CN109014667B - Automatic production and assembly system based on intelligent industrial robot - Google Patents

Automatic production and assembly system based on intelligent industrial robot Download PDF

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Publication number
CN109014667B
CN109014667B CN201810576358.7A CN201810576358A CN109014667B CN 109014667 B CN109014667 B CN 109014667B CN 201810576358 A CN201810576358 A CN 201810576358A CN 109014667 B CN109014667 B CN 109014667B
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China
Prior art keywords
motor
gear
driving
welding
mounting
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CN201810576358.7A
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CN109014667A (en
Inventor
陈燕
陈富军
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Henan Qianjing Photoelectric Technology Co.,Ltd.
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Henan Qianjing Photoelectric Technology Co ltd
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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 invention relates to the field of robot equipment, and discloses an automatic production and assembly system based on an intelligent industrial robot, which comprises a bottom plate, wherein a welding manipulator is fixed on the bottom plate, and a small wheel set is arranged below the bottom plate; a welding manipulator which moves linearly along the first guide rail group is arranged on the first rack and the first guide rail group, the welding manipulator comprises a welding platform, a supporting leg is arranged below the welding platform, the supporting leg is arranged on the first guide rail group in a sliding mode, an output shaft of a first motor is coaxially connected with a first gear, the first gear is meshed with the first rack, an installation rod is arranged on one side of the first motor, a supporting wheel is arranged at the bottom of the installation rod, and the supporting wheel is in rolling contact with the bottom plate; the welding platform is provided with a rotary table, a gear ring is sleeved outside the rotary table, the inner side surface of the gear ring is in interference fit with the outer side surface of the rotary table, and the gear ring is meshed with a second gear. The device has the advantages of wide application range, low cost, accurate transmission control and the like.

Description

Automatic production and assembly system based on intelligent industrial robot
Technical Field
The invention relates to the field of automation, in particular to an automatic production and assembly system based on an intelligent industrial robot.
Background
With the development of society and science and technology, people are more reluctant to automation, and an automatic production line has unique advantages, such as low labor cost, high production efficiency and easy control. The important components of the automatic production line comprise a robot, the use of the traditional production line robot is mostly limited to the use of a robot arm, and then the part of the robot arm is improved, so that the cost is high, and the robot is not suitable for long-distance operation; welding is used as a common connection mode, and has the advantages of high connection strength, difficult damage and the like. Traditional robot is simple robot arm only, carries out simple welding to the spare part of carrying on the assembly line, and the function is single, and application scope is narrower. The traditional assembly production line has low automation degree and poor relevance among all the stations.
Disclosure of Invention
The invention provides an automatic production and assembly system based on an intelligent industrial robot, aiming at the defects in the prior art and the like.
In order to solve the technical problem, the invention is solved by the following technical scheme:
an automatic production assembly system based on an intelligent industrial robot comprises an assembly production line, wherein a feeding conveyor belt is arranged on one side of the assembly production line, a material grabbing manipulator is arranged on one side of the feeding conveyor belt, workpieces to be machined of the feeding conveyor belt are conveyed into the assembly production line to be assembled by the material grabbing manipulator, a conveying track is arranged on the other side of the assembly production line, a welding robot is arranged on the conveying track and travels along the motion direction of the assembly production line, the welding robot comprises a robot main body and a control system used for controlling the motion of the robot main body, the robot main body comprises a bottom plate, a first rack and a first guide rail group are arranged on the bottom plate, and a welding manipulator which moves linearly along the first guide rail group is arranged on the first rack and the first guide rail group; the welding manipulator comprises a welding platform, supporting legs are arranged below the welding platform and are arranged on a first guide rail group in a sliding mode, a walking power group is arranged on the lower end face of the welding platform and comprises a first motor, an output shaft of the first motor is coaxially connected with a first gear, the first gear is meshed with a first rack, an installation rod is arranged on one side of the first motor, a supporting wheel is arranged at the bottom of the installation rod, and the supporting wheel is in rolling contact with a bottom plate; a rotating disc is mounted on the welding platform, a gear ring is sleeved outside the rotating disc, the inner side face of the gear ring is in interference fit with the outer side face of the rotating disc, a second gear is meshed on one side of the gear ring, a measuring rack is meshed on the other side of the gear ring, a second guide rail is arranged on the welding platform, the bottom of the measuring rack is arranged on the second guide rail and slides along the second guide rail, a rotating shaft is mounted on the second gear and penetrates through the welding platform, a second motor is arranged below the welding platform, an output shaft of the second motor is coaxially connected with the rotating shaft and drives the second gear to rotate, and the rotating disc is driven to rotate by meshing of the gear ring and the second; the turntable is provided with a first mounting frame, a driving screw rod is mounted on the first mounting frame, the upper end of the driving screw rod is connected with the first mounting frame, the lower end of the driving screw rod is connected with the turntable, a third motor is mounted at the upper end of the driving screw rod, the third motor is fixedly mounted on the first mounting frame, a transmission gear is arranged at the upper end of the driving screw rod, transition gears are meshed at two sides of the transmission gear and are fixed on the first mounting frame, two driven screw rods are further arranged on the first mounting frame and are respectively correspondingly arranged at two sides of the driving screw rod, one end of each driven screw rod is rotatably connected with the first mounting frame, the other end of each driven screw rod is rotatably connected with the turntable, a driven gear is coaxially and fixedly connected at the upper end of each driven screw rod, the circle center of each driven gear and the circle center of each driving, the welding assembly comprises an installation adjusting plate, the installation adjusting plate is matched with the driving screw rod and the driven screw rod, a third guide rail in the vertical direction is arranged on the first installation frame, and the installation adjusting plate falls on the third guide rail and slides along the third guide rail; the third motor drives the driving screw rod, the transmission gear rotates, the transmission gear drives the driven gear to rotate at the same speed through the transition gear, the driven gear drives the driven screw rod to rotate, the parameters of the driving screw rod and the driven screw rod are the same, the mounting adjusting plate moves up and down through the driving of the driving screw rod and the driven screw rod, the mounting adjusting plate is provided with the welding gun assembly, the welding gun assembly comprises a second mounting frame, the second mounting frame is fixed on the mounting adjusting plate, the second mounting frame is provided with a mounting shaft, two ends of the mounting shaft are rotatably connected with the second mounting frame through bearings, the mounting shaft is provided with a third gear and a welding gun frame for fixing a welding gun, the third gear is meshed with a fourth gear, the second mounting frame is provided with a support plate, the support plate is provided with a fourth motor, the fourth motor is connected with the fourth gear to drive, the machine vision system comprises a fifth motor, the fifth motor is connected with a first mounting shaft, a camera is arranged on the first mounting shaft, and the fifth motor drives the camera to perform corner motion by driving the first mounting shaft to rotate; one side of the welding gun assembly is provided with a hammering device, the hammering device is installed on an installation adjusting plate, the hammering device comprises a hammering installing frame, the top of the hammering installing frame is provided with a rotating motor, the rotating motor is connected with a second installing shaft, a hammering plate is sleeved on the second installing shaft and hinged with the second installing shaft, the end part of the second installing shaft is fixedly provided with a horizontal installing plate, the upper side of the installing plate is provided with a hammering cylinder, a piston rod of the hammering cylinder is connected with the hammering plate through a universal joint, one end of the hammering plate is fixedly connected with a hammering hammer, and the hammering hammer and the hammering cylinder respectively correspond to two sides of the second installing shaft; the mounting plate is also provided with an air blowing nozzle which is arranged at one side close to the knocking hammer; the other side of the welding gun component is provided with a cleaning device, the cleaning device comprises a cleaning motor, the cleaning motor is connected with a rocker arm, the cleaning motor drives the rocker arm to rotate, one end of the rocker arm is provided with a steel brush, the steel brush is connected with a sixth motor, the sixth motor drives the steel brush to rotate, one side of the steel brush is provided with a dust suction nozzle, the dust suction nozzle is connected to a dust collecting device through a dust suction hose, the dust collecting device is arranged on the turntable, the dust collecting device is provided with a dust collecting pipe, and the dust collecting pipe is communicated; the dust collecting pipe is bypassed by a cigarette holder which is fixed on the second mounting rack and is connected with a flow regulating valve.
Preferably, the control system comprises a controller, the machine vision system is connected with the controller through a wire, the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor, the cleaning motor and the hammering cylinder are connected and controlled through a wire, the displacement sensor is arranged on the measuring rack, the anti-collision switches are arranged at two ends of the measuring rack, the upper end and the lower end of the first mounting frame are provided with limit switches for controlling the vertical stroke of the mounting adjusting plate, and the supporting wheels are in elastic contact with the bottom plate.
Preferably, the machine vision system comprises a machine vision positioning system and a machine vision detection system, a storage module is arranged in the controller, and the controller controls the fourth motor, the sixth motor, the cleaning motor and the hammering cylinder according to signals transmitted by the machine vision positioning system and the machine vision detection system.
Preferably, a small wheel set is arranged below the bottom plate, the small wheel set comprises a driving wheel set and a steering wheel set, the driving wheel set comprises a driving wheel, the driving wheel is connected with a driving shaft through a driving shaft, a first driving gear is arranged on the driving shaft, a driving motor is arranged on the lower end face of the bottom plate, the driving motor is fixedly connected with the bottom plate, the driving motor is connected with a second driving gear, the first driving gear is meshed with the second driving gear, the driving motor drives the driving wheel to rotate through driving the second driving gear, and the axis of the driving shaft is perpendicular to the straight line of the first guide rail set; the first mounting frame is fixedly provided with a first guide shaft, the upper end of the first guide shaft is fixedly connected with the first mounting frame, the lower end of the first guide shaft is fixedly connected with the turntable, the mounting adjusting plate is sleeved on the first guide shaft, a linear bearing is arranged inside the mounting adjusting plate, and the linear bearing is matched with the first guide shaft.
As preferred, the directive wheel group includes from the driving wheel, for constituteing the universal joint structure between driven wheel and the bottom plate, is connected with the dwang between driven wheel and the bottom plate, and the universal joint is passed through at the both ends of dwang and is connected from the driving wheel.
Preferably, the number of the material grabbing mechanical arms and the number of the feeding conveyor belts are the same.
By adopting the technical scheme, the invention has the following beneficial effects:
the assembly production line provided by the invention can be used for automatically assembling parts and welding the assembled parts, the whole welding process is step-by-step welding, and the step-by-step welding has the advantages of ensuring the reliability and stability of the next assembly, enabling the whole assembly system to be more intelligent and enabling the assembly to be more diversified.
Meanwhile, the robot provided by the invention can not only perform simple welding operation, but also knock and remove attached welding flux, and can detect the welding quality and perform the subsequent function of cleaning welding slag by using machine vision. The gear and rack transmission mode is adopted, so that the transmission stability and accuracy of the whole device are ensured, and the control is easy. The whole welding device is high in degree of freedom, can not only perform linear motion in the horizontal direction, but also guarantee that the welding mechanism has the rotational degree of freedom in the horizontal direction and the rotational degree of freedom in the vertical direction, and welding requirements of welding spots at different positions are met. And all rotary motion is controlled by adopting a gear meshing mode, so that the accurate positioning of the position is ensured, and meanwhile, a user can also control according to actual requirements. In the process of carrying out track straight line welding, the distance, the angle and the height from the welding gun to a weldment can be finely adjusted according to specific welding requirements.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment assembly line;
FIG. 2 is a schematic view of the overall structure of the welding robot in embodiment 1;
FIG. 3 is an enlarged view of a portion of FIG. 2I;
FIG. 4 is an enlarged view of a portion of FIG. 3 II;
FIG. 5 is an enlarged view of the portion III of FIG. 3;
FIG. 6 is a rear view of FIG. 2;
fig. 7 is a schematic structural view of a welding robot according to embodiment 2.
The names of the parts indicated by the numerical references in the drawings are as follows: 100 a base plate, 101 a first rack, 102 a first guide rail set, 103 a welding robot, 104 a welding platform, 105 a first motor, 106 a first gear, 107 a mounting rod, 108 a support wheel, 109 a turntable, 110 a gear ring, 111 a second gear, 112 a second motor, 113 a first mounting rack, 114 a driving screw, 115 a third motor, 116 a welding assembly, 117 a mounting adjustment plate, 118 a welding gun assembly, 119 a second mounting rack, 120 a mounting shaft, 121 a third gear, 122 a welding gun rack, 123 a fourth gear, 124 a support plate, 125 a fourth motor, 126 a first guide shaft, 127 a support leg, 200 a measuring rack, 201 a second guide rail, 202 a transmission gear, 203 a transition gear, 204 a driven screw, 205 a driven gear, 206 a machine vision system, 207 a fifth motor, 208 a first motor, 209 a camera head, 209 a mounting shaft, 210 a hammer device, 211 a hammer mounting bracket, 212 a rotary motor, 213 a second mounting shaft, 214 a hammer plate, 215 a mounting plate, 216 a hammer cylinder, 217 a hammer, 218 a blow nozzle, 219 a cleaning device, 220 a cleaning motor, 221 a rocker arm, 222 a steel brush, 223 a sixth motor, 224 a dust nozzle, 225 a dust hose, 226 a dust collecting device, 227 a dust pipe, 228 a suction nozzle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1 to 6, an automatic production and assembly system based on an intelligent industrial robot comprises an assembly line 300, a feeding conveyor belt 301 is arranged on one side of the assembly line 300, a material grabbing manipulator 302 is arranged on one side of the feeding conveyor belt 301, the material grabbing manipulator 302 sends a workpiece to be processed of the feeding conveyor belt 301 into the assembly line 300 for assembly, a conveying rail 303 is arranged on the other side of the assembly line 300, a welding robot 304 is arranged on the conveying rail 303, the welding robot 304 travels along the movement direction of the assembly line 300, the welding robot 304 comprises a robot body and a control system for controlling the movement of the robot body, the number of the material grabbing manipulators 302 is the same as that of the feeding conveyor belts 301, the robot main body comprises a bottom plate 100, a first rack 101 and a first guide rail group 102 are arranged on the bottom plate 100, and welding manipulators 103 which move linearly along the first guide rail group 102 are arranged on the first rack 101 and the first guide rail group 102; the welding manipulator 103 comprises a welding platform 104, a support leg 127 is arranged below the welding platform 104, the support leg 127 is arranged on a first guide rail group 102 in a sliding mode, a walking power group is arranged on the lower end face of the welding platform 104 and comprises a first motor 105, an output shaft of the first motor 105 is coaxially connected with a first gear 106, the first gear 106 is meshed with a first rack 101, an installation rod 107 is arranged on one side of the first motor 105, a support wheel 108 is arranged at the bottom of the installation rod 107, and the support wheel 108 is in rolling contact with a bottom plate 100; a turntable 109 is mounted on the welding platform 104, a gear ring 110 is sleeved outside the turntable 109, the inner side surface of the gear ring 110 is in interference fit with the outer side surface of the turntable 109, a second gear 111 is meshed on one side of the gear ring 110, a measuring rack 200 is meshed on the other side of the gear ring 110, a second guide rail 201 is arranged on the welding platform 104, the bottom of the measuring rack 200 is arranged on the second guide rail 201 and slides along the second guide rail 201, a rotating shaft is mounted on the second gear 111 and penetrates through the welding platform 104, a second motor 112 is arranged below the welding platform 104, an output shaft of the second motor 112 is coaxially connected with the rotating shaft and drives the second gear 111 to rotate, and the turntable 109 is driven to rotate by the meshing of the gear ring 110 and the second gear 111; the turntable 109 is provided with a first mounting rack 113, the first mounting rack 113 is provided with a driving screw 114, the upper end of the driving screw 114 is connected with the first mounting rack 113, the lower end of the driving screw 114 is connected with the turntable 109, the upper end of the driving screw 114 is provided with a third motor 115, the third motor 115 is fixedly arranged on the first mounting rack 113, the upper end of the driving screw 114 is provided with a transmission gear 202, two sides of the transmission gear 202 are engaged with a transition gear 203, the transition gear 203 is fixed on the first mounting rack 113, the first mounting rack 113 is also provided with two driven screws 204 which are respectively and correspondingly arranged on two sides of the driving screw 114, one end of each driven screw 204 is rotatably connected with the first mounting rack, the other end is rotatably connected with the turntable, the upper end of each driven screw 204 is coaxially and fixedly connected with a driven gear 205, the circle center of the driven gear 205 and the circle center of the driving, the driving screw 114 is sleeved with a welding assembly 116, the welding assembly 116 comprises an installation adjusting plate 117, the installation adjusting plate 117 is matched with the driving screw 114 and the driven screw 204, a third guide rail 250 in the vertical direction is arranged on the first installation frame 113, and the installation adjusting plate 117 falls on the third guide rail 250 and slides along the third guide rail 250; the third motor 115 drives the driving screw 114 and the transmission gear 202 to rotate, the transmission gear 202 drives the driven gear 205 to rotate at the same speed through the transition gear 203, the driven gear 205 drives the driven screw 204 to rotate, the parameters of the driving screw and the driven screw 204 are the same, the mounting adjusting plate is driven to move up and down through the driving screw and the driven screw 204, the mounting adjusting plate 117 is provided with the welding gun assembly 118, the welding gun assembly 118 comprises a second mounting frame 119, the second mounting frame 119 is fixed on the mounting adjusting plate 117, the second mounting frame 119 is provided with a mounting shaft 120, two ends of the mounting shaft 120 are rotatably connected with the second mounting frame 119 through bearings, the mounting shaft 120 is provided with a third gear 121 and a welding gun frame 122 for fixing a welding gun, the third gear 121 is meshed with a fourth gear 123, the second mounting frame 119 is provided with a support plate 124, the support plate 124 is provided with a fourth motor 125, the fourth motor 125 is connected with, a machine vision system 206 is arranged at the upper end of the second mounting frame, the machine vision system 206 comprises a fifth motor 207, the fifth motor 207 is connected with a first mounting shaft 208, a camera 209 is arranged on the first mounting shaft 208, and the fifth motor 207 drives the camera 209 to perform corner motion by driving the first mounting shaft 208 to rotate; one side of welding gun subassembly 118 is provided with hammering device 210, hammering device 210 is installed on installation regulating plate 117, hammering device 210 includes hammering mounting bracket 211, the top of hammering mounting bracket 211 is provided with rotating electrical machines 212, rotating electrical machines 212 is connected with second installation axle 213, second installation axle 213 is gone up the cover and is provided with hammering board 214, hammering board 214 and second installation axle 213 articulate, the end fixing of second installation axle 213 is provided with horizontal mounting plate 215, the upside on mounting plate 215 is provided with hammering cylinder 216, the piston rod of hammering cylinder 216 passes through universal joint and hammering board 214 and connects, one end of hammering board 214 has linked firmly hammering hammer 217, hammering hammer 217 and hammering cylinder 216 correspond the both sides that set up second installation axle 213 respectively; the mounting plate 215 is also provided with a blowing nozzle 218, and the blowing nozzle 218 is arranged at one side close to the knocking hammer 217; the other side of the welding gun assembly 118 is provided with a cleaning device 219, the cleaning device 219 comprises a cleaning motor 220, the cleaning motor 220 is connected with a rocker arm 221, the cleaning motor 220 drives the rocker arm 221 to rotate, one end of the rocker arm 221 is provided with a steel brush 222, the steel brush 222 is connected with a sixth motor 223, the sixth motor 223 drives the steel brush 222 to rotate, one side of the steel brush 222 is provided with a dust suction nozzle 224, the dust suction nozzle 224 is connected to a dust collection device 226 through a dust suction hose 225, the dust collection device 226 is arranged on the turntable, the dust collection device 226 is provided with a dust collection pipe 227, and the dust collection pipe 227 is communicated with; the dust collecting pipe 227 is bypassed by a mouthpiece 228, the mouthpiece 228 is fixed to the second mounting bracket 119, and the mouthpiece 228 is connected to a flow control valve. Control system includes the controller, and machine vision system 206 passes through the wire with the controller and is connected, and first motor, second motor, third motor, fourth motor, fifth motor 207, sixth motor 223, clean motor 220 and hammering cylinder 216 pass through wire connection control, are provided with displacement sensor on measuring rack 200, and the both ends of measuring rack 200 stroke are provided with crashproof switch, first mounting bracket 113's upper end and lower extreme be provided with the limit switch who is used for controlling installation regulating plate vertical stroke, supporting wheel 108 and bottom plate 100 elastic contact, hammering board 214 on be provided with vibration switch, vibration switch and controller intercommunication, the controller carries out the operation of ventilating according to receiving vibration switch's signal to blowing nozzle 218, wherein vibration switch's vibrations sensitivity is adjustable, guarantees blowing nozzle 218's timeliness, avoids too much extravagant resource.
In this embodiment, the robot is located on the conveying rail 303, and then is driven to move by the chain transmission of the conveying rail 303 or other transmission modes, and this mode is suitable for the situation that the added workpieces are inconvenient to transport on the production line, and then the workpieces are actively transported by the robot motion. The whole assembly process is that firstly, the whole assembly process is a step-by-step assembly process, the material grabbing manipulator 302 conveys parts to be processed on the feeding conveyor belt 301 to the assembly line 300 for assembly, then the welding robot 304 performs welding operation on the workpieces assembled in the first step, then the assembly line 300 enters the assembly parts completed in the first step into the second station for assembly in the second step, when the assembly line 300 is not convenient to convey the welded parts, the material grabbing manipulator 302 can be adopted to convey the welded parts to the next assembly welding station, and the welding robot 304 walks to the next assembly welding station; the assembly line 300 is provided with a clamp for fixing a welding part, the assembly line is provided with a positioning system, position information of the workpiece to be welded is recorded due to the known position of a welding point of the workpiece, for example, an origin coordinate is defined, then coordinate information of each welding point relative to the origin is recorded into a controller, and the controller controls the first motor 105 according to the coordinate information of each welding point, so that the whole robot body is controlled to be close to or far away from the welding point; carry out the control rotation to third motor 115, thereby accomplish the control to whole installation regulating plate 117 up-and-down motion, then the controller controls the second motor again, thereby control carousel 109 pivoted angle, wherein because the carousel is great, for the angle that carousel 109 rotated is guaranteed more accurately, this embodiment drives through gear ring 110 and measures the rack slip, then the gliding distance of record rack measures the angle that carousel 109 rotated, form the feedback mechanism, simultaneously crashproof switch has guaranteed that the carousel 109 main part can not appear because unexpected trouble is crossed and is rotated and cause the injury to the equipment on carousel 109, the security of equipment has been guaranteed. When a welding gun reaches a coordinate point where a welding spot is located, the controller controls the welding operation, after the welding is completed, a machine vision positioning system of a machine vision system captures the position of a coating generated by the welding, then the controller controls the rotary motor 212 to reach the position, a piston rod of the knocking cylinder 216 extends out to drive the knocking hammer 217 to perform 1 knocking operation, a vibration switch on the mounting plate 215 obtains a vibration signal in the knocking process and transmits the vibration signal to the controller, the controller controls an electromagnetic switch valve connected with the blowing nozzle 218 according to the knocking signal to control the blowing operation of the blowing nozzle 218, meanwhile, the machine vision detection system transmits an acquired welding completion picture to the controller and compares the collected welding completion picture with a picture in a memory to judge the welding quality, repair welding operation is performed if insufficient welding and missing welding exist, and after the welding of one welding spot is completed, the machine vision system transmits the obtained picture information to the controller, the controller judges whether welding slag is generated or not and the position of the generated welding slag according to the picture information, if the welding slag is generated, the controller and the cleaning motor 220 are controlled to drive the rocker arm 221 to be close to the welding slag, then the sixth motor 223 drives the steel brush to remove the slag, and meanwhile the dust collecting pipe 227 adsorbs the welding slag; the cigarette holder 228 is always smoking during the whole welding process, so that the sanitation of the workshop environment is ensured.
The driving screw 114 and the driven screw 204 are used for transmission, so that stable vertical bearing can be provided, the driving screw 114 and the driven screw 204 are the same screws, and the driving screw 114, the driven screw 204 and the driven screw form a triangle. Moreover, the upper end of the first guide shaft 126 is fixedly connected with the first mounting frame 113, the lower end of the first guide shaft 126 is fixedly connected with the turntable 109, the mounting adjusting plate 117 is sleeved on the first guide shaft 126, a linear bearing is arranged inside the mounting adjusting plate 117, and the linear bearing is matched with the first guide shaft 126.
The motors used in this embodiment are all servo motors, wherein the moving direction of the whole robot is always perpendicular to the straight line of the first guide rail 102.
Example 2
As shown in fig. 1 to 7, the present embodiment is different from embodiment 1 in that a small wheel set is disposed below the bottom plate 100, the small wheel set includes a driving wheel set 140 and a steering wheel set 141, the driving wheel set 140 includes a driving wheel 142, the driving wheel 142 is connected by a driving shaft 143, a first driving gear 144 is disposed on the driving shaft 143, a driving motor 145 is disposed on a lower end surface of the bottom plate 100, the driving motor 145 is fixedly connected to the bottom plate 100, the driving motor 145 is connected to a second driving gear 146, the first driving gear 144 is engaged with the second driving gear 146, the driving motor 145 drives the driving wheel 142 to rotate by driving the second driving gear 146, wherein an axis of the driving shaft 143 is perpendicular to a straight line of the first guide rail set 102; the first guide shaft 126 is fixed on the first mounting frame 113, the steering wheel set 141 comprises an automatic navigation system, the robot provided by the embodiment is suitable for places with too long transmission lines or too high construction cost, and in order to ensure the correct walking of the robot, a factory should be provided with a track matched with the wheel set.
In summary, the above-mentioned embodiments are only preferred embodiments of the present invention, and all equivalent changes and modifications made in the claims of the present invention should be covered by the claims of the present invention.

Claims (3)

1. The utility model provides an automated production assembly system based on intelligent industrial robot which characterized in that: the assembly line comprises an assembly line (300), a feeding conveyor belt (301) is arranged on one side of the assembly line (300), a material grabbing mechanical arm (302) is arranged on one side of the feeding conveyor belt (301), workpieces to be machined of the feeding conveyor belt (301) are conveyed into the assembly line (300) to be assembled through the material grabbing mechanical arm (302), a conveying track (303) is arranged on the other side of the assembly line (300), a welding robot (304) is arranged on the conveying track (303), the welding robot (304) travels along the movement direction of the assembly line (300), the welding robot (304) comprises a robot main body and a control system used for controlling the movement of the robot main body, the robot main body comprises a bottom plate (100), a first rack (101) and a first guide rail group (102) are arranged on the bottom plate (100), and a welding mechanical arm (103) which moves linearly along the first guide rail group (102) is arranged on the first rack (101) and the first guide rail group; the welding manipulator (103) comprises a welding platform (104), supporting legs (127) are arranged below the welding platform (104), the supporting legs (127) are arranged on a first guide rail set (102) in a sliding mode, a walking power set is arranged on the lower end face of the welding platform (104), the walking power set comprises a first motor (105), an output shaft of the first motor (105) is coaxially connected with a first gear (106), the first gear (106) is meshed with a first rack (101), an installation rod (107) is arranged on one side of the first motor (105), a supporting wheel (108) is arranged at the bottom of the installation rod (107), and the supporting wheel (108) is in rolling contact with the bottom plate (100); a turntable (109) is mounted on a welding platform (104), a gear ring (110) is sleeved outside the turntable (109), the inner side surface of the gear ring (110) is in interference fit with the outer side surface of the turntable (109), a second gear (111) is meshed on one side of the gear ring (110), a measuring rack (200) is meshed on the other side of the gear ring (110), a second guide rail (201) is arranged on the welding platform (104), the bottom of the measuring rack (200) is arranged on the second guide rail (201) and slides along the second guide rail (201), a rotating shaft is mounted on the second gear (111) and penetrates through the welding platform (104), a second motor (112) is arranged below the welding platform (104), an output shaft of the second motor (112) is coaxially connected with the rotating shaft and drives the second gear (111) to rotate, and the gear ring (110) and the second gear (111) are meshed to drive the turntable (109) to rotate; a first mounting frame (113) is arranged on the turntable (109), a driving screw rod (114) is mounted on the first mounting frame (113), the upper end of the driving screw rod (114) is connected with the first mounting frame (113), the lower end of the driving screw rod is connected with the turntable (109), a third motor (115) is mounted at the upper end of the driving screw rod (114), the third motor (115) is fixedly mounted on the first mounting frame (113), a transmission gear (202) is arranged at the upper end of the driving screw rod (114), transition gears (203) are meshed with the two sides of the transmission gear (202), the transition gears (203) are fixed on the first mounting frame (113), two driven screw rods (204) are further arranged on the first mounting frame (113) and are respectively and correspondingly arranged on the two sides of the driving screw rod (114), one end of each driven screw rod (204) is rotatably connected with the first mounting frame, the other end of each driven screw rod is rotatably connected with the turntable, a, the circle center of the driven gear (205) and the circle center of the driving gear are located on the same straight line and are the same in height, the parameters of the driving gear and the driven gear (205) are the same, the driving screw rod (114) is sleeved with the welding assembly (116), the welding assembly (116) comprises an installation adjusting plate (117), the installation adjusting plate (117) is matched with the driving screw rod (114) and the driven screw rod (204), a third guide rail (250) in the vertical direction is arranged on the first installation frame (113), and the installation adjusting plate (117) falls on the third guide rail (250) and slides along the third guide rail (250); the third motor (115) drives the driving screw rod (114) and the transmission gear (202) to rotate, the transmission gear (202) drives the driven gear (205) to rotate at the same speed through the transition gear (203), the driven gear (205) drives the driven screw rod (204) to rotate, parameters of the driving screw rod (114) and the driven screw rod (204) are the same, the mounting adjusting plate (117) moves up and down through the driving of the driving screw rod and the driven screw rod (204), the mounting adjusting plate (117) is provided with the welding gun assembly (118), the welding gun assembly (118) comprises a second mounting frame (119), the second mounting frame (119) is fixed on the mounting adjusting plate (117), the second mounting frame (119) is provided with the mounting shaft (120), two ends of the mounting shaft (120) are rotatably connected with the second mounting frame (119) through bearings, the third gear (121) and the welding gun frame (122) for fixing a welding gun are arranged on the mounting, a fourth gear (123) is meshed with the third gear (121), a supporting plate (124) is arranged on the second mounting frame (119), a fourth motor (125) is mounted on the supporting plate (124), the fourth motor (125) is connected with the fourth gear (123) to drive the fourth gear (123) to rotate, a machine vision system (206) is arranged at the upper end of the second mounting frame, the machine vision system (206) comprises a fifth motor (207), the fifth motor (207) is connected with a first mounting shaft (208), a camera (209) is arranged on the first mounting shaft (208), and the fifth motor (207) drives the first mounting shaft (208) to rotate to drive the camera (209) to perform corner motion; one side of welding gun subassembly (118) is provided with hammering device (210), hammering device (210) are installed on installation regulating plate (117), hammering device (210) are including hammering mounting bracket (211), the top of hammering mounting bracket (211) is provided with rotating electrical machines (212), rotating electrical machines (212) are connected with second installation axle (213), second installation axle (213) are gone up the cover and are provided with hammering board (214), hammering board (214) and second installation axle (213) articulate, the end fixing of second installation axle (213) is provided with horizontally mounting panel (215), the upside on mounting panel (215) is provided with hammering cylinder (216), the piston rod of hammering cylinder (216) passes through universal joint and hammering board (214) and connects, the one end of hammering board (214) has linked firmly strikes hammer (217), strike hammer (217) and hammering cylinder (216) and correspond the both sides that set up second installation axle (213) respectively; the mounting plate (215) is also provided with an air blowing nozzle (218), and the air blowing nozzle (218) is arranged on one side close to the knocking hammer (217); the other side of the welding gun component (118) is provided with a cleaning device (219), the cleaning device (219) comprises a cleaning motor (220), the cleaning motor (220) is connected with a rocker arm (221), the cleaning motor (220) drives the rocker arm (221) to rotate, one end of the rocker arm (221) is provided with a steel brush (222), the steel brush (222) is connected with a sixth motor (223), the sixth motor (223) drives the steel brush (222) to rotate, one side of the steel brush (222) is provided with a dust suction nozzle (224), the dust suction nozzle (224) is connected to a dust collecting device (226) through a dust suction hose (225), the dust collecting device (226) is arranged on the turntable, the dust collecting device (226) is provided with a dust collecting pipe (227), and the dust collecting pipe (227) is communicated with the dust; a cigarette holder (228) is arranged on the dust collecting pipe (227) in a bypass mode, the cigarette holder (228) is fixed on the second mounting rack (119), and the cigarette holder (228) is connected with a flow regulating valve;
the trolley wheel set is arranged below the bottom plate (100) and comprises a driving wheel set (140) and a steering wheel set (141), the driving wheel set (140) comprises a driving wheel (142), the driving wheel (142) is connected through a driving shaft (143), a first driving gear (144) is arranged on the driving shaft (143), a driving motor (145) is arranged on the lower end face of the bottom plate (100), the driving motor (145) is fixedly connected with the bottom plate (100), the driving motor (145) is connected with a second driving gear (146), the first driving gear (144) is meshed with the second driving gear (146), the driving motor (145) drives the driving wheel (142) to rotate through driving the second driving gear (146), and the axis of the driving shaft (143) is perpendicular to the straight line of the first guide rail set (102); be fixed with first guide shaft (126) on first mounting bracket (113), the upper end and first mounting bracket (113) of first guide shaft (126) link firmly, and the lower extreme and carousel (109) of first guide shaft (126) link firmly, and installation regulating plate (117) cover is established on first guide shaft (126), and the inside of installation regulating plate (117) is provided with linear bearing, and linear bearing cooperatees with first guide shaft (126): the control system comprises a controller, a machine vision system (206) is connected with the controller through a wire, a first motor, a second motor, a third motor, a fourth motor, a fifth motor (207), a sixth motor (223), a cleaning motor (220) and a hammering cylinder (216) are connected and controlled through wires, a displacement sensor is arranged on a measuring rack (200), anti-collision switches are arranged at two ends of the stroke of the measuring rack (200), limit switches for controlling the up-down stroke of an installation adjusting plate are arranged at the upper end and the lower end of a first installation frame (113), and a supporting wheel (108) is in elastic contact with a bottom plate (100); the machine vision system (206) comprises a machine vision positioning system and a machine vision detection system, a storage module is arranged in the controller, and the controller controls the fourth motor, the sixth motor (223), the cleaning motor (220) and the hammering cylinder (216) according to signals transmitted by the machine vision positioning system and the machine vision detection system.
2. An intelligent industrial robot based automated production assembly system according to claim 1, wherein: the steering wheel set (141) comprises a driven wheel (147), a universal joint structure is formed between the driven wheel (147) and the bottom plate (100), a rotating rod is connected between the driven wheel (147) and the bottom plate, and two ends of the rotating rod are connected with the driven wheel through universal joints (148).
3. An intelligent industrial robot based automated production assembly system according to claim 1, wherein: the number of the material grabbing mechanical arms (302) is the same as that of the feeding conveyor belts (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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CN110732818A (en) * 2019-11-22 2020-01-31 合肥常青机械股份有限公司 welding manipulator for auto-parts

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