CN109014505A - A kind of robot welding system - Google Patents
A kind of robot welding system Download PDFInfo
- Publication number
- CN109014505A CN109014505A CN201811022807.XA CN201811022807A CN109014505A CN 109014505 A CN109014505 A CN 109014505A CN 201811022807 A CN201811022807 A CN 201811022807A CN 109014505 A CN109014505 A CN 109014505A
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- China
- Prior art keywords
- welding
- robot
- wire
- fixedly connected
- displacement device
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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
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
-
- 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
- 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
- B23K37/047—Auxiliary 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
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Abstract
The present invention relates to technical fields of mechanical processing, it is desirable to provide a kind of robot welding system.Robot welding system provided by the invention includes welding robot, displacement device and controller, and welding robot and displacement device, which are controlled with controller, to be connected.Displacement device includes fuselage, elevating mechanism and swing mechanism, and swing mechanism is gone up and down under the drive of elevating mechanism, and workpiece is fixedly connected on swing mechanism, and can rotate predetermined angle under the drive of swing mechanism, so that workpiece be made to be in different Working positions.Displacement device is oppositely arranged with welding robot, and workpiece is between displacement device and welding robot.Welding mechanism is fixedly connected on welding robot, welding mechanism welds workpiece under the drive of welding robot everywhere, realizes automatic welding.It is easy to use, welding efficiency is high, welding effect is good.
Description
Technical field
The present invention relates to technical fields of mechanical processing, in particular to a kind of robot welding system.
Background technique
Welding be it is a kind of combine metal or other thermoplastic materials (such as plastics) in a manner of heating, high temperature or high pressure
Manufacturing process and technology, in field of machining, workpieces processing is widely used by welding.
But in the prior art, it mostly uses greatly when welding and manually carries out, not only welding efficiency is low, but also the skill of worker
Art level, working condition etc. generate certain influence, large labor intensity, the high production cost of worker to welding effect.
Summary of the invention
The purpose of the present invention includes providing a kind of robot welding system, to improve human weld's efficiency in the prior art
Problem low, effect is poor.
The embodiment of the present invention is achieved in that
A kind of robot welding system comprising welding robot, displacement device and controller；Controller and welding robot
It controls and connects with displacement device；Displacement device includes fuselage, elevating mechanism and swing mechanism, and elevating mechanism is for driving turn-around machine
Structure lifting；, workpiece is fixedly connected on swing mechanism, for driving workpiece to rotate predetermined angle, so that workpiece is different
Working position；Displacement device is oppositely arranged with welding robot, and welding robot is fixedly connected with welding mechanism, welding robot
For driving welding mechanism to weld workpiece.
In one embodiment of the invention:
Above-mentioned robot welding system further includes wire feeder, and wire feeder includes wire feeding disc, wire-feeding pipe and wire feeder；
Wire feeding disc is fixedly connected on the pedestal of welding robot；Wire feeder is fixedly connected on the mechanical arm of welding robot, is used
In welding wire is sent into welding mechanism；The both ends of wire-feeding pipe are connect with wire feeding disc and wire feeder respectively, for by welding wire from wire feed
Disk is sent into wire-feed motor.
In one embodiment of the invention:
Above-mentioned robot welding system further includes wire shearing machine, and welding wire of the wire shearing machine at butt welding machine structure is trimmed.
In one embodiment of the invention:
Above-mentioned welding robot is provided with displacement sensor close to one end of welding mechanism.
In one embodiment of the invention:
Above-mentioned elevating mechanism includes driving mechanism and sliding support；Driving mechanism includes driving motor and screw rod, driving electricity
Machine is fixedly connected with fuselage, for driving screw rod to rotate；Screw rod is spirally connected with sliding support, for driving sliding support to go up and down；It is sliding
Dynamic bracket is fixedly connected with swing mechanism.
In one embodiment of the invention:
It is provided with the first guiding mechanism on above-mentioned sliding support, the second guiding mechanism, the first Guiding machine are provided on fuselage
Structure is slidably engaged with the second guiding mechanism.
In one embodiment of the invention:
Above-mentioned second guiding mechanism includes the square rail being fixedly connected on fuselage；First guiding mechanism is led including first
To wheel assembly, the second guide wheel assemblies and third guide wheel assemblies, the first guide wheel assemblies, the second guide wheel assemblies and third are led
It is connect to wheel assembly with sliding support；First guide wheel assemblies, the second guide wheel assemblies and third guide wheel assemblies respectively with
Three sides of square rail slideably abut.
In one embodiment of the invention:
Above-mentioned swing mechanism includes rotary disk and positioning mechanism, and rotary disk is rotatably coupled with elevating mechanism, positioning
Mechanism is fixedly connected with elevating mechanism；Multiple location holes, positioning mechanism and location hole separably grafting are provided on rotary disk；
Positioning mechanism and different location hole grafting, for making workpiece be fixed on different Working positions.
In one embodiment of the invention:
Above-mentioned displacement device further includes connecting bracket, and positioning pin and at least two clamp systems are arranged on swing mechanism；Even
It connects and offers pin hole on bracket, positioning pin and pin hole are cooperatively connected；It is formed between at least two clamp systems for accommodating connection
The clamping space of bracket, at least two clamp systems are separably abutted with connecting bracket.
In one embodiment of the invention:
Above-mentioned displacement device further includes balance mechanism；Balance mechanism includes balance weight, support base and connecting rope；Connecting rope
Both ends are fixedly connected with balance weight and elevating mechanism respectively；Support base is fixedly connected on fuselage, is used to support connecting rope.
The beneficial effect of the embodiment of the present invention includes:
The welding system that the embodiment of the present invention provides comprising welding robot, displacement device and controller, bonding machine
Device people and displacement device, which are controlled with controller, to be connected.Displacement device includes fuselage, elevating mechanism and swing mechanism, swing mechanism
It is gone up and down under the drive of elevating mechanism, workpiece is fixedly connected on swing mechanism, and can be rotated under the drive of swing mechanism
Predetermined angle, so that workpiece be made to be in different Working positions.Displacement device is oppositely arranged with welding robot, and workpiece is located at
Between displacement device and welding robot.Welding mechanism is fixedly connected on welding robot, welding mechanism is in welding robot
Drive under workpiece is welded everywhere.In use, operator controls Working position locating for workpiece by controller, and control
Welding robot drives welding mechanism to move to place to be welded, realizes automatic welding.It is easy to use, welding efficiency is high, welding effect
Fruit is good.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the overall structure diagram for the robot welding system that the embodiment of the present invention 1 provides；
The structural schematic diagram of displacement device in the robot welding system that Fig. 2 provides for the embodiment of the present invention 1；
The structural schematic diagram of sliding support in the robot welding system that Fig. 3 provides for the embodiment of the present invention 1；
The schematic diagram of internal structure of displacement device in the robot welding system that Fig. 4 provides for the embodiment of the present invention 1；
The structural schematic diagram of swing mechanism in the robot welding system that Fig. 5 provides for the embodiment of the present invention 1.
Icon: 010- robot welding system；100- welding robot；110- mechanical arm；111- displacement sensor；120- machine
Device people's control mechanism；210- controller；220- wire feeder；221- wire feeding disc；222- wire feed hanger；230- wire shearing machine；241-
Plumb joint；The 242- source of welding current；243- cooling water tank；244- protects gas tank；300- displacement device；310- fuselage；311- is rectangular
Guide rail；320- elevating mechanism；321- driving motor；322- shaft coupling；323- screw rod；324- connecting support；325- sliding support；
326- attachment base；The first guide wheel assemblies of 327-；The second guide wheel assemblies of 328-；329- third guide wheel assemblies；330- revolution
Mechanism；331- positioning mechanism；332- revolving platform；333- servo motor；334- worm screw；335- clamp system；336- positioning pin；
337- connecting plate；340- connecting bracket；350- balance mechanism；351- balance weight；352- connecting rope；353- support base；354- is led
To bar.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the embodiment of the present invention, it should be noted that term " first ", " second " etc. are only used for distinguishing and retouch
It states, is not understood to indicate or imply relative importance.
Embodiment 1
Fig. 1 is the overall structure diagram of robot welding system 010 provided in this embodiment.Please refer to Fig. 1, the present embodiment
There is provided a kind of robot welding system 010 comprising welding robot 100, displacement device 300 and controller 210, welding robot
100 and displacement device 300 with controller 210 control connect.Displacement device 300 includes fuselage 310, elevating mechanism 320 and returns
Rotation mechanism 330, swing mechanism 330 are gone up and down under the drive of elevating mechanism 320, and workpiece is fixedly connected on swing mechanism 330, and
Predetermined angle can be rotated under the drive of swing mechanism 330, so that workpiece be made to be in different Working positions.Displacement device
300 are oppositely arranged with welding robot 100, and workpiece is between displacement device 300 and welding robot 100.Welding robot
Welding mechanism is fixedly connected on people 100, welding mechanism welds workpiece under the drive of welding robot 100 everywhere.
In use, operator controls Working position locating for workpiece by controller 210, and controls welding robot 100 and drive bonding machine
Structure moves to place to be welded, realizes automatic welding.
Robot welding system 010 provided in this embodiment is further described below:
Please continue to refer to Fig. 1, in the present embodiment, robot welding system 010 includes controller 210, welding robot
100, welding mechanism and displacement device 300.Controller 210, welding robot 100 and displacement device 300 are successively spaced setting, make
Used time, operator station control displacement device 300 in side of the controller 210 far from welding robot 100, by controller 210
Lifting, revolution and welding robot 100 movement, welding mechanism under the drive of welding robot 100 to displacement fill
The workpiece clamped on 300 is set to be welded.
In the present embodiment, welding robot 100 includes mechanical arm 110 and the machine with the control connection of mechanical arm 110
People's control mechanism 120, mechanical arm 110 are moved under the control of robot control mechanism 120.Robot control mechanism 120
It is electrically connected with controller 210, operator, which presses releasing the button on controller 210, can be such that robot control mechanism 120 controls
Robotic arm is moved to suitable welding position.Robot control mechanism 120 and controller 210 are placed on jointly on electronic box pedestal；
Mechanical arm 110 is fixedly connected on the base.Further, it is also fixedly connected in mechanical arm 110 close to one end of plumb joint 241
Displacement sensor 111, displacement sensor 111 are electrically connected with robot control mechanism 120.Preferably, displacement sensor 111 is sharp
Optical displacement sensor 111.
In the present embodiment, welding mechanism includes plumb joint 241 and the source of welding current 242.Plumb joint 241 is fixedly connected on machine
110 front end of tool arm, the source of welding current 242 are electrically connected with plumb joint 241, are subjected to provide satisfaction use for plumb joint 241
The electric current of demand.The source of welding current 242 is placed on welding tractor, can according to demand, by pushing trolley, to the source of welding current 242
Specific location be laid out.Further, welding mechanism further includes protection gas tank 244, and protection gas tank 244 is used to be plumb joint
241 welding provides protection gas.Preferably, protection gas bag includes the argon gas of mass fraction 98% and the oxygen group of mass fraction 2%
At gaseous mixture.Further, welding mechanism further includes cooling water tank 243, and plumb joint 241 is water cooled welding torch, cooling water tank 243
For providing cooling water with plumb joint 241.Cooling water tank 243 is placed on welding tractor together with the source of welding current 242.
In the present embodiment, robot welding system 010 further includes wire feeder 220.Wire feeder 220 includes wire feeding disc
221, wire-feeding pipe (not shown go out) and wire feeder (not shown out).Wire feeding disc 221 is fixedly connected on the pedestal of mechanical arm 110
On, in use, being placed on wire reel is discoid in wire feeding disc 221.The both ends of wire-feeding pipe respectively with wire feeding disc 221 and wire-feed motor
Structure is fixedly connected, and welding wire is threaded through in wire-feeding pipe, and is imported into wire feeder.Wire feeder is arranged above mechanical arm 110.It send
Silk mechanism includes motor, driving wheel and driven wheel, and motor drives driving wheel rotation, welding wire setting driving wheel and driven wheel it
Between, it is fed forward under the action of frictional force, so that welding wire is automatically fed into plumb joint 241.Further, wire feeder
220 further include wire feed hanger 222, and wire-feeding pipe is fixed on wire feed hanger 222.
In the present embodiment, robot welding system 010 further includes wire shearing machine 230.Wire shearing machine 230 is arranged in mechanical arm 110
Side.When the welding is completed, plumb joint 241 is moved at wire shearing machine 230 in the drive of mechanical arm 110, butt joint 241
The welding wire at place is sheared, and guarantees the welding quality of welding next time.
Fig. 2 is the structural schematic diagram of displacement device 300 in robot welding system 010 provided in this embodiment.Please refer to figure
2, in the present embodiment, displacement device 300 includes fuselage 310, elevating mechanism 320 and swing mechanism 330.Elevating mechanism 320 is used
In driving swing mechanism 330 to go up and down, it is fixedly connected with workpiece to be welded on swing mechanism 330, workpiece is in swing mechanism 330
Lower rotation predetermined angle is driven, so that workpiece is in different Working positions.
In the present embodiment, elevating mechanism 320 includes driving mechanism and sliding support 325.Driving mechanism includes driving machine
Structure includes driving motor 321 and screw rod 323.Driving motor 321 is fixedly connected on 310 top of fuselage, the output shaft of driving mechanism
It is rotatablely connected across 310 upper surface of fuselage and screw rod 323, so that screw rod 323 be driven to rotate.Lead between screw rod 323 and output shaft
Cross the transmission connection of shaft coupling 322.Further, driving mechanism further includes two connecting supports being fixedly connected on fuselage 310
324, two connecting supports 324 are located at the upper and lower ends of screw rod 323, pass through bearing between connecting support 324 and screw rod 323
It is rotatably coupled, to keep the stability of screw rod 323 more preferable.Further, between driving motor 321 and shaft coupling 322 also
It is provided with speed reducer.
Fig. 3 is the structural schematic diagram of sliding support 325 in robot welding system 010 provided in this embodiment.Please refer to figure
3, in the present embodiment, the substantially direction frame class formation of sliding support 325 is fixedly connected in the upper end of sliding support 325
Attachment base 326 offers threaded hole, screw rod 323 and the screw hole on attachment base 326, when screw rod 323 is in driving motor
When rotating under 321 drive, attachment base 326 drive sliding support 325 along displacement device 300 short transverse up and down reciprocatingly
Sliding.Meanwhile the first guiding mechanism is provided on sliding support 325, and it is provided with the second guiding mechanism on fuselage 310, first
Guiding mechanism is slidably engaged with the second guiding mechanism, make sliding support 325 along 300 short transverse of displacement device sliding more
Add steady, reliable.Further, the quantity of the first guiding mechanism is two, and two the first guiding mechanisms are connected to sliding
Bracket 325 is along the both ends of 300 width direction of displacement device；The quantity of second guiding mechanism is two, two the second guiding mechanisms
Fuselage 310 is connected to along the both ends of 300 width direction of displacement device；Two the first guiding mechanisms are led with two second respectively
It is slidably engaged to mechanism, to further increase sliding reliability.
Further, the first guiding mechanism includes that the first guide wheel assemblies 327, the second guide wheel assemblies 328 and third are led
To wheel assembly 329, the first guide wheel assemblies 327, the second guide wheel assemblies 328 and third guide wheel assemblies 329 are propped up with sliding
Frame 325 is fixedly connected.Second guiding mechanism includes square rail 311, and square rail 311 is cuboid, along fuselage 310
Short transverse setting.The tool of square rail 311 is there are four side plate, and one of side is fixedly connected on fuselage 310, the other three
Side respectively with the directive wheel of the first guide wheel assemblies 327, the directive wheel of the second guide wheel assemblies 328 and third guide wheel assemblies
329 directive wheel slideably abuts, so that square rail 311 be made to be fastened on the first guide wheel assemblies 327, the second guide wheel group
Part 328 and third guide wheel assemblies 329 are enclosed and are set in the accommodating chamber to be formed.When sliding support 325 is in the drive lower edge of driving mechanism
When the short transverse sliding of displacement device 300, directive wheel slides on the side of square rail 311, not only has good lead
To effect, facilitates the sliding reliability for promoting sliding support 325, and frictional resistance is small, slide more smooth, using effect
It is good.
Further, the quantity of the first guide wheel assemblies 327 is two, two the first guide wheel assemblies 327 interval settings
In the upper and lower ends of sliding support 325；The quantity of second guide wheel assemblies 328 is two, between two the second guide wheel assemblies 328
Every the upper and lower ends that sliding support 325 is arranged in；The quantity of third guide wheel assemblies 329 is two, two third guide wheel groups
Part 329 is arranged at intervals on the upper and lower ends of sliding support 325.It should be noted that herein not to the first guide wheel assemblies 327,
The quantity of second guide wheel assemblies 328 and third guide wheel assemblies 329 is limited, it is possible to understand that, in other embodiments,
It can also be specific that first guide wheel assemblies 327, the second guide wheel assemblies 328 and third directive wheel are set according to the demand of user
The quantity of component 329, such as by the first guide wheel assemblies 327, the second guide wheel assemblies 328 and third guide wheel assemblies 329
Quantity is set as three etc..
Fig. 4 is the schematic diagram of internal structure of displacement device 300 provided in this embodiment.Referring to figure 4., in the present embodiment
In, displacement device 300 further includes balance mechanism 350.Balance mechanism 350 includes balance weight 351, support base 353 and connecting rope
352.The both ends of connecting rope 352 are fixedly connected with balance weight 351 and sliding support 325 respectively, and support base 353 is fixedly connected on machine
310 upper surface of body, is used to support connecting rope 352, further, pulley, pulley and support base 353 is provided on support base 353
It is rotatably coupled.Circumferencial direction setting along pulley is fluted, and connecting rope 352 is fastened in the groove.When sliding support 325
When rising or falling under the drive of driving mechanism, since the length of connecting rope 352 is constant, balance weight 351 is correspondingly being connected
It is down or up under the action of rope 352.Further, balance mechanism 350 further includes guide rod 354, and the lower end of guide rod 354 is solid
Surely it is connected to 310 inner bottom surface of fuselage.Through-hole is offered in balance weight 351, guide rod 354 is threaded through in through-hole, with balance weight 351
It is slidably connected, guarantees that balance weight 351 can be slided smoothly along the vertical direction.Further, the number of support base 353
Amount is two, and two fulcrum bearings are respectively fixedly connected in the two sides of driving motor 321；The quantity of connecting rope 352 is two, two
Connecting rope 352 is separately positioned on the both ends of sliding support 325 in the width direction.Preferably, connecting rope 352 is wirerope.
Fig. 5 is the structural schematic diagram of swing mechanism 330 in displacement device 300 provided in this embodiment.Referring to figure 5., exist
In the present embodiment, swing mechanism 330 includes rotary disk.Specifically, rotary disk includes revolving platform 332 and connecting plate 337.Revolving platform
332 are rotatably connected on sliding support 325, and connecting plate 337 is fixedly connected on revolving platform 332 far from sliding support 325
One end.Rotary disk further includes the servo motor 333 and worm screw 334 for driving revolving platform 332 to rotate, worm screw 334 and servo electricity
Machine 333 is sequentially connected, and can rotate in the drive of servo motor 333 along the axis of itself.Revolving platform 332 is provided circumferentially about snail
Tooth, worm screw 334 engage with wrom tooth, so that revolving platform 332 be made to rotate along the axis of its own.
Further, swing mechanism 330 further includes positioning mechanism 331, and in the present embodiment, positioning mechanism 331 includes the
One pneumatic mechanism and shank.First pneumatic mechanism is fixedly connected on sliding support 325, axis and the revolving platform 332 of shank
Axis is parallel.Location hole is offered on connecting plate 337, shank can be sliding along its axis direction under the action of the first pneumatic mechanism
It is dynamic, to make to realize positioning in shank insertion location hole, or so that shank is separated the second connecting plate 337 with location hole and turning round
It is rotated under the action of platform 332.Further, the quantity of location hole is four, and four location holes are uniform along the axis of revolving platform 332
It is distributed on the second connecting plate 337, the angle between two location holes of arbitrary neighborhood is 90 °.In this way, when positioning mechanism 331 with
When different location hole grafting, station locating for workpiece is different, in order to be able to process to the different location of workpiece.Into one
Step, the quantity of positioning mechanism 331 is two, and two positioning mechanisms 331 can mention simultaneously with two opposite location hole grafting
Rise locating effect.
It should be noted that in the present embodiment, the quantity of location hole is four, the angle between two neighboring location hole is
90 °, it is possible to understand that, it in other embodiments, can also according to the demand of user, the specific quantity that location hole is set, and
Angle between adjacent positioned hole, such as 3 are set by the quantity of location hole, the angle between adjacent positioned hole is set as
120 ° etc., it can satisfy process requirements.
Further, displacement device 300 further includes connecting bracket 340, and connecting bracket 340 is substantially in cross-shaped structure.Even
Fishplate bar 337 is connected with clamp system 335 far from the side of revolving platform 332, and two clamp systems 335 are along the second connecting plate 337
The setting of short transverse relative spacing, forms the clamping space for accommodating connecting bracket 340.Specifically, clamp system 335 includes
Second pneumatic mechanism and gripping block, gripping block are able to carry out sliding under the driving of the second pneumatic mechanism, until gripping block is separate
One end of second pneumatic mechanism is abutted with the end face of the first plate, by the collective effect of two gripping blocks, by connecting bracket 340
It is clamped on connecting plate 337.Further, positioning pin 336 is additionally provided on connecting plate 337, be provided in connecting bracket 340 with
The pin hole that positioning pin 336 matches, positioning pin 336 are inserted into pin hole, realize the precise positioning of connecting bracket 340.Preferably, fixed
The quantity of position pin 336 is two, and the quantity of pin hole is two, and two positioning are plugged on respectively in two pin holes, make connecting bracket
340 positioning is more accurate.Further, connecting bracket 340 further includes clamp connection, clamp connection can be clamped with
The fixture of workpiece is detachably connected.
The robot welding system 010 provided in the embodiment of the present invention, in use, workpiece and fixture are fixedly connected on one
It rises, and is fixedly connected on displacement device 300 by clamp connection.After the completion of determining workpiece connection, opened by controller 210
Dynamic robot welding system 010 starts to weld.For 300 automatic lifting of displacement device to welding and assembling height, welding robot 100 receives weldering
Signal is connect, drives plumb joint 241 mobile, workpiece is welded.It is welded after one side, displacement device 300 rises and passes through
Swing mechanism 330 drives workpiece to rotate 90 °, drops to welding position, and welding robot 100 drives plumb joint 241 to weld, so weight
After the completion of work return to work until four faces of workpiece are welded, displacement device 300 drives workpiece to be moved to initial position, welding knot
Beam.It should be noted that in the present embodiment, workpiece is rectangular cabinet body.
The robot welding system 010 that the embodiment of the present invention provides, easy to operate, high degree of automation, welding efficiency be high,
Welding effect is good.And displacement device 300 drives lifting by screw rod 323, and lifting is steady, and is provided with the first guide wheel assemblies
327, the second guide wheel assemblies 328 and third guide wheel assemblies 329 are in rolling contact with three sides of square rail 311 respectively,
Guiding is steady.Swing mechanism 330 is provided with positioning mechanism 331, ensure that the position precision of workpiece in the welding process, facilitates
Improve welding precision.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of robot welding system characterized by comprising
Welding robot, displacement device and controller；The controller and the welding robot and the displacement device control
Connection；The displacement device includes fuselage, elevating mechanism and swing mechanism, and the elevating mechanism is for driving the swing mechanism
Lifting；It is fixedly connected with workpiece on the swing mechanism, for driving workpiece to rotate predetermined angle, so that the workpiece is in not
Same Working position；The displacement device is oppositely arranged with welding robot, and the welding robot is fixedly connected with bonding machine
Structure, the welding robot is for driving the welding mechanism to weld the workpiece.
2. robot welding system according to claim 1, it is characterised in that:
The robot welding system further includes wire feeder, and the wire feeder includes wire feeding disc, wire-feeding pipe and wire feeder；
The wire feeding disc is fixedly connected on the pedestal of the welding robot；The wire feeder is fixedly connected on the welding robot
On the mechanical arm of people, for welding wire to be sent into welding mechanism；The both ends of the wire-feeding pipe respectively with the wire feeding disc and described give
Silk mechanism connection, for the welding wire to be sent into wire-feed motor from wire feeding disc.
3. robot welding system according to claim 1, it is characterised in that:
The robot welding system further includes wire shearing machine, and the wire shearing machine is for repairing the welding wire at the welding mechanism
It cuts.
4. robot welding system according to claim 1, it is characterised in that:
The welding robot is provided with displacement sensor close to one end of the welding mechanism.
5. robot welding system according to claim 1, it is characterised in that:
The elevating mechanism includes driving mechanism and sliding support；The driving mechanism includes driving motor and screw rod, the drive
Dynamic motor is fixedly connected with the fuselage, for driving the screw rod to rotate；The screw rod is spirally connected with the sliding support, is used for
The sliding support is driven to go up and down；The sliding support is fixedly connected with the swing mechanism.
6. robot welding system according to claim 5, it is characterised in that:
It is provided with the first guiding mechanism on the sliding support, the second guiding mechanism is provided on the fuselage, described first leads
It is slidably engaged to mechanism and second guiding mechanism.
7. robot welding system according to claim 6, it is characterised in that:
Second guiding mechanism includes the square rail being fixedly connected on the fuselage；First guiding mechanism includes the
One guide wheel assemblies, the second guide wheel assemblies and third guide wheel assemblies, first guide wheel assemblies, second directive wheel
Component and the third guide wheel assemblies are connect with the sliding support；First guide wheel assemblies, second guiding
Wheel assembly and the third guide wheel assemblies are slideably abutted with three sides of the square rail respectively.
8. robot welding system according to claim 1, it is characterised in that:
The swing mechanism includes rotary disk and positioning mechanism, and the rotary disk is rotatably coupled with the elevating mechanism,
The positioning mechanism is fixedly connected with the elevating mechanism；Multiple location holes, the positioning mechanism are provided on the rotary disk
With the location hole separably grafting；The positioning mechanism and the different location hole grafting, for fixing the workpiece
In different Working positions.
9. robot welding system according to claim 1, it is characterised in that:
The displacement device further includes connecting bracket, and positioning pin and at least two clamp systems are arranged on the swing mechanism；Institute
It states and offers pin hole in connecting bracket, the positioning pin and the pin hole are cooperatively connected；Between at least two clamp systems
The clamping space for accommodating connecting bracket is formed, at least two clamp systems are separably supported with the connecting bracket
It connects.
10. robot welding system according to claim 1, it is characterised in that:
The displacement device further includes balance mechanism；The balance mechanism includes balance weight, support base and connecting rope；The connection
The both ends of rope are fixedly connected with the balance weight and the elevating mechanism respectively；The support base is fixedly connected on the fuselage
On, it is used to support the connecting rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811022807.XA CN109014505B (en) | 2018-09-03 | 2018-09-03 | Automatic welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| KR20090025417A (en) * | 2007-09-06 | 2009-03-11 | 주식회사 윈젠 | Automatic welding system for steel frame |
| CN103801888A (en) * | 2012-11-12 | 2014-05-21 | 宁波如意股份有限公司 | Ascending and descending type manual tray carriage automatic welding device |
| CN203112104U (en) * | 2013-02-18 | 2013-08-07 | 中国汽车工业工程公司 | Chain-type transmission auxiliary lifting device |
| CN103331558A (en) * | 2013-06-19 | 2013-10-02 | 青岛云和机械制造有限公司 | Lifting type welding positioner |
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| CN109014505B (en) | 2021-12-28 |
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