CN109014667A - A kind of automated production assembly system based on intelligent industrial robot - Google Patents

A kind of automated production assembly system based on intelligent industrial robot Download PDF

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Publication number
CN109014667A
CN109014667A CN201810576358.7A CN201810576358A CN109014667A CN 109014667 A CN109014667 A CN 109014667A CN 201810576358 A CN201810576358 A CN 201810576358A CN 109014667 A CN109014667 A CN 109014667A
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CN
China
Prior art keywords
gear
motor
plate
mounting rack
screw rod
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Granted
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CN201810576358.7A
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Chinese (zh)
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CN109014667B (en
Inventor
陈燕
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Henan Qianjing Photoelectric Technology Co.,Ltd.
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陈燕
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Priority to CN201810576358.7A priority Critical patent/CN109014667B/en
Publication of CN109014667A publication Critical patent/CN109014667A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0247Driving means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/08Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for flash removal

Abstract

The present invention relates to robot device fields, disclose a kind of automated production assembly system based on intelligent industrial robot comprising bottom plate is fixed with welding manipulator on bottom plate, and the lower section of bottom plate is equipped with trundle group;The welding manipulator along the first guide rail group linear motion is provided on first rack gear and the first guide rail group, welding manipulator includes welding platform, supporting leg is provided with below welding platform, supporting leg is slidably arranged in the first guide rail group, the output shaft of first motor is coaxially connected with first gear, and first gear and the intermeshing of the first rack gear, the side of first motor are provided with mounting rod, the bottom of mounting rod is provided with support wheel, and support wheel is in rolling contact with bottom plate;Turntable is installed, the outer cover of turntable is equipped with gear ring, and the medial surface of gear ring and the lateral surface of turntable are interference fitted, and gear ring is engaged with second gear in welding platform.The advantages that present apparatus has use scope wide, at low cost, and transmission control is accurate.

Description

A kind of automated production assembly system based on intelligent industrial robot
Technical field
The present invention relates to automatic fields, more particularly to a kind of automated production assembly based on intelligent industrial robot System.
Background technique
With the development of society and science and technology, people are more infatuated for automating, and automatic production line has its unique excellent Gesture, such as human cost are low, and high production efficiency is easy to control.The important component of automatic production line includes robot, is passed The flow line production robot of system is confined to the uses of robot arm using majority, then to the part of robot arm into Row improves, and cost is higher, and unsuitable long range carries out operation operation;Welding is used as a kind of common connection type, has connection Intensity is high, the advantages that being hardly damaged.Traditional robot is simple robot arm, to the components conveyed on assembly line It is simply welded, is had a single function, narrow scope of application.Traditional assembling line the degree of automation is low, each station it Between relevance it is poor.
Summary of the invention
The present invention is directed to the disadvantages of existing in the prior art, provides a kind of automation based on intelligent industrial robot Product assembly system.
In order to solve the above technical problems, the present invention is addressed by following technical proposals:
A kind of automated production assembly system based on intelligent industrial robot, including assembling line, assembling line Side be provided with infeed conveyor, the side of infeed conveyor is provided with material grasping manipulator, and material grasping manipulator transmits feeding The workpiece to be added of band is sent into assembling line and is assembled, and the other side of assembling line is provided with transmission track, transmission track On be provided with welding robot, welding robot is walked along the assembling line direction of motion, and welding robot includes robot master Body and the control system moved for controlling robot body, robot body includes bottom plate, and the first rack gear is provided on bottom plate With the first guide rail group, the welding manipulator along the first guide rail group linear motion is provided on the first rack gear and the first guide rail group;Weldering Welding manipulator includes welding platform, and supporting leg is provided with below welding platform, and supporting leg is slidably arranged in the first guide rail group, The lower end surface of welding platform is provided with walking power packages, and walking power packages include first motor, and the output shaft of first motor is coaxial It is connected with first gear, first gear and the intermeshing of the first rack gear, the side of first motor are provided with mounting rod, mounting rod Bottom is provided with support wheel, and support wheel is in rolling contact with bottom plate;Turntable is installed, the outer cover of turntable is equipped with tooth in welding platform Torus, the medial surface of gear ring and the lateral surface of turntable are interference fitted, and the side of gear ring is engaged with second gear, and the other side is nibbled Conjunction has measurement rack gear, and the second guide rail is provided in welding platform, and the bottom for measuring rack gear is arranged on the second guide rail and along second Guide rail slides, and shaft is equipped in second gear, and shaft passes through welding platform, is provided with the second motor below welding platform, The output shaft of second motor is coaxially connected with shaft and second gear is driven to rotate, the engagement band turn of gear ring and second gear Disk rotation;It is provided with the first mounting rack on turntable, active screw rod, the upper end of active screw rod and first are installed on first mounting rack Mounting rack is connected, and lower end is connected with turntable, and the upper end of active screw rod is equipped with third motor, and third motor is fixedly mounted on first On mounting rack, the upper end of active screw rod is provided with transmission gear, and the two sides of transmission gear are engaged with transition gear, and transition gear is solid It is scheduled on the first mounting rack, two driven screw rods are additionally provided on the first mounting rack and are respectively corresponded are arranged in the two of active screw rod Side, one end of driven screw rod and the first mounting rack are rotatablely connected, and the other end and turntable are rotatablely connected, and the upper end of driven screw rod is coaxial It is fixed with driven gear, the center of circle of driven gear is located at same straight line with the center of circle of driving gear and locating height is identical, main Moving gear is identical with the parameter of driven gear, and weld assembly is arranged on active screw rod, and weld assembly includes installation and adjustment plate, peace Dress adjustable plate is matched with active screw rod, driven screw rod, and the third guide rail of vertical direction is provided on the first mounting rack, and installation is adjusted Section plate falls on third guide rail and slides along third guide rail;Third motor drives active screw rod, transmission gear rotation, and transmission gear is logical Crossing transition gear drives driven gear to rotate at the same speed, and driven gear drives the rotation of driven screw rod, active screw rod and driven screw rod Parameter is identical, and installation and adjustment plate is moved up and down by the drive of active screw rod and driven screw rod, is equipped with weldering on installation and adjustment plate Rifle component, welding gun component include the second mounting rack, and the second mounting rack is fixed on installation and adjustment plate, is equipped on the second mounting rack Installation axle, the both ends of installation axle and the second mounting rack are rotatablely connected by bearing, are provided with third gear and fixation in installation axle The gun rack of welding gun, third gear are engaged with the 4th gear, and support plate is provided on the second mounting rack, and is equipped in support plate Four motors, the 4th motor and the 4th gear, which are connected, drives the rotation of the 4th gear, and the upper end of the second mounting rack is provided with machine vision System, NI Vision Builder for Automated Inspection include the 5th motor, and the 5th motor is connected with the first installation axle, camera shooting is provided in the first installation axle Head, the 5th motor is by driving the rotation of the first installation axle that camera is driven to carry out rotating angle movement;The side of welding gun component is provided with Hammering device, hammering device are mounted on installation and adjustment plate, and hammering device includes hammering mounting rack, are hammered and are set at the top of mounting rack It is equipped with rotating electric machine, rotating electric machine is connected with the second installation axle, and set is provided with hammering plate in the second installation axle, hammers plate and second Installation axle is hinged, and the end of the second installation axle is fixedly installed horizontal mounting plate, and the upside on mounting plate is provided with hammering gas Cylinder hammers the piston rod of cylinder and connect by universal joint and hammering plate, and the one end for hammering plate is fixed with percussion hammer, tap hammer into shape with Hammering cylinder respectively corresponds the two sides of the second installation axle of setting;Blowing nozzle is additionally provided on mounting plate, blowing nozzle is positioned close to Tap the side of hammer;The other side of welding gun component is provided with cleaning device, and cleaning device includes cleaning motor, cleaning motor connection There is a rocker arm, cleaning motor drives rocker arm to be rotated, and one end of rocker arm is provided with steel brush, and steel brush is connected with the 6th motor, and the 6th Motor drives steel brush rotation, and the side of steel brush is provided with dust absorption nozzle, and dust absorption nozzle is connected to dust collect plant, dust by hose Device is arranged on turntable, and dust collect plant is provided with dust leg, and dust leg is connected to hose;Dust leg bypass has smoking Mouth, cigarette holder are fixed on the second mounting rack, and cigarette holder is connected with flow control valve.
Preferably, control system includes controller, NI Vision Builder for Automated Inspection is connect with controller by conducting wire, the first electricity Machine, the second motor, third motor, the 4th motor, the 5th motor, the 6th motor, cleaning motor and hammering cylinder are connected by conducting wire It connecing control, measures and be provided with displacement sensor on rack gear, the both ends for measuring rack stroke are provided with anti-collision switch, and described first The top and bottom of mounting rack are provided with the limit switch for controlling installation and adjustment plate or more stroke, support wheel and bottom plate elasticity Contact.
Preferably, the NI Vision Builder for Automated Inspection includes machine vision alignment system and Machine Vision Inspecting System, control Memory module, the signal pair that controller is transmitted according to machine vision alignment system and Machine Vision Inspecting System are provided in device processed 4th motor, the 6th motor, cleaning motor and hammering cylinder are controlled.
Preferably, being provided with trundle group below the bottom plate, trundle group includes driving wheel group and deflecting roller Group, driving wheel group include driving wheel, and driving wheel drives axis connection by setting, is provided with the first driving gear, bottom in drive shaft The lower end surface of plate is provided with driving motor, and driving motor and bottom plate are connected, and driving motor is connected with the second driving gear, and first drives Moving gear is engaged with the second driving gear, and driving motor is rotated by the second sliding tooth wheel rotate driving driving wheel of drive, wherein Axis where drive shaft is vertical with straight line where the first guide rail group;The first guide shaft is fixed on first mounting rack, the first guide shaft Upper end and the first mounting rack are connected, and the lower end of the first guide shaft and turntable are connected, and installation and adjustment sleeve-board is located on the first guide shaft, installation Adjustable plate is internally provided with linear bearing, and linear bearing is matched with the first guide shaft.
Be composition gimbal structure between driven wheel and bottom plate preferably, deflecting roller group includes driven wheel, driven wheel with Rotating bar is connected between bottom plate, the both ends of rotating bar are connect by universal joint with driven wheel.
Preferably, material grasping manipulator is identical with the quantity of infeed conveyor.
The present invention by adopting the above technical scheme, has the advantages that
Assembling line provided by the invention can not only carry out the automatic assembling between component, while can be to assembling Components welded, entire welding process is that the advantages of substep welds, and substep welds is to ensure that assembly in next step Reliability, stability keep entire assembly system more intelligent, assemble more diversified.
Robot provided by the present invention simultaneously, can not only carry out simple weld job, while can be to attachment Welding agent carries out percussion removing, and the function of detection welding quality and subsequent cleaning welding slag is able to carry out using machine vision It can function.It ensure that the stability of whole device transmission, accuracy, while easily controllable by the way of rack pinion. Entire welder freedom degree is high, can not only horizontal direction linear motion, while can guarantee that welding mechanism has level The rotary freedom in direction and the rotary freedom of vertical direction meet the welding demand of different location solder joint.And all rotations The dynamic mode for being all made of gear engagement of transhipment is controlled, to ensure that the accurate positioning of position, while user can also root It is controlled according to actual demand.It, can also be according to specific welding demand Butt welding gun during carrying out rail linearity welding It is finely adjusted to the distance of weldment, angle and height.
Detailed description of the invention
Fig. 1 is the overall structure diagram of specific embodiment assembling line;
Fig. 2 is the overall structure diagram of 1 welding robot of embodiment;
Fig. 3 is the enlarged drawing of the part Fig. 2 I;
Fig. 4 is the enlarged drawing of the part Fig. 3 II;
Fig. 5 is the enlarged drawing of the part Fig. 3 III;
Fig. 6 is the rearview of Fig. 2;
Fig. 7 is the structural schematic diagram of 2 welding robot of embodiment.
The toponym that each number designation is referred in attached drawing is as follows: 100 1 bottom plates, the 101 one the first rack gears, 102 one the One guide rail group, 103 1 welding manipulators, 104 1 welding platforms, 105 1 first motors, 106 1 first gears, 107 1 installations Bar, 108 1 support wheels, 109 1 turntables, 110 1 gear rings, 111 1 second gears, the 112 one the second motors, the 113 one the first peaces Shelve, 114 1 active screw rods, 115 1 third motors, 116 1 weld assemblies, 117 1 installation and adjustment plates, 118 1 welding gun components, 119 one the second mounting rack, 120 1 installation axles, 121 1 third gears, 122 1 gun racks, 123 1 the 4th gears, 124 1 Fagging, 125 1 the 4th motors, the 126 one the first guide shafts, 127 1 supporting legs, 200 1 measurement rack gears, the 201 one the second guide rails, 202 One transmission gear, 203 1 transition gears, 204 1 driven screw rods, 205 1 driven gears, 206 1 NI Vision Builder for Automated Inspections, 207 1 5th motor, the 208 one the first installation axles, 209 1 cameras, 210 1 hammering devices, 211 1 hammering mounting racks, 212 1 rotations Motor, the 213 one the second installation axles, 214 1 hammering plates, 215 1 mounting plates, 216 1 hammering cylinders, 217 1 tap hammer, 218 1 Blowing nozzle, 219 1 cleaning devices, 220 1 cleaning motors, 221 1 rocker arms, 222 1 steel brushes, 223 1 the 6th motors, 224 1 are inhaled Dirt mouth, 225 1 hoses, 226 1 dust collect plants, 227 1 dust legs, 228 1 cigarette holders.
Specific embodiment
Present invention is further described in detail with embodiment with reference to the accompanying drawing.
Embodiment 1
As shown in Figures 1 to 6, a kind of automated production assembly system based on intelligent industrial robot, including assembly life Producing line 300, the side of assembling line 300 are provided with infeed conveyor 301, and the side of infeed conveyor 301 is provided with material grasping The workpiece to be added of infeed conveyor 301 is sent into assembling line 300 and assembled, filled by manipulator 302, material grasping manipulator 302 The other side with production line 300 is provided with transmission track 303, and welding robot 304, bonding machine are provided on transmission track 303 Device people 304 walks along 300 direction of motion of assembling line, and welding robot 304 is including robot body and for controlling machine The control system of human agent's movement, the material grasping manipulator 302 is identical with the quantity of infeed conveyor 301, robot body Including bottom plate 100, the first rack gear 101 and the first guide rail group 102, the first rack gear 101 and the first guide rail group are provided on bottom plate 100 The welding manipulator 103 along the first guide rail group 102 linear motion is provided on 102;Welding manipulator 103 includes welding platform 104, the lower section of welding platform 104 is provided with supporting leg 127, and supporting leg 127 is slidably arranged in the first guide rail group 102, welding The lower end surface of platform 104 is provided with walking power packages, and walking power packages include first motor 105, the output shaft of first motor 105 It is coaxially connected with first gear 106, first gear 106 and the intermeshing of the first rack gear 101, the side setting of first motor 105 There is mounting rod 107, the bottom of mounting rod 107 is provided with support wheel 108, and support wheel 108 is in rolling contact with bottom plate 100;Welding is flat Turntable 109 is installed, the outer cover of turntable 109 is equipped with gear ring 110, the medial surface and turntable 109 of gear ring 110 on platform 104 Lateral surface interference fit, the side of gear ring 110 is engaged with second gear 111, and the other side is engaged with measurement rack gear 200, weldering It connects and is provided with the second guide rail 201 on platform 104, the bottom of measurement rack gear 200 is arranged on the second guide rail 201 and leads along second Rail 201 slides, and shaft is equipped in second gear 111, and shaft passes through welding platform 104, and the lower section of welding platform 104 is provided with Second motor 112, the output shaft and shaft of the second motor 112 are coaxially connected and second gear 111 is driven to rotate, gear ring 110 Engagement with second gear 111 drives turntable 109 to rotate;The first mounting rack 113, the first mounting rack 113 are provided on turntable 109 On active screw rod 114 is installed, the upper end of active screw rod 114 is connected with the first mounting rack 113, and lower end is connected with turntable 109, main The upper end of dynamic screw rod 114 is equipped with third motor 115, and third motor 115 is fixedly mounted on the first mounting rack 113, active silk The upper end of bar 114 is provided with transmission gear 202, and the two sides of transmission gear 202 are engaged with transition gear 203, and transition gear 203 is solid It is scheduled on the first mounting rack 113, two driven screw rods 204 is additionally provided on the first mounting rack 113 and respectively correspond setting actively The two sides of screw rod 114, one end of driven screw rod 204 and the first mounting rack are rotatablely connected, and the other end and turntable are rotatablely connected, driven The upper end of screw rod 204 is coaxially fixed with driven gear 205, and the center of circle of driven gear 205 and the center of circle of driving gear are located at same Straight line and locating height is identical, driving gear is identical with the parameter of driven gear 205, and welding is arranged on active screw rod 114 Component 116, weld assembly 116 include installation and adjustment plate 117, installation and adjustment plate 117 and active screw rod 114,204 phase of driven screw rod Cooperate, the third guide rail 250 of vertical direction is provided on the first mounting rack 113, installation and adjustment plate 117 falls in third guide rail 250 On along third guide rail 250 slide;Third motor 115 drives active screw rod 114, transmission gear 202 to rotate, and transmission gear 202 is logical Crossing transition gear 203 drives driven gear 205 to rotate at the same speed, and driven gear 205 drives driven screw rod 204 to rotate, active screw rod Identical with the parameter of driven screw rod 204, installation and adjustment plate is moved up and down by the drive of active screw rod and driven screw rod 204, peace Welding gun component 118 is installed, welding gun component 118 includes the second mounting rack 119, and the second mounting rack 119 is fixed on dress adjustable plate 117 On installation and adjustment plate 117, installation axle 120, the both ends of installation axle 120 and the second mounting rack are installed on the second mounting rack 119 119 are rotatablely connected by bearing, and the gun rack 122 of third gear 121 and fixed welding gun, third tooth are provided in installation axle 120 Wheel 121 is engaged with the 4th gear 123, and support plate 124 is provided on the second mounting rack 119, and the 4th electricity is equipped in support plate 124 Machine 125, the 4th motor 125 is connected with the 4th gear 123 drives the rotation of the 4th gear 123, and the upper end of the second mounting rack is provided with NI Vision Builder for Automated Inspection 206, NI Vision Builder for Automated Inspection 206 include the 5th motor 207, and the 5th motor 207 is connected with the first installation axle 208, camera 209 is provided in the first installation axle 208, the 5th motor 207 is by driving the rotation of the first installation axle 208 to drive Camera 209 carries out rotating angle movement;The side of welding gun component 118 is provided with hammering device 210, and hammering device 210 is mounted on It fills on adjustable plate 117, hammering device 210 includes hammering mounting rack 211, and the top of hammering mounting rack 211 is provided with rotating electric machine 212, rotating electric machine 212 is connected with the second installation axle 213, and set is provided with hammering plate 214 in the second installation axle 213, hammers plate 214 and second installation axle 213 it is hinged, the end of the second installation axle 213 is fixedly installed horizontal mounting plate 215, mounting plate Upside on 215 is provided with hammering cylinder 216, and the piston rod of hammering cylinder 216 is connected by universal joint and hammering plate 214, One end of hammering plate 214 is fixed with percussion hammer 217, taps hammer 217 and hammering cylinder 216 respectively corresponds the second installation axle of setting 213 two sides;Blowing nozzle 218 is additionally provided on mounting plate 215, blowing nozzle 218 is positioned close to tap the side of hammer 217;Weldering The other side of rifle component 118 is provided with cleaning device 219, and cleaning device 219 includes cleaning motor 220, and cleaning motor 220 connects There is rocker arm 221, cleaning motor 220 drives rocker arm 221 to be rotated, and one end of rocker arm 221 is provided with steel brush 222, steel brush 222 It is connected with the 6th motor 223, the 6th motor 223 drives steel brush 222 to rotate, and the side of steel brush 222 is provided with dust absorption nozzle 224, inhales Dirt mouth 224 is connected to dust collect plant 226 by hose 225, and dust collect plant 226 is arranged on turntable, and dust collect plant 226 is set It is equipped with dust leg 227, dust leg 227 is connected to hose 225;The bypass of dust leg 227 has cigarette holder 228, and cigarette holder 228 is solid It is scheduled on the second mounting rack 119, cigarette holder 228 is connected with flow control valve.Control system includes controller, machine vision system System 206 is connect with controller by conducting wire, first motor, the second motor, third motor, the 4th motor, the 5th motor 207, the Six motors 223, cleaning motor 220 and hammering cylinder 216 connect control by conducting wire, measure and are provided with displacement biography on rack gear 200 Sensor, the both ends of measurement 200 stroke of rack gear are provided with anti-collision switch, the top and bottom setting of first mounting rack 113 There are the limit switch for controlling installation and adjustment plate or more stroke, 100 Elastic Contact of support wheel 108 and bottom plate, the hammering Vibration switch is provided on plate 214, vibration switch is connected to controller, and controller is according to the signal of reception vibration switch to air blowing Mouth 218 carries out aeration, and wherein the vibration sensitivity of vibration switch is adjustable, guarantees the timeliness of blowing nozzle 218, avoids excessive Waste of resource.
In the present embodiment, which is located on transmission track 303, then the chain conveyer of communicated track 303 or Other kinds of drive drive movement, this kind of mode is suitble to institute's workpiece to be not easy to be transported on assembly line, then uses machine Device people movement carries out active transport to workpiece.Entire assembling process is that assembling process entire first is substep assembling process, is grabbed Parts to be processed on infeed conveyor 301 is transported to assembling line 300 and assembled by material manipulator 302, is then welded The workpiece that robot 304 assembles the first step is subjected to, the assembly parts that then assembling line 300 completes the first step Second step assembly is carried out into second station, it, can be mechanical using material grasping when assembling line 300 is not easy to transport weldment Weldment is transported to next erection welding station by hand 302, and welding robot 304 runs to next erection welding station; It is provided with fixture on the assembling line 300 for being fixedly welded part, positioning system is provided on the assembly line, due to quilt The bond pad locations of workpiece are it is known that so carry out typing for the location information welded that carries out of work piece, for example use An origin is defined, each solder joint is then entered into controller relative to the coordinate information of origin, controller is according to each The coordinate information of a solder joint controls first motor 105, thus control entire robot body close to or far from weldering Point;Control rotation is carried out to third motor 115, to complete the control to move up and down to entire installation and adjustment plate 117, is then controlled Device processed again controls the second motor, so that the angle of the rotation of turntable 109 is controlled, wherein since turntable is larger, in order to more The accurate angle for guaranteeing turntable 109 and turning over, the present embodiment drive measurement rack gear sliding by gear ring 110, then record rack gear The angle that the distance of sliding turns over turntable 109 measures, and forms feedback mechanism, while anti-collision switch ensure that turntable 109 Main body is not in turn to damage the equipment on turntable 109 because chance failure is crossed, and ensure that the safety of equipment.When Welding gun reach solder joint where coordinate points when, controller control be subjected to, when the welding is completed, NI Vision Builder for Automated Inspection The coating position that the positioning system butt welding of machine vision is practiced midwifery raw is captured, and then controller control rotating electric machine 212 reaches The position, the piston rod for tapping cylinder 216 stretch out, and drive percussion hammer 217 to carry out 1 tapping operation, install during percussion Vibration switch on plate 215 obtains vibration signal, and transmits the signal to controller, and controller is blown according to knocking control The electromagnetic switch valve that gas nozzle 218 connects controls the blowing operation of blowing nozzle 218, while Machine Vision Inspecting System is by acquisition Welding complete picture transfer compared to controller and with the picture in memory, judge welding quality, if there is rosin joint, Solder skip then carries out repair welding operation, and after the welding for completing a solder joint, obtained pictorial information is transferred to control by NI Vision Builder for Automated Inspection Device processed, controller judges whether to produce welding slag, and the welding slag position generated according to pictorial information, if generating welding slag, Controller and control cleaning motor 220 drive rocker arm 221 close to welding slag, and then the 6th motor 223 drives steel brush to carry out slagging-off work Industry, while dust leg 227 adsorbs welding slag;Cigarette holder 228 carries out always smoking event in entire welding process, guarantees The health of workshop condition.
It is wherein driven by the way of active screw rod 114 and driven screw rod 204, is capable of providing stable vertical direction Carrying, the active screw rod 114 and driven screw rod 204 are identical screw rod, and three constitutes triangle between each other.And And the upper end of first guide shaft 126 and the first mounting rack 113 are connected, the lower end of the first guide shaft 126 and turntable 109 are connected, Installation and adjustment plate 117 is set on the first guide shaft 126, and installation and adjustment plate 117 is internally provided with linear bearing, linear bearing It is matched with the first guide shaft 126.
Motor used in the present embodiment is servo motor, wherein the direction of entire robot motion is always with first 102 place straight line of guide rail is vertical.
Embodiment 2
As shown in Figures 1 to 7, it is in place of the present embodiment and the difference of embodiment 1, the lower section of the bottom plate 100 is set It is equipped with trundle group, trundle group includes driving wheel group 140 and deflecting roller group 141, and driving wheel group 140 includes driving wheel 142, Driving wheel 142 is connected by setting drive shaft 143, is provided with the first driving gear 144, the lower end of bottom plate 100 in drive shaft 143 Face is provided with driving motor 145, and driving motor 145 and bottom plate 100 are connected, and driving motor 145 is connected with the second driving gear 146, the first driving gear 144 is engaged with the second driving gear 146, and driving motor 145 is by driving the second 146 turns of gear of driving Dynamic driving driving wheel 142 rotates, and wherein 143 place axis of drive shaft is vertical with 102 place straight line of the first guide rail group;First installation The first guide shaft 126 is fixed on frame 113, deflecting roller group 141 includes automated navigation system, and robot provided by the present embodiment is suitable For the place that drive line is too long or cost is excessively high, in order to guarantee the correct walking of robot, factory should be arranged and wheel group phase The track of adaptation.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to equalization made by scope of the present invention patent Variation and modification, shall all be covered by the patent of the invention.

Claims (7)

1. a kind of automated production assembly system based on intelligent industrial robot, it is characterised in that: including assembling line (300), the side of assembling line (300) is provided with infeed conveyor (301), and the side of infeed conveyor (301) is provided with The workpiece to be added of infeed conveyor (301) is sent into assembling line (300) by material grasping manipulator (302), material grasping manipulator (302) It is assembled, the other side of assembling line (300) is provided with transmission track (303), and transmission track is provided with welding on (303) Robot (304), welding robot (304) are walked along assembling line (300) direction of motion, and welding robot (304) includes Robot body and the control system moved for controlling robot body, robot body includes bottom plate (100), bottom plate (100) the first rack gear (101) and the first guide rail group (102) are provided on, on the first rack gear (101) and the first guide rail group (102) It is provided with the welding manipulator (103) along the first guide rail group (102) linear motion;Welding manipulator (103) includes welding platform (104), it is provided with supporting leg (127) below welding platform (104), supporting leg (127) is slidably arranged in the first guide rail group (102) on, the lower end surface of welding platform (104) is provided with walking power packages, and walking power packages include first motor (105), the The output shaft of one motor (105) is coaxially connected with first gear (106), and first gear (106) and the first rack gear (101) are mutually nibbled It closes, the side of first motor (105) is provided with mounting rod (107), and the bottom of mounting rod (107) is provided with support wheel (108), branch Support wheel (108) is in rolling contact with bottom plate (100);It is equipped in welding platform (104) turntable (109), the outer cover of turntable (109) Equipped with gear ring (110), the medial surface of gear ring (110) and the lateral surface of turntable (109) are interference fitted, gear ring (110) Side is engaged with second gear (111), and the other side is engaged with measurement rack gear (200), is provided with second in welding platform (104) and is led The bottom of rail (201), measurement rack gear (200) is arranged on the second guide rail (201) and slides along the second guide rail (201), the second tooth Shaft is installed, shaft passes through welding platform (104), and welding platform is provided with the second motor below (104) on wheel (111) (112), the output shaft of the second motor (112) is coaxially connected with shaft and second gear (111) is driven to rotate, gear ring (110) Engagement with second gear (111) drives turntable (109) rotation;It is provided on turntable (109) the first mounting rack (113), first It being equipped on mounting rack (113) active screw rod (114), the upper end of active screw rod (114) is connected with the first mounting rack (113), under End is connected with turntable (109), and the upper end of active screw rod (114) is equipped with third motor (115), the fixed peace of third motor (115) On the first mounting rack (113), the upper end of active screw rod (114) is provided with transmission gear (202), transmission gear (202) Two sides are engaged with transition gear (203), and transition gear (203) is fixed on the first mounting rack (113), the first mounting rack (113) On be additionally provided with two driven screw rods (204) (204) respectively correspond be arranged in the two sides of active screw rod (114), driven screw rod (204) one end and the first mounting rack is rotatablely connected, and the other end and turntable are rotatablely connected, and the upper end of driven screw rod (204) is coaxial It is fixed with driven gear (205), the center of circle of driven gear (205) and the center of circle of driving gear are located at same straight line and locating height To spend identical, driving gear is identical with the parameter of driven gear (205), weld assembly (116) are arranged on active screw rod (114), Weld assembly (116) includes installation and adjustment plate (117), installation and adjustment plate (117) and active screw rod (114), driven screw rod (204) It matches, the third guide rail (250) of vertical direction is provided on the first mounting rack (113), installation and adjustment plate (117) falls in third It is slided on guide rail (250) along third guide rail (250);Third motor (115) drives active screw rod (114), transmission gear (202) to turn Dynamic, transmission gear (202) drives driven gear (205) to rotate at the same speed by transition gear (203), and driven gear (205) drives Driven screw rod (204) rotation, active screw rod (114) is identical with the parameter of driven screw rod (204), and installation and adjustment plate (117) passes through The drive of active screw rod and driven screw rod (204) moves up and down, and is equipped with welding gun component (118) on installation and adjustment plate (117), welds Rifle component (118) includes the second mounting rack (119), and the second mounting rack (119) is fixed on installation and adjustment plate (117), the second peace It shelves and is equipped on (119) installation axle (120), the both ends and the second mounting rack (119) of installation axle (120) are rotated by bearing to be connected It connects, the gun rack (122) of third gear (121) and fixed welding gun, third gear (121) engagement is provided in installation axle (120) There is the 4th gear (123), be provided on the second mounting rack (119) support plate (124), the 4th electricity is installed in support plate (124) Machine (125), the 4th motor (125) be connected with the 4th gear (123) drive the 4th gear (123) rotation, the second mounting rack it is upper End is provided with NI Vision Builder for Automated Inspection (206), and NI Vision Builder for Automated Inspection (206) includes the 5th motor (207), and the 5th motor (207) is even It is connected to the first installation axle (208), is provided in the first installation axle (208) camera (209), the 5th motor (207) passes through drive First installation axle (208) rotation drives camera (209) to carry out rotating angle movement.
2. a kind of automated production assembly system based on intelligent industrial robot according to claim 1, feature exist In: the side of welding gun component (118) is provided with hammering device (210), and hammering device (210) is mounted on installation and adjustment plate (117) On, hammering device (210) includes hammering mounting rack (211), rotating electric machine (212) are provided at the top of hammering mounting rack (211), Rotating electric machine (212) is connected with the second installation axle (213), and set is provided with hammering plate (214), hammering in the second installation axle (213) Hingedly, the end of the second installation axle (213) is fixedly installed horizontal mounting plate for plate (214) and the second installation axle (213) (215), the upside on mounting plate (215) is provided with hammering cylinder (216), and the piston rod of hammering cylinder (216) passes through Universal connector Head and hammering plate (214) connection, one end of hammering plate (214) are fixed with percussion hammer (217), tap hammer (217) and hammering cylinder (216) two sides of setting the second installation axle (213) are respectively corresponded;It is additionally provided with blowing nozzle (218), blows on mounting plate (215) Mouth (218) is positioned close to tap the side of hammer (217);The other side of welding gun component (118) is provided with cleaning device (219), Cleaning device (219) includes cleaning motor (220), and cleaning motor (220) is connected with rocker arm (221), and cleaning motor (220) drives Rocker arm (221) is rotated, and one end of rocker arm (221) is provided with steel brush (222), and steel brush (222) is connected with the 6th motor (223), the 6th motor (223) drives steel brush (222) rotation, and the side of steel brush (222) is provided with dust absorption nozzle (224), dust absorption nozzle (224) it is connected to dust collect plant (226) by hose (225), dust collect plant (226) is arranged on turntable, dust collect plant (226) it is provided with dust leg (227), dust leg (227) is connected to hose (225);Dust leg (227) bypass has cigarette holder (228), cigarette holder (228) is fixed on the second mounting rack (119), and cigarette holder (228) is connected with flow control valve.
3. a kind of automated production assembly system based on intelligent industrial robot according to claim 2, feature exist In: control system includes controller, and NI Vision Builder for Automated Inspection (206) is connect with controller by conducting wire, first motor, the second electricity Machine, third motor, the 4th motor, the 5th motor (207), the 6th motor (223), cleaning motor (220) and hammering cylinder (216) It is connected and is controlled by conducting wire, displacement sensor, the both ends setting of measurement rack gear (200) stroke are provided in measurement rack gear (200) There is anti-collision switch, the top and bottom of first mounting rack (113) are provided with for controlling installation and adjustment plate or more stroke Limit switch, support wheel (108) and bottom plate (100) Elastic Contact.
4. a kind of automated production assembly system based on intelligent industrial robot according to claim 3, feature exist In: the NI Vision Builder for Automated Inspection (206) includes machine vision alignment system and Machine Vision Inspecting System, setting in controller Have a memory module, the signal that controller is transmitted according to machine vision alignment system and Machine Vision Inspecting System to the 4th motor, 6th motor (223), cleaning motor (220) and hammering cylinder (216) are controlled.
5. a kind of automated production assembly system based on intelligent industrial robot according to claim 1, feature exist In: trundle group is provided with below the bottom plate (100), trundle group includes driving wheel group (140) and deflecting roller group (141), driving wheel group (140) includes driving wheel (142), and driving wheel (142) is connected by setting drive shaft (143), drive shaft (143) the first driving gear (144) is provided on, the lower end surface of bottom plate (100) is provided with driving motor (145), driving motor (145) be connected with bottom plate (100), driving motor (145) is connected with the second driving gear (146), the first driving gear (144) with Second driving gear (146) engagement, driving motor (145) is by driving second driving gear (146) rotate driving driving wheel (142) it rotates, wherein axis where drive shaft (143) is vertical with straight line where the first guide rail group (102);First mounting rack (113) it is fixed on the first guide shaft (126), the upper end and the first mounting rack (113) of the first guide shaft (126) are connected, the first guide shaft (126) lower end and turntable (109) is connected, and installation and adjustment plate (117) is set on the first guide shaft (126), installation and adjustment plate (117) be internally provided with linear bearing, linear bearing is matched with the first guide shaft (126).
6. a kind of automated production assembly system based on intelligent industrial robot according to claim 1, feature exist In: deflecting roller group (141) includes driven wheel (147), is composition gimbal structure between driven wheel (147) and bottom plate (100), from Rotating bar is connected between driving wheel (147) and bottom plate, the both ends of rotating bar are connect by universal joint (148) with driven wheel.
7. a kind of automated production assembly system based on intelligent industrial robot according to claim 1, feature exist In: material grasping manipulator (302) is identical with the quantity of infeed conveyor (301).
CN201810576358.7A 2018-06-06 2018-06-06 Automatic production and assembly system based on intelligent industrial robot Active CN109014667B (en)

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