention relates to a kind of robot robot welding system, more particularly to a kind of sheet metal box body double robot are automatic
Welding system.
Background technology
Welding refers to, by the means such as heat or pressurize, make weldment reach atom（Molecule）Between combine, formation permanently connect
A kind of processing technology connect.As a kind of important metal working process, the features such as welding so that its connectivity is good, structural strength is high
It is widely used in the fields such as machine-building, petrochemical industry, Aero-Space, but welding quality is by welding procedure, welding material etc.
Have a great influence, the weld defect such as easy cracked, deformation, stomata.
Sheet metal box body has larger demand by the advantage of its light weight, convenient processing and manufacture etc. in manufacturing industry
Amount.Sheet metal box body is carried out using welding robot automatic welding be frequently with a kind of processing mode, but in order to obtain standard
True positioning, need exist for worker and carry out Manual feeding, then Set and Positioning, then the processing by welding robot according to setting
Program carries out automatic welding；And the typically no necessary insulation blocking measure of welding shop, caused noise in welding process,
Radiation and toxic gas etc., great damage is caused to the health of worker.
It can be seen that also there is following defect in current sheet metal box body welding processing：1）It can not realize that full automation produces.Add
Work process stills need manually to participate in loading and unloading and clamping, and welding positioning precision is influenceed by worker's knowhow, production efficiency
Low, labor intensity is big.2）Working environment is severe.Radiation, flue dust, toxic gas etc. seriously endanger workshop work caused by welding process
The physical and mental health of people.
The content of the invention
To overcome problem present in background technology, the present invention provides a kind of sheet metal box body double robot automatic welding
System, it can not only realize the automatic loading/unloading of sheet metal box body welding, be automatically positioned the functions such as clamping, automatic welding, Er Qietong
Cross and necessary isolating and protecting measure is set, significantly reduce injury of the welding process to worker.
The technical solution adopted by the present invention is as follows：
A kind of double robot robot welding system, including fixed feed bin（100）, loading and unloading handling robot system（200）、
Double-station welding workbench（300）, welding robot system（400）, control system（500）And welding room（600）；The fixation
Feed bin（100）For depositing workpiece and workpiece to be added, the loading and unloading handling robot system（200）For in fixed feed bin
（100）With Double-station welding workbench（300）Between carry workpiece and workpiece to be added；The Double-station welding workbench
（300）It is arranged on loading and unloading handling robot system（200）With welding room（600）Between, the Double-station welding workbench
（300）It can rotate horizontally, the welding robot system（400）And control system（500）It is arranged at welding room（600）It is interior.
Preferably, described loading and unloading handling robot system（200）Including loading and unloading transfer robot（201）, peace
Fill flange（202）And gripping apparatus（203）；The loading and unloading transfer robot（201）End is provided with mounting flange（202）, it is described
Mounting flange（202）End is provided with gripping apparatus（203）, the gripping apparatus（203）Mounting base on be provided with vacuum generator and
Sucker, vacuum generator and sucker cooperating, for capturing and moving workpiece or workpiece to be added.
Preferably, the gripping apparatus（203）Mounting base on be provided with for detecting gripping apparatus（203）Whether there is crawl to treat
The sensor of workpiece or workpiece.
Preferably, the fixed feed bin（100）Including feeding bin（101）And blanking bin（102）, the feeding bin
（101）For depositing workpiece to be added, the blanking bin（102）For depositing workpiece.
Preferably, the Double-station welding workbench（300）Including base（301）, turntable（302）, isolation baffle plate
（303）, roll-over table（304）, circular stage（305）, positioning base（306）, clamping cylinder（307）, gripping block（308）It is gentle
Jar support（309）；The turntable（302）It is arranged on base（301）On, the turntable（302）With base（301）It is rotatably connected
So that turntable（302）Can be in base（301）Upper rotation；The isolation baffle plate（303）It is arranged on turntable（302）Middle part；It is described
Turntable（302）Both sides set have roll-over table（304）, the roll-over table（304）It is provided with rotatable circular stage
（305）；The positioning base（306）It is arranged on circular stage（305）On；Clamping cylinder（307）Pass through air cylinder support（309）
It is installed on positioning base（306）Surrounding, clamping cylinder（307）The tight block of cylinder rod end connection clip（308）, gripping block（308）Match somebody with somebody
Close positioning base（306）Complete the positioning and clamping to sheet metal box body.
Preferably, the positioning base（306）It is that master form has according to made of the shape of workpiece to be added, the positioning
Base（306）Circular stage is arranged on by alignment pin（305）On.According to the process requirements of different workpiece to be added, Ke Yipei
The master form tool of different size is put, realizes being accurately positioned to machined part.
Preferably, the turntable（302）Support frame in motor, the roll-over table are installed（304）Middle setting
Have a rotating shaft, motor rotating shaft after decelerator with roll-over table（304）Rotating shaft connection so that roll-over table（304）Can be in turntable
（302）Upper upset；Motor and control system（500）It is connected.
Preferably, the welding robot system（400）Including welding robot（401）, clear rifle device（402）, welding
Power supply（404）With welding gas steel cylinder（403）；The welding robot（401）End is provided with welding gun, wire-feed motor and anticollision
Sensor, the clear rifle device（402）, the source of welding current（404）With welding gas steel cylinder（403）With the welding robot
（401）Connect and be placed on welding robot（401）Around.
Preferably, the control system（500）Including master controller（501）, transfer robot switch board（502）And weldering
Welding robot switch board（503）, the transfer robot switch board（502）For controlling the loading and unloading handling robot system
（200）, welding robot switch board（503）For controlling the welding robot system（400）With Double-station welding workbench
（300）, the transfer robot switch board（502）With welding robot switch board（503）And master controller（501）Connection.
Welding robot system（400）With Double-station welding workbench（300）By welding robot switch board（503）Control, can be with
Realize welding robot system（400）With Double-station welding workbench（300）Between linkage, and then pahtfinder hard can be completed
Welding processing.
Preferably, the welding room（600）Room body by support frame（604）With multiple radiation proof baffle plates（601）Composition,
Smoke Detection sensor is provided with the top of welding room（602）And discharge duct（603）, the welding room（600）Close to welding
Robot（401）Side be provided with door, welding room（600）Close to Double-station welding workbench（300）Side leave opening.
Opening is with being arranged on Double-station welding workbench（300）On isolation baffle plate（303）It is engaged, plays isolating and protecting effect.
The beneficial effects of the invention are as follows：
1st, the present invention effectively increases the automaticity of sheet metal box body welding.A kind of sheet metal box body double provided by the invention
Robot robot welding system, realize the automatic loading/unloading of sheet metal box body welding, be automatically positioned the work(such as clamping, automatic welding
Can, whole without manual intervention, automaticity is high, accurate positioning, and welding quality is high, and production efficiency of equipment is high.
2nd, Double-station welding workbench provided by the invention has stronger flexibility, can realize and join with welding robot
Dynamic control, to meet the process requirements of various complicated welding tracks；Positioning base on Double-station welding workbench can also root
According to the shape and size of different sheet metal box bodies, different master form tools is installed, meet different shape and dimension metal plate casing plus
Work demand, there is stronger adaptability.
3rd, the present invention can effectively reduce injury of the welding processing process to worker.A kind of sheet metal box body provided by the invention is double
Station robot robot welding system, the welding processing process of welding robot is arranged in welding room, and must by setting
The isolating and protecting and waste gas drain facility wanted, significantly reduce injury of the welding process to worker.
Brief description of the drawings
Fig. 1 is the schematic layout pattern of the present invention；
Fig. 2 is the dimensional structure diagram of the present invention；
Fig. 3 is the structural representation of Double-station welding workbench.
Reference numerals list：
In figure, 100- fixes feed bin, 101- feeding bins, 102- blanking bins；200- loading and unloading handling robot system, above and below 201-
Expect transfer robot, 202- mounting flanges, 203- gripping apparatus；300- Double-station weldings workbench, 301- bases, 302- turntables,
303- isolation baffle plates, 304- roll-over tables, 305- circular stages, 306- positioning bases, 307- clamping cylinders, 308- gripping blocks,
309- air cylinder supports；400- welding robot systems, 401- welding robots, 402- clear rifle devices, 403- welding gas steel cylinder,
The 404- sources of welding current；500- control systems, 501- master controllers, 502- transfer robots switch board, 503- welding robot controls
Cabinet processed；600- welding rooms, 601- radiation proofs baffle plate, 602- Smoke Detections sensor, 603- discharge ducts, 604- support frames.
Embodiment
The invention will be further described with reference to the accompanying drawings and detailed description：
As shown in Figure 1, Figure 2 and Figure 3, the present invention includes fixed feed bin 100, loading and unloading handling robot system 200, double weldering
Connect workbench 300, welding robot system 400, control system 500 and welding room 600；Fixed feed bin 100 is to be added for depositing
Workpiece and workpiece, loading and unloading handling robot system 200 be used for fixed feed bin 100 and Double-station welding workbench 300 it
Between carry workpiece and workpiece to be added；Workpiece to be added in this example is sheet metal box body；Double-station welding workbench 300 is arranged on
Between blanking handling robot system 200 and welding room 600, Double-station welding workbench 300 can rotate horizontally, welding robot
System 400 and control system 500 are arranged in welding room 600.
Loading and unloading handling robot system 200 includes loading and unloading transfer robot 201, mounting flange 202 and gripping apparatus 203；
The end of loading and unloading transfer robot 201 is provided with mounting flange 202, and the end of mounting flange 202 is provided with gripping apparatus 203, gripping apparatus 203
Mounting base on be provided with vacuum generator and sucker, vacuum generator and sucker cooperating, for capturing and moving metal plate
Golden casing.
It is provided with the mounting base of gripping apparatus 203 for detecting whether gripping apparatus 203 has the sensor of crawl sheet metal box body.
Fixed feed bin 100 includes feeding bin 101 and blanking bin 102, and feeding bin 101 is used to deposit metal plate case to be processed
Body, blanking bin 102 are used to deposit machined sheet metal box body.Feeding bin 101 and blanking bin 102 are located at loading and unloading respectively in this example
The both sides of handling robot system 200, the specific position of feeding bin 101 and blanking bin 102 can be determined in practice according to actual conditions
Put, as long as ensureing that loading and unloading handling robot system 200 can grab the metal plate placed in feeding bin 101 and blanking bin 102
Casing.
Double-station welding workbench 300 includes base 301, turntable 302, isolation baffle plate 303, roll-over table 304, circular loading
Platform 305, positioning base 306, clamping cylinder 307, gripping block 308 and air cylinder support 309；Turntable 302 is arranged on base 301,
Turntable 302 is rotatably connected with base 301 allows turntable 302 to be rotated on base 301；Isolation baffle plate 303, which is arranged on, to be turned
The middle part of platform 302；The both sides of turntable 302, which are set, roll-over table 304, and roll-over table 304 is provided with rotatable circular stage
305；Positioning base 306 is arranged on circular stage 305；Clamping cylinder 307 is installed on positioning base by air cylinder support 309
306 surroundings, the tight block 308 of cylinder rod end connection clip of clamping cylinder 307, gripping block 308 coordinate positioning base 306 to complete to metal plate
The positioning and clamping of casing.
Positioning base 306 is that master form has according to made of the shape of sheet metal box body, and positioning base 306 is pacified by alignment pin
On circular stage 305.According to the process requirements of different sheet metal box bodies, the master form tool of different size can be configured, it is fixed
The position upper surface of base is engaged with the inner surface of sheet metal box body, realizes and sheet metal box body is accurately positioned.
Motor is installed in the support frame of turntable 302, rotating shaft, motor rotating shaft warp are provided with roll-over table 304
Rotating shaft after decelerator with roll-over table 304 is connected so that roll-over table 304 can be overturn on turntable 302；Motor and control system
System 500 is connected.
Welding robot system 400 includes welding robot 401, clear rifle device 402, the source of welding current 404 and welding gas steel
Bottle 403；The end of welding robot 401 is provided with welding gun, wire-feed motor and anti-collision sensor, clear rifle device 402, the source of welding current 404
And welding gas steel cylinder 403 is connected and is placed on around welding robot 401 with welding robot 401.
Control system 500 includes master controller 501, transfer robot switch board 502 and welding robot switch board 503,
Transfer robot switch board 502 is used to control loading and unloading handling robot system 200, and welding robot switch board 503 is used to control
Welding robot system 400 and Double-station welding workbench 300 processed, transfer robot switch board 502 and welding robot control
Cabinet 503 is connected with master controller 501.Welding robot system 400 and Double-station welding workbench 300 are by welding robot
Switch board 503 controls, it is possible to achieve the linkage between welding robot system 400 and Double-station welding workbench 300, Jin Erke
To complete the welding processing of pahtfinder hard.Specifically, welding robot switch board 503 in Double-station welding workbench 300 with driving
The motor of dynamic roll-over table is connected, and so as to control the upset of roll-over table, welding robot switch board 503 can also control weldering
Welding robot 401 and circular stage 305, welding robot 401, roll-over table 304 and circular stage 305 in welding process
Cooperated motion, and weld job is completed along welding track with optimal welding posture.
The room body of the welding room 600 is made up of support frame 604 and multiple radiation proof baffle plates 601, is set at the top of welding room
Smoke Detection sensor 602 and discharge duct 603 are equipped with, the welding room 600 is provided with room close to the side of welding robot 401
Door, welding room 600 leave opening close to the side of Double-station welding workbench 300.Opening installed in Double-station welding with working
Isolation baffle plate 303 on platform 300 is engaged, and plays isolating and protecting effect.
The specific implementation process of the present invention is as follows：
1）The instruction that loading and unloading transfer robot 201 transmits according to transfer robot switch board 502, gripping apparatus 203 is moved into feeding
Directly over storehouse 101, declining and sucker is contacted with sheet metal box body surface, vacuum generator work, sucker picks up sheet metal box body, on
Sheet metal box body is transported to the top of positioning base 306 of Double-station welding workbench 300 by blanking transfer robot 201, declines simultaneously
The upper surface of positioning base 306 and the inner surface of sheet metal box body is just coordinated, complete the positioning to sheet metal box body；
2）Four clamping cylinders 307 on air cylinder support 309 act simultaneously, promote four of the compression sheet metal box body of gripping block 308
Side so that side contacts with each other to form four sides to be welded two-by-two, completes the clamping to sheet metal box body；
3）The sucker of loading and unloading transfer robot 201 unclamps, and gripping apparatus 203 moves up the top for retreating to positioning base 306, waits next
Road manufacturing procedure；
4）The turntable 302 of Double-station welding workbench 300 rotates 180 °, the conversion of station is completed, by the next metal plate of locating clip
Casing is delivered in welding room 600；At the same time, the loading and unloading transfer robot 201 outside welding room 600 repeats above-mentioned 1）、2）With
3）In action, complete the feeding operation of next sheet metal box body welding；
5）The instruction that welding robot 401 transmits according to welding robot switch board 503, welding gun is moved into commissure and starts to weld
Operation is connect, welding robot 401, roll-over table 304 and circular stage 305, which cooperate, in welding process moves, with optimal
Welding posture along welding track complete weld job；After the welding for completing first weld seam, the welding gun of welding robot 401 moves back
To the top of sheet metal box body, after circular stage 305 rotates to an angle, the welding starting point of Article 2 weld seam is found, repeat the
The weld job of one weld seam completes the welding of Article 2 weld seam；By that analogy, welding robot is sequentially completed Article 3 and
The weld job of four weld seams；
6）In welding process, after the Smoke Detection sensor 602 on the roof of welding room 600 detects smog caused by welding process,
Control system sends instruction immediately, and the scavenger fan on discharge duct 603 is opened, and starts to discharge waste gas；
7）After the completion of welding, Double-station welding workbench 300 rotates 180 °, and the sheet metal box body after welding is delivered to outside welding room,
Loading and unloading transfer robot 201 in state undetermined moves down gripping apparatus 203, and sucker holds the sheet metal box body after processing, up and down
Material transfer robot 201 is moved it at blanking bin 102, and stacking successively；
8）When needing to process the sheet metal box body of different shape and size, the gripping apparatus 203 of loading and unloading transfer robot 201 can be passed through
Positioning base 306 on circular stage 305 is removed, recycles loading and unloading transfer robot 201 to have required master form
It is reinstalled.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned embodiment, in addition to
Formed technical scheme is combined by above technical characteristic.It should be pointed out that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of double robot robot welding system, it is characterised in that including fixed feed bin（100）, loading and unloading carrying implement
Device people's system（200）, Double-station welding workbench（300）, welding robot system（400）, control system（500）And welding room
（600）；The fixed feed bin（100）For depositing workpiece and workpiece to be added, the loading and unloading handling robot system（200）
For in fixed feed bin（100）With Double-station welding workbench（300）Between carry workpiece and workpiece to be added；The double
Welding bench（300）It is arranged on loading and unloading handling robot system（200）With welding room（600）Between, the double weldering
Connect workbench（300）It can rotate horizontally, the welding robot system（400）And control system（500）It is arranged at welding room
（600）It is interior.
2. double robot as claimed in claim 1 robot welding system, it is characterised in that described loading and unloading carrying implement
Device people's system（200）Including loading and unloading transfer robot（201）, mounting flange（202）And gripping apparatus（203）；The loading and unloading are removed
Transport robot（201）End is provided with mounting flange（202）, the mounting flange（202）End is provided with gripping apparatus（203）, institute
State gripping apparatus（203）Mounting base on be provided with vacuum generator and sucker.
3. double robot as claimed in claim 2 robot welding system, it is characterised in that the gripping apparatus（203）Peace
It is provided with dress bottom plate for detecting gripping apparatus（203）Whether the sensor that captures to be added workpiece or workpiece is had.
4. double robot as claimed in claim 1 robot welding system, it is characterised in that the fixed feed bin（100）
Including feeding bin（101）And blanking bin（102）, the feeding bin（101）For depositing workpiece to be added, the blanking bin（102）
For depositing workpiece.
5. double robot as claimed in claim 1 robot welding system, it is characterised in that the Double-station welding work
Platform（300）Including base（301）, turntable（302）, isolation baffle plate（303）, roll-over table（304）, circular stage（305）, positioning
Base（306）, clamping cylinder（307）, gripping block（308）And air cylinder support（309）；The turntable（302）It is arranged on base
（301）On, the turntable（302）With base（301）It is rotatably connected so that turntable（302）Can be in base（301）Upper rotation；
The isolation baffle plate（303）It is arranged on turntable（302）Middle part；The turntable（302）Both sides set have roll-over table（304）,
The roll-over table（304）It is provided with rotatable circular stage（305）；The positioning base（306）It is arranged on circular loading
Platform（305）On；Clamping cylinder（307）Pass through air cylinder support（309）It is installed on positioning base（306）Surrounding, clamping cylinder（307）
The tight block of cylinder rod end connection clip（308）.
6. double robot as claimed in claim 5 robot welding system, it is characterised in that the positioning base（306）
It is that master form has according to made of the shape of workpiece to be added, the positioning base（306）Circular loading is arranged on by alignment pin
Platform（305）On.
7. double robot as claimed in claim 5 robot welding system, it is characterised in that the turntable（302）Branch
Motor, the roll-over table are installed in support（304）In be provided with rotating shaft, motor rotating shaft after decelerator with upset
Platform（304）Rotating shaft connection so that roll-over table（304）Can be in turntable（302）Upper upset；Motor and the control system
（500）It is connected.
8. double robot as claimed in claim 1 robot welding system, it is characterised in that the welding robot system
（400）Including welding robot（401）, clear rifle device（402）, the source of welding current（404）With welding gas steel cylinder（403）；The weldering
Welding robot（401）End is provided with welding gun, wire-feed motor and anti-collision sensor, the clear rifle device（402）, the source of welding current
（404）With welding gas steel cylinder（403）With the welding robot（401）Connection.
9. double robot as claimed in claim 1 robot welding system, it is characterised in that the control system（500）
Including master controller（501）, transfer robot switch board（502）With welding robot switch board（503）, the transfer robot
Switch board（502）For controlling the loading and unloading handling robot system（200）, welding robot switch board（503）For controlling
Welding robot system processed（400）With Double-station welding workbench（300）, the transfer robot switch board（502）And welding
Robot control cabinet（503）And master controller（501）Connection.
10. double robot as claimed in claim 1 robot welding system, it is characterised in that the welding room（600）'s
Room body is by support frame（604）With multiple radiation proof baffle plates（601）Form, Smoke Detection sensor is provided with the top of welding room
（602）And discharge duct（603）, the welding room（600）Close to welding robot（401）Side be provided with door, welding room
（600）Close to Double-station welding workbench（300）Side leave opening.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711360619.3A CN107877053A (en) | 2017-12-18 | 2017-12-18 | A kind of double robot robot welding system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711360619.3A CN107877053A (en) | 2017-12-18 | 2017-12-18 | A kind of double robot robot welding system |
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| CN107877053A true CN107877053A (en) | 2018-04-06 |
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| CN109759735A (en) * | 2019-03-04 | 2019-05-17 | 中车长江车辆有限公司 | Assembly-welding device and assembly welding method |
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| CN110216404A (en) * | 2019-06-18 | 2019-09-10 | 恒元(武汉)医学科技股份有限公司 | A kind of medical instrument welder that welding effect is good |
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| CN112676758A (en) * | 2021-01-07 | 2021-04-20 | 诺力智能装备股份有限公司 | High-efficient welding equipment suitable for stand |
| CN112775574A (en) * | 2021-01-11 | 2021-05-11 | 中建科技集团有限公司 | Robot system for fully automatically welding steel members and use method thereof |
| CN112775577A (en) * | 2021-01-11 | 2021-05-11 | 中建科技集团有限公司 | Production line for automatically welding steel structure and use method thereof |
| CN113134698A (en) * | 2021-05-10 | 2021-07-20 | 晋江荣达机械有限公司 | High efficiency and safe operation's automatic weld manipulator |
| CN113305457A (en) * | 2021-04-25 | 2021-08-27 | 常州大学怀德学院 | Method for welding battery tray by using robot CMT and FSW technologies |
| CN114346525A (en) * | 2020-10-12 | 2022-04-15 | 太原科技大学 | Automatic welding production line and control system and flow thereof |
| CN114789321A (en) * | 2022-05-17 | 2022-07-26 | 无锡德刚精工机电设备有限公司 | Welding support, welding system and welding method for welding box body |
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| CN115106670A (en) * | 2022-08-12 | 2022-09-27 | 宝鸡合力叉车有限公司 | Automatic assembling and welding system and welding method for fork frame robot |
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| CN108994471A (en) * | 2018-07-03 | 2018-12-14 | 合肥亿力机械制造有限公司 | A kind of welding robot automatic control device |
| CN111203743A (en) * | 2018-11-21 | 2020-05-29 | 发纳科美国公司 | Continuous machining using robot table tracking of fixtures |
| CN111203743B (en) * | 2018-11-21 | 2023-05-16 | 发纳科美国公司 | Continuous machining with robotic table tracking of clamps |
| CN109500529A (en) * | 2018-11-27 | 2019-03-22 | 重庆延锋安道拓锋奥汽车部件系统有限公司 | Angle adjustor welding tooling system |
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| CN109759735A (en) * | 2019-03-04 | 2019-05-17 | 中车长江车辆有限公司 | Assembly-welding device and assembly welding method |
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| CN109940317A (en) * | 2019-04-23 | 2019-06-28 | 浙江大学昆山创新中心 | A kind of middle-size and small-size electric cabinet robot welding system |
| CN110216404A (en) * | 2019-06-18 | 2019-09-10 | 恒元(武汉)医学科技股份有限公司 | A kind of medical instrument welder that welding effect is good |
| CN110340544A (en) * | 2019-07-26 | 2019-10-18 | 华工法利莱切焊系统工程有限公司 | A kind of three-dimensional five axis laser cutting machines of planer-type |
| CN110681993A (en) * | 2019-08-19 | 2020-01-14 | 柯马(上海)工程有限公司 | Intelligent flexible laser welding station |
| CN111151906A (en) * | 2019-12-30 | 2020-05-15 | 苏州贸贝特自动化科技有限公司 | Compressor assembly welding production line and control method |
| CN114346525A (en) * | 2020-10-12 | 2022-04-15 | 太原科技大学 | Automatic welding production line and control system and flow thereof |
| CN112658519A (en) * | 2021-01-04 | 2021-04-16 | 东风柳州汽车有限公司 | Welding production line and production process |
| CN112676758A (en) * | 2021-01-07 | 2021-04-20 | 诺力智能装备股份有限公司 | High-efficient welding equipment suitable for stand |
| CN112775577A (en) * | 2021-01-11 | 2021-05-11 | 中建科技集团有限公司 | Production line for automatically welding steel structure and use method thereof |
| CN112775574A (en) * | 2021-01-11 | 2021-05-11 | 中建科技集团有限公司 | Robot system for fully automatically welding steel members and use method thereof |
| CN112775577B (en) * | 2021-01-11 | 2024-02-20 | 中建科技集团有限公司 | Production line for automatically welding steel structure and application method thereof |
| CN112775574B (en) * | 2021-01-11 | 2024-02-20 | 中建科技集团有限公司 | Robot system for full-automatic welding of steel members and application method of robot system |
| NL2027455B1 (en) * | 2021-01-29 | 2022-09-02 | Valk Welding B V | Welding system |
| CN113305457A (en) * | 2021-04-25 | 2021-08-27 | 常州大学怀德学院 | Method for welding battery tray by using robot CMT and FSW technologies |
| CN113134698A (en) * | 2021-05-10 | 2021-07-20 | 晋江荣达机械有限公司 | High efficiency and safe operation's automatic weld manipulator |
| CN114789321A (en) * | 2022-05-17 | 2022-07-26 | 无锡德刚精工机电设备有限公司 | Welding support, welding system and welding method for welding box body |
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| CN116237619A (en) * | 2023-03-28 | 2023-06-09 | 威海邦德散热系统股份有限公司 | Automatic welding workstation and welding process for automobile heat exchanger |
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