CN109277667A - Seven axis Arc Welding Robot Workstations of one kind and its working method - Google Patents
Seven axis Arc Welding Robot Workstations of one kind and its working method Download PDFInfo
- Publication number
- CN109277667A CN109277667A CN201710594024.8A CN201710594024A CN109277667A CN 109277667 A CN109277667 A CN 109277667A CN 201710594024 A CN201710594024 A CN 201710594024A CN 109277667 A CN109277667 A CN 109277667A
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- CN
- China
- Prior art keywords
- welding
- robot
- arc
- sheet metal
- metal component
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Abstract
The invention discloses a kind of seven axis Arc Welding Robot Workstations and its working methods, mainly include robot, arc-welding welding gun, grip device, turnover device and peripheral unit.The advantages of at low cost, application is wide and improves working efficiency may be implemented in seven axis Arc Welding Robot Workstation of one kind of the invention and its working method.
Description
Technical field
The present invention relates to robot workstation's technical fields, and in particular, to a kind of seven axis Arc Welding Robot Workstations and
Its working method.
Background technique
Automobile production manufacturing field, there are the components of a large amount of welding processings, such as exhaust manifold, automobile frame, car door.
In existing welding equipment, arc welding gun head generally can only planar work, and not can be carried out angular transformation.Between welding gun and solder joint
The state that cannot always be optimal of position often result in weld seam especially to the welding of Curve On The Surface and generate stomata, slag inclusion
Phenomena such as, influence welding quality.In addition, current bonding machine generally uses manual programming mode to carry out the programming of processing program,
It can be achieved on when this is fairly simple for workpiece weld shape, but with the increase of workpiece weld seam complicated process, merely
Will be extremely difficult by manual programming, it can not even complete.
Summary of the invention
It is an object of the present invention in view of the above-mentioned problems, propose seven axis Arc Welding Robot Workstations of one kind and its work side
The advantages of method, application low with cost of implementation is wide and improves working efficiency.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of seven axis Arc Welding Robot Workstations, it is main to wrap
Include robot, arc-welding welding gun, grip device, turnover device and peripheral unit；
The robot drives arc-welding welding gun that external turnover device coordination is cooperated to achieve the purpose that arc welding.
The grip device is used to fixed car Metal Sheets for Body-manufacturing, passes through the location hole of sheet metal component or type face strength
Clamping cylinder fixes sheet metal component, and grip device is mounted on turnover device；
The turnover device is the increased one degree of freedom except six axis of robot, passes through servo motor and speed reducer essence
The 180 degree overturning of quasi- control sheet metal component, the freedom degree being not achieved with six axis of Compensating Robot；
The peripheral unit, is the working region of arc-welding, robot, and turnover device is all mounted on the substrate of peripheral unit
On, it is fixed with the relative position guaranteed between them, and everything all passes through PLC control, facilitates later period scene right
Robot carries out pilot teaching debugging.
Further, the robot uses six-joint robot, and the 6th axis that arc-welding welding gun is mounted on the robot turns
It on disk, drives arc-welding welding gun to realize three-dimensional space track by the movement of robot, while cooperating external turnover mechanism realization and machine
The complementation of device people's motion profile, realizes the welding of complex parts.
Further, a kind of working method of seven axis Arc Welding Robot Workstation, specifically includes that step 1: manually metal plate
Part is placed on grip device by positioning method, and strength clamping cylinder connects gas source and clamp arm is driven to compress sheet metal component；
Step 2: after robot receives the information of Metal Sheets for Body-manufacturing in place, arc-welding welding gun is driven to prepare welding workpiece,
The servo motor of turnover device receives signal cooperation robot while carrying out the welding of sheet metal component simultaneously；
Step 3: after welding procedure, robot returns to origin position, and turnover device returns to home position, with folder
Tool device and sheet metal component return to the position of artificial piece uploading；
Step 4: connecting gas source and open strong holding device cylinder, the sheet metal component of well cutting is manually taken away, subsequently into next
Circulation.
The present invention has following advantageous effects
(1) present invention can control robot automatic welding by numerical control programming by configuring corresponding electric control system
Workpiece can complete the welding of various complex curves, be suitble to that all kinds of complex-shaped, welding workloads of welding are big, welding quality requirement
Higher workpiece.
(2) apparatus cost is low, adaptable, and reusable property is good, and Zhi Xuyige robot drives arc-welding welding gun to match
The welding of Complex Panels can be realized by closing external axis, and weldering welding gun is replaced with spot welding or laser cutting and may be implemented
Cost is greatly saved to spot welding or the transformation of laser cutting in arc-welding.
(3) external to increase a turnover device, it is equivalent to and is increased one degree of freedom, whole device is made to reach seven
Freedom degree can meet user to the arc welding of various complex parts according to different use requirements in this way, it is effectively filled out
The limitation that Bu Liao robot freedom degree is not achieved, while improving the efficiency of work.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of seven axis Arc Welding Robot Workstations of one kind and its working method；
Fig. 2 is the external axle construction signal of the peripheral unit of seven axis Arc Welding Robot Workstations of one kind and its working method
Figure；
Fig. 3 is the turnover device structural schematic diagram of seven axis Arc Welding Robot Workstations of one kind and its working method.
In conjunction with attached drawing 1, appended drawing reference is as follows in the embodiment of the present invention:
1- robot；2- arc-welding welding gun；3- grip device；4- turnover device；5- peripheral unit.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
As shown in Figure 1-3, a kind of seven axis Arc Welding Robot Workstations, mainly include robot, arc-welding welding gun, fixture dress
It sets, turnover device and peripheral unit；
Robot drives arc-welding welding gun that external turnover device coordination is cooperated to achieve the purpose that arc welding.
Grip device is used to fixed car Metal Sheets for Body-manufacturing, is clamped by the location hole of sheet metal component or type face strength
Cylinder fixes sheet metal component, and grip device is mounted on turnover device；
Turnover device is the increased one degree of freedom except six axis of robot, is precisely controlled by servo motor and speed reducer
The 180 degree of sheet metal component processed is overturn, the freedom degree being not achieved with six axis of Compensating Robot；
Peripheral unit, is the working region of arc-welding, robot, and turnover device is all mounted on the substrate of peripheral unit, with
Guarantee that the relative position between them is fixed, and everything all passes through PLC control, facilitates later period scene to robot
Carry out pilot teaching debugging.
Robot uses six-joint robot, and arc-welding welding gun is mounted on the 6th axis turntable of robot, by the fortune of robot
It is dynamic that arc-welding welding gun is driven to realize three-dimensional space track, while it is mutual with robot motion track to cooperate external turnover mechanism to realize
It mends, realizes the welding of complex parts.
A kind of working method of seven axis Arc Welding Robot Workstation, specifically includes that
Step 1: manually sheet metal component being placed on grip device by positioning method, strength clamping cylinder connects gas source and drives folder
Tight arm compresses sheet metal component；
Step 2: after robot receives the information of Metal Sheets for Body-manufacturing in place, arc-welding welding gun is driven to prepare welding workpiece,
The servo motor of turnover device receives signal cooperation robot while carrying out the welding of sheet metal component simultaneously；
Step 3: after welding procedure, robot returns to origin position, and turnover device returns to home position, with folder
Tool device and sheet metal component return to the position of artificial piece uploading；
Step 4: connecting gas source and open strong holding device cylinder, the sheet metal component of well cutting is manually taken away, subsequently into next
Circulation.
At least can achieve it is following the utility model has the advantages that
(1) present invention can control robot automatic welding by numerical control programming by configuring corresponding electric control system
Workpiece can complete the welding of various complex curves, be suitble to that all kinds of complex-shaped, welding workloads of welding are big, welding quality requirement
Higher workpiece.
(2) apparatus cost is low, adaptable, and reusable property is good, and Zhi Xuyige robot drives arc-welding welding gun to match
The welding of Complex Panels can be realized by closing external axis, and weldering welding gun is replaced with spot welding or laser cutting and may be implemented
Cost is greatly saved to spot welding or the transformation of laser cutting in arc-welding.
(3) external to increase a turnover device, it is equivalent to and is increased one degree of freedom, whole device is made to reach seven
Freedom degree can meet user to the arc welding of various complex parts according to different use requirements in this way, it is effectively filled out
The limitation that Bu Liao robot freedom degree is not achieved, while improving the efficiency of work.
Finally, it should be noted that these are only the preferred embodiment of the present invention, it is not intended to restrict the invention, although
Present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, still can be right
Technical solution documented by foregoing embodiments is modified or equivalent replacement of some of the technical features.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in protection of the invention
Within the scope of.
Claims (3)
1. a kind of seven axis Arc Welding Robot Workstations, which is characterized in that include mainly robot, arc-welding welding gun, grip device, turn over
Rotary device and peripheral unit；
The robot drives arc-welding welding gun that external turnover device coordination is cooperated to achieve the purpose that arc welding.
The grip device is used to fixed car Metal Sheets for Body-manufacturing, is clamped by the location hole of sheet metal component or type face strength
Cylinder fixes sheet metal component, and grip device is mounted on turnover device；
The turnover device is the increased one degree of freedom except six axis of robot, is precisely controlled by servo motor and speed reducer
The 180 degree of sheet metal component processed is overturn, the freedom degree being not achieved with six axis of Compensating Robot；
The peripheral unit, is the working region of arc-welding, robot, and turnover device is all mounted on the substrate of peripheral unit, with
Guarantee that the relative position between them is fixed, and everything all passes through PLC control, facilitates later period scene to robot
Carry out pilot teaching debugging.
2. a kind of seven axis Arc Welding Robot Workstation according to claim 1, which is characterized in that the robot uses six
Axis robot, arc-welding welding gun are mounted on the 6th axis turntable of the robot, drive arc-welding welding gun real by the movement of robot
Existing three-dimensional space track, while external turnover mechanism being cooperated to realize the complementation with robot motion track, realize complex parts
Welding.
3. a kind of working method of seven axis Arc Welding Robot Workstations, which is characterized in that specifically include that
Step 1: manually sheet metal component being placed on grip device by positioning method, strength clamping cylinder connects gas source and drives clamp arm
Compress sheet metal component；
Step 2: after robot receives the information of Metal Sheets for Body-manufacturing in place, driving arc-welding welding gun to prepare welding workpiece, simultaneously
The servo motor of turnover device receives signal cooperation robot while carrying out the welding of sheet metal component；
Step 3: after welding procedure, robot returns to origin position, and turnover device returns to home position, fills with fixture
Set the position that artificial piece uploading is returned to sheet metal component；
Step 4: connecting gas source and open strong holding device cylinder, the sheet metal component of well cutting is manually taken away, subsequently into next circulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710594024.8A CN109277667A (en) | 2017-07-20 | 2017-07-20 | Seven axis Arc Welding Robot Workstations of one kind and its working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710594024.8A CN109277667A (en) | 2017-07-20 | 2017-07-20 | Seven axis Arc Welding Robot Workstations of one kind and its working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109277667A true CN109277667A (en) | 2019-01-29 |
Family
ID=65185166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201710594024.8A Withdrawn CN109277667A (en) | 2017-07-20 | 2017-07-20 | Seven axis Arc Welding Robot Workstations of one kind and its working method |
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| CN (1) | CN109277667A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111843256A (en) * | 2019-10-16 | 2020-10-30 | 宁波财经学院 | Multi-station robot production line and production method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004012898A1 (en) * | 2002-07-30 | 2004-02-12 | Kuka Schweissanlagen Gmbh | Machining system |
| CN204075464U (en) * | 2014-09-23 | 2015-01-07 | 福建明鑫机器人科技有限公司 | Automotive muffler robot arc-welding work station |
| CN204528626U (en) * | 2015-03-26 | 2015-08-05 | 江苏科瑞恩自动化科技有限公司 | Radium carves seven axis robot haulage equipments |
| CN104889526A (en) * | 2015-06-10 | 2015-09-09 | 蓝姆汽车焊接设备(上海)有限公司 | Automobile seat backrest automatic welding production line and production method thereof |
| CN105127633A (en) * | 2015-09-06 | 2015-12-09 | 北京中电华强焊接工程技术有限公司 | Seven-axis industrial welding robot |
| CN105195864A (en) * | 2015-07-17 | 2015-12-30 | 江西洪都航空工业集团有限责任公司 | Double-robot working station for double-weld-joint arc welding |
-
2017
- 2017-07-20 CN CN201710594024.8A patent/CN109277667A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004012898A1 (en) * | 2002-07-30 | 2004-02-12 | Kuka Schweissanlagen Gmbh | Machining system |
| US20050224557A1 (en) * | 2002-07-30 | 2005-10-13 | Gerhard Kraus | Machining system |
| CN204075464U (en) * | 2014-09-23 | 2015-01-07 | 福建明鑫机器人科技有限公司 | Automotive muffler robot arc-welding work station |
| CN204528626U (en) * | 2015-03-26 | 2015-08-05 | 江苏科瑞恩自动化科技有限公司 | Radium carves seven axis robot haulage equipments |
| CN104889526A (en) * | 2015-06-10 | 2015-09-09 | 蓝姆汽车焊接设备(上海)有限公司 | Automobile seat backrest automatic welding production line and production method thereof |
| CN105195864A (en) * | 2015-07-17 | 2015-12-30 | 江西洪都航空工业集团有限责任公司 | Double-robot working station for double-weld-joint arc welding |
| CN105127633A (en) * | 2015-09-06 | 2015-12-09 | 北京中电华强焊接工程技术有限公司 | Seven-axis industrial welding robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111843256A (en) * | 2019-10-16 | 2020-10-30 | 宁波财经学院 | Multi-station robot production line and production method |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190129 |
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| WW01 | Invention patent application withdrawn after publication |