CN109926694A - A kind of welding robot - Google Patents
A kind of welding robot Download PDFInfo
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- CN109926694A CN109926694A CN201910326143.4A CN201910326143A CN109926694A CN 109926694 A CN109926694 A CN 109926694A CN 201910326143 A CN201910326143 A CN 201910326143A CN 109926694 A CN109926694 A CN 109926694A
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Abstract
This application provides a kind of welding robots, belong to welding technology field.Welding robot includes three coordinate mobile mechanisms, welder, the second driving device and control device.Three coordinate mobile mechanisms include driving unit and mobile unit, driving unit be configured as driving mobile unit laterally, it is longitudinal and perpendicular move up.Welder includes fixing seat, sliding seat, arc welding gun head and first driving device, fixing seat is rotatablely arranged at mobile unit, sliding seat is movably set to fixing seat, arc welding gun head is set to sliding seat, and first driving device is configured as driving sliding seat and moves relative to fixed seat along the first preset direction.Second driving device is configured as driving fixing seat relative mobile unit and rotates around axis of reference, and the arranged direction of axis of reference is perpendicular to the first preset direction.Driving unit, first driving device and the second driving device are electrically connected with control device.This welding robot can efficiently weld tube sheet.
Description
Technical field
This application involves welding technology fields, in particular to a kind of welding robot.
Background technique
Welding robot is widely used in the fields such as automobile, electronic apparatus, engineering machinery.Existing welding robot can not
Tube sheet is welded.
Summary of the invention
The embodiment of the present application provides a kind of welding robot, can not be welded to tube sheet with improving existing welding robot
Connect problem.
The embodiment of the present application provides a kind of welding robot, including three coordinate mobile mechanisms, welder, the second driving dress
It sets and control device；
Three coordinate mobile mechanism includes driving unit and mobile unit, and the driving unit is configured as described in driving
Mobile unit laterally, it is longitudinal and perpendicular move up；
The welder includes fixing seat, sliding seat, arc welding gun head and first driving device, and the fixing seat is rotationally
It is set to the mobile unit, the sliding seat is movably set to the fixing seat, and the arc welding gun head is set to the work
Dynamic seat, the first driving device are configured as that the sliding seat is driven to move relative to fixed seat along the first preset direction；
Second driving device is configured as that the fixing seat is driven to rotate relative to the mobile unit around axis of reference,
The arranged direction of the axis of reference is perpendicular to first preset direction；
The driving unit, the first driving device and second driving device are electrically connected with the control device
It connects.
In above-mentioned technical proposal, three coordinate mobile mechanisms can realize that the three-dimensional of welder is (lateral, longitudinal and vertical) and move
It is dynamic, when being welded to tube sheet (multiple tube-like pieces and a substrate), with substrate-parallel in the plane laterally and vertically constructed
For, control device controls driving unit to realize positioning, i.e., makes welder laterally, vertically under the action of driving unit
Axis of reference is overlapped by upper movement with the axis of tube-like piece in tube sheet；Then, control device control first driving device is dynamic
Make, moves sliding seat along the first preset direction relative to fixed seat, so that the weldering of arc welding gun head
On circumference where arch welded joint of the socket part between tube-like piece and substrate；Control device controls driving unit movement again,
Arc welding gun head is fed in the longitudinal direction to make arc welding gun head reach welding position close to substrate；Finally, the second driving of control device control
Device action, fixing seat is rotated around axis of reference under the action of the second driving device, so that arc welding gun head be made to weld arc track.
After welding to a tube-like piece, device control driving unit movement can control, so that welder lateral or longitudinal movement
To next station, finally tube-like piece and substrate are welded one by one.This welding robot can efficiently weld tube sheet.
In addition, the welding robot of the embodiment of the present application also has following additional technical characteristic:
In some embodiments of the present application, the welder further includes positioning shooting head；
The positioning shooting head be set to the fixing seat, the optical axis of the positioning shooting head be overlapped with the axis of reference or
In parallel, the positioning shooting head is electrically connected with the control device.
In above-mentioned technical proposal, welder further includes the positioning shooting head in fixing seat, and positioning shooting head can be real
Now to the accurate positioning of welder.In actual operation, the hole wall of the through-hole on the outer wall and substrate of tube-like piece can be carried out
Surface treatment, in positioning, positioning shooting head can recognize the position of the arch welded joint between tube-like piece and substrate, justify in the picture
Arc weld is in black, and tube-like piece is white, and the position of the axis of tube-like piece and the axis of tube-like piece can be obtained according to arch welded joint
The distance of line-spacing weld seam.After obtaining the axial location of tube-like piece, control device controls driving unit movement, makes welder in cross
To, it is perpendicular move up so that axis of reference is overlapped with the axis of tube-like piece；Control device is detected further according to positioning shooting head and is identified
The axis of obtained tube-like piece controls first driving device movement at a distance from away from arch welded joint, so that the weld part of arc welding gun head
On circumference where the accurate arch welded joint reached between tube-like piece and substrate in position.
In some embodiments of the present application, the sliding seat includes the first attachment base, the second attachment base and third driving
Device；
First attachment base is movably set to fixing seat, and the first driving device is configured as driving described
A connecting seat is moved relative to the fixing seat along first preset direction；
Second attachment base is movably arranged at first attachment base, and the arc welding gun head is set to second connection
Seat；
The third driving device is electrically connected with the control device, and the third driving device is configured as described in driving
Second attachment base is moved relative to first attachment base along the second preset direction, second preset direction and the axis of reference
Arranged direction it is consistent.
In above-mentioned technical proposal, after positioning welder, need to feed arc welding gun head to reach welding position
When, third driving device can be controlled by control device move the second attachment base along the second preset direction with respect to the first attachment base
It is dynamic, so that arc welding gun head be made to reach welding position.
In some embodiments of the present application, the welder further includes welding arc pressure detection device, the welding arc pressure inspection
Device is surveyed to be electrically connected with the control device.
In above-mentioned technical proposal, welder further includes the welding arc pressure detection device being electrically connected with control device, welding arc pressure
The pulse voltage that detection device generates when can be to welding detects, and the voltage signal of detection obtains after control device calculation process
The movement of third driving device is automatically controlled, with butt welding pipette tips according to welding distance value preset in control device to welding distance
The distance between tube sheet is automatically adjusted, and guarantees welding quality.
In some embodiments of the present application, the welding robot further includes mechanical arm and fourth drive device；
The mechanical arm is rotatablely arranged at the mobile unit, the fourth drive device and control device electricity
Connection, the fourth drive device are configured as that the mechanical arm is driven to rotate relative to the mobile unit around vertical axis；
The fixing seat is rotatablely arranged at the mechanical arm, and second driving device is configured as driving described solid
Reservation is rotated relative to the mechanical arm around the axis of reference.
In above-mentioned technical proposal, control device control fourth drive device movement can make mechanical arm relative mobile unit around perpendicular
Axis rotation, to make entire welder rotate around vertical axis, to achieve the purpose that the orientation for adjusting welder.
In some embodiments of the present application, the mechanical arm includes the first linking arm, the second linking arm, third connection
Arm, the 5th driving device and the 6th driving device；
First linking arm is rotatablely arranged at the mobile unit, and the fourth drive device is configured as driving
First linking arm is rotated relative to the mobile unit around the vertical axis；
Second linking arm is rotatablely arranged at first linking arm, the 5th driving device and the control
Device electrical connection, the 5th driving device are configured as driving relatively described first linking arm of the second linking arm around first axle
Rotation, the first axle is perpendicular to the vertical axis；
The third linking arm is rotatablely arranged at second linking arm, the 6th driving device and the control
Device electrical connection, the 6th driving device are configured as driving relatively described second linking arm of the third linking arm around second
Axis rotation, the second axis are parallel to the first axle；
The fixing seat is rotatablely arranged at the third linking arm, and second driving device is configured as driving institute
It states fixing seat and is rotated relative to the third linking arm around the axis of reference.
In above-mentioned technical proposal, control device controls the movement of the 5th driving device, and the second linking arm can be made to connect with respect to first
It connects arm to rotate around first axle, to realize that the inclination angle of butt welding pipette tips is adjusted；Equally, control device controls the 6th driving device
Movement can be such that third linking arm rotates relative to the second linking arm around second axis, to realize that the inclination angle of butt welding pipette tips is adjusted.
Certainly, since mechanical arm is foldable structure, the 5th driving device and the 6th driving device in movement, the height and position of arc welding gun head
Also it will change.During actual welding, it can be incited somebody to action by fourth drive device, the 5th driving device and the 6th driving device
Arc welding gun head is adjusted to the position perpendicular to substrate.
In some embodiments of the present application, the 6th driving device includes the first connector, the second connector and force piece:
First connector, second connector, second linking arm and third linking arm are successively hingedly constituted
Lanar four rod mechanism；
The force piece is electrically connected with the control device, and the force piece is configured as driving the second connector phase
Second linking arm is rotated.
In above-mentioned technical proposal, when control device controls force piece movement, under the action of force piece, the second connector phase
Second linking arm is rotated, is connected since the first connector, the second connector, the second linking arm and third linking arm constitute plane four
Linkage, so that third linking arm will be rotated relative to the second linking arm, to realize that the inclination angle of butt welding pipette tips is adjusted.It is above-mentioned
6th driving device structure of structure is simple, stablizes well so that having when third linking arm is rotated relative to the second linking arm
Property.
In some embodiments of the present application, the axis of reference is perpendicular to the first axle.
In above-mentioned technical proposal, axis of reference is turning perpendicular to first axle, i.e. third linking arm with respect to the second linking arm
During dynamic, axis of reference is all located at always in the perpendicular perpendicular to first axle.When the second linking arm opposite first connects
Arm rotation or third linking arm are connect when rotating relative to the second linking arm, the position of the welding position of arc welding gun head only can be in two-dimensional surface
In both direction on change, convenient for butt welding pipette tips adjust positioning.
In some embodiments of the present application, three coordinate mobile mechanism further includes support base, first movement seat and
Two Mobile bases, the driving unit include the lateral driver device being electrically connected with control device, longitudinal driving device and vertical drive
Dynamic device；
The first movement seat is movably arranged at the support base, and the lateral driver device is configured as driving institute
State the relatively described support base transverse shifting of first movement seat；
Second Mobile base is movably arranged at the first movement seat, and the longitudinal driving device is configured as driving
Move the relatively described first movement seat longitudinal movement of second Mobile base；
The mobile unit is movably arranged at second Mobile base, and the vertical drive is configured as driving
Relatively described second Mobile base of the mobile unit is vertically movable.
In above-mentioned technical proposal, three coordinate mobile mechanism structures of above structure are simple, and control device control is laterally driven
When device action, first movement seat will be with respect to support base transverse shifting, to realize the transverse shifting of welder；Control device
When controlling longitudinal driving device movement, the second Mobile base will be vertically moved with respect to first movement seat, to realize welder
Longitudinal movement；When control device controls vertical drive movement, mobile unit will be vertically movable with respect to the second Mobile base, thus
Realize the vertically movable of welder.
In some embodiments of the present application, the welding robot further includes counter weight device；
The counter weight device include the first counterweight, connecting rope and the second counterweight, one end of the connecting rope with it is described
The connection of first counterweight, the other end of the connecting rope are connect with second counterweight；
Second Mobile base is equipped with the first support portion and the second support portion, and the mobile unit is equipped with third support portion,
The connecting rope is successively wound in first support portion, the second support portion and third support portion, and the third support portion is perpendicular
It is lower than first support portion and second support portion upwards.
In above-mentioned technical proposal, welding robot further includes counter weight device, mobile unit with respect to the second Mobile base vertically to
When upper mobile, the first configuration part and the second counterweight will move vertically downwards under self gravitation effect, to reduce entire weldering
The center of gravity of welding robot guarantees the stability of welding robot.
In some embodiments of the present application, the welding robot further includes angle detection device, the angle detection
Device is electrically connected with the control device；
The angle detection device is configured as detecting the relatively described mobile unit of the fixing seat around the axis of reference
The angle of rotation.
In above-mentioned technical proposal, welder further includes angle detection device, and angle detection device can be opposite to fixing seat
The angle that mobile unit is rotated around axis of reference, i.e. angle detection device can butt welding pipette tips in the welding process along arch welded joint institute
The movement of the second driving device is automatically controlled, with right according to angle value preset in control device in the angle that circular arc circumferentially moves
Arc welding gun head is automatically adjusted along the angle that circular arc where arch welded joint circumferentially moves in the welding process, guarantees welding matter
Amount.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram of welding robot provided by the embodiments of the present application；
Fig. 2 is the structural schematic diagram of tube sheet provided by the embodiments of the present application；
Fig. 3 is the structural schematic diagram of three coordinate mobile mechanisms of welding robot provided by the embodiments of the present application；
Fig. 4 is the partial view of three coordinate moving structures of welding robot provided by the embodiments of the present application；
Fig. 5 is structural schematic diagram of the welder of welding robot provided by the embodiments of the present application under the first visual angle；
Fig. 6 is structural schematic diagram of the welder of welding robot provided by the embodiments of the present application under the second visual angle；
Fig. 7 is structural schematic diagram of the welder of welding robot provided by the embodiments of the present application under third visual angle；
Fig. 8 is the structural schematic diagram of the wire feeder of welding robot provided by the embodiments of the present application；
Fig. 9 is that the connection of the mechanical arm and mobile unit, welder of welding robot provided by the embodiments of the present application is shown
It is intended to.
Icon: 100- welding robot；Tri- coordinate mobile mechanism of 10-；11- mobile unit；111- third support portion；12-
Support base；The first guide rail of 121-；122- supporting leg；13- first movement seat；The second guide rail of 131-；The second Mobile base of 14-；141-
Third guide rail；The first support portion of 142-；The second support portion of 143-；15- lateral driver device；151- first servo motor；152-
First screw rod；16- longitudinal driving device；The second servo motor of 161-；The second screw rod of 162-；20- welder；21- fixing seat；
211- axle portion；2111- rotates electric slip ring；212- plate portion；22- sliding seat；The first attachment base of 221-；The second attachment base of 222-；
223- third driving device；The 5th servo motor of 2231-；The 5th screw rod of 2232-；23- arc welding gun head；24- first driving device；
The 4th servo motor of 241-；The 4th screw rod of 242-；25- wire feeder；251- matrix；252- first wears fiber tube；253- second is worn
Fiber tube；254- third wears fiber tube；The first wire feed rolls of 255-；2551- card slot；The second wire feed rolls of 256-；257- driving motor；258-
First rotating shaft；The second shaft of 259-；260- first gear；261- second gear；262- third gear；263- mobile；264-
First thread pressing wheel；The second thread pressing wheel of 265-；The first guide rod of 266-；The second guide rod of 267-；The first nut of 268-；269- second
Nut；27- wire reel；28- positioning shooting head；29- effect camera；The second driving device of 30-；The 6th servo motor of 31-；
40- counter weight device；The first counterweight of 41-；42- connecting rope；The second counterweight of 43-；50- mechanical arm；The first linking arm of 51-；52-
Second linking arm；53- third linking arm；The 5th driving device of 54-；The 6th driving device of 55-；The first connector of 551-；552-
Second connector；The 9th servo motor of 553-；60- fourth drive device；The 7th servo motor of 61-；70- range sensor；80-
Block piece；101- axis of reference；102- vertical axis；103- first axle；104- second axis；200- tube sheet；210- tube-like piece；
220- substrate；A- is lateral；B- is longitudinal；C- is vertical；The first preset direction of D-；The second preset direction of E-.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model of the application protection
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the embodiment of the present application, it should be noted that indicating position or positional relationship is based on shown in attached drawings
Orientation or positional relationship this application product using when the orientation or positional relationship usually put or this field
Orientation or positional relationship that technical staff usually understands or this application product using when the orientation usually put or position close
System is merely for convenience of description the application and simplifies description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.In addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
In the description of the embodiment of the present application, it is also necessary to which explanation is unless specifically defined or limited otherwise, term
" setting ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be and be directly connected to, can also be indirectly connected with by intermediary.For the ordinary skill in the art, may be used
The concrete meaning of above-mentioned term in this application is understood with concrete condition.
Embodiment
As shown in Figure 1, the present embodiment provides a kind of welding robot 100, including three coordinate mobile mechanisms 10, welder
20, the second driving device 30 and control device (not shown go out).
Three coordinate mobile mechanisms 10 include driving unit and mobile unit 11, and driving unit is configured as driving mobile unit
11 is mobile in lateral A, longitudinal direction B and vertical C.
Welder 20 includes fixing seat 21, sliding seat 22, arc welding gun head 23 and first driving device 24, and fixing seat 21 can turn
It is set to mobile unit 11 dynamicly, sliding seat 22 is movably set to fixing seat 21, and arc welding gun head 23 is set to sliding seat 22, the
One driving device 24 is configured as driving sliding seat 22 and moves relative to fixed seat 21 along the first preset direction D.
Second driving device 30 is configured as driving 21 relative mobile unit 11 of fixing seat and rotates around axis of reference 101, ginseng
The arranged direction of axis 101 is examined perpendicular to the first preset direction D.
Driving unit, first driving device 24 and the second driving device 30 are electrically connected with control device.
It should be noted that above-mentioned signified vertical C is that entire welding robot 100 is placed rear and water in the horizontal plane
The vertical direction of plane；Lateral A and longitudinal direction B are each perpendicular to vertical C.
Welding robot 100 provided by the present application can carry out efficient welding to tube sheet 200, as shown in Fig. 2, tube sheet 200 wraps
Substrate 220 and multiple tube-like pieces 210 are included, substrate 220 is equipped with multiple through-holes, and 210 corresponding inserted of tube-like piece is logical in one
In hole, the gap between the hole wall of through-hole and the outer wall of tube-like piece 210 is arch welded joint.
When welding to tube sheet 200, the plane of lateral A and vertical C building is parallel to the substrate 220 of tube sheet 200
For, control device control driving unit come realize positioning, i.e., make under the action of driving unit welder 20 lateral A,
It is moved on vertical C, axis of reference 101 is overlapped with the axis of tube-like piece 210 in tube sheet 200；Then, control device control the
The movement of one driving device 24 makes the relatively fixed seat 21 of sliding seat 22 along the first preset direction under the action of first driving device 24
D is mobile, so that on the circumference where arch welded joint of the welding position of arc welding gun head 23 between tube-like piece 210 and substrate 220；Control
Device processed controls driving unit movement again, makes arc welding gun head 23 in longitudinal B upper feeding, arc welding gun head 23 is made to reach welding position；Most
Afterwards, control device controls the movement of the second driving device 30, and fixing seat 21 is around axis of reference under the action of the second driving device 30
101 rotations, so that arc welding gun head 23 be made to weld arc track.After welding to a tube-like piece 210, device control can control to drive
Moving cell movement, so that welder 20 transverse direction A or longitudinal direction B are moved to next station, finally one by one by tube-like piece 210 and base
Plate 220 welds.
Wherein, the effect of three coordinate mobile mechanisms 10 is to realize the three-dimensional (lateral A, longitudinal direction B and vertical C) of welder 20
It is mobile.Three coordinate mobile mechanisms 10 can be various structures, in the present embodiment, as shown in figure 3, three coordinate mobile mechanisms 10 remove
Include other than mobile unit 11 and driving unit, further includes support base 12, first movement seat 13 and the second Mobile base 14, driving
Unit includes lateral driver device 15, longitudinal driving device 16 and vertical drive.First movement seat 13 is movably disposed
In support base 12, it is mobile relative to 12 transverse direction A of support base that lateral driver device 15 is configured as driving first movement seat 13；Second moves
Dynamic seat 14 is movably arranged at first movement seat 13, and longitudinal driving device 16 is configured as the second Mobile base of driving 14 opposite the
One Mobile base, 13 longitudinal direction B is mobile.Mobile unit 11 is movably arranged at the second Mobile base 14, and vertical drive is configured as
Drive mobile unit 11 mobile relative to the vertical C of the second Mobile base 14.
Three coordinate mobile mechanisms, 10 structure of above structure is simple, when control device controls the movement of lateral driver device 15,
First movement seat 13 will be mobile relative to 12 transverse direction A of support base, to realize that the lateral A of welder 20 is mobile；Control device control
When longitudinal driving device 16 processed acts, the second Mobile base 14 will be mobile relative to 13 longitudinal direction B of first movement seat, to realize welding dress
Set 20 longitudinal B movement；When control device controls vertical drive movement, mobile unit 11 will be erected with respect to the second Mobile base 14
It is mobile to C, to realize that the vertical C of welder 20 is mobile.
Wherein, support base 12 is rectangular box structure, and support base 12 is equipped with two for 13 transverse direction A of first movement seat movement
First guide rail 121 of item parallel arrangement, the section of the first guide rail 121 is T-shaped, and transversely A is arranged the first guide rail 121.First moves
Dynamic seat 13 is rectangular block shape structure, and the bottom of first movement seat 13 is equipped with two the first parallel T-slots, two the first guide rails
121 are stuck in respectively in two the first T-slots, so that first movement seat 13 can smoothly be slided on lateral A with respect to support base 12
It is dynamic.First movement seat 13 is equipped with the second guide rails 131 of two parallel arrangements, and the cross section of the second guide rail 131 is T shape, and second
B is arranged guide rail 131 along longitudinal direction.Second Mobile base 14 is rectangular block shape structure, and the bottom of the second Mobile base 14 is equipped with two in parallel
The second T-slot, two the second guide rails 131 are stuck in respectively in the second T-slot, so that the second Mobile base 14 can be moved with respect to first
The dynamic smooth sliding on longitudinal B of seat 13.Whole mobile unit 11 is in rectangular parallelepiped structure, is hollow structure inside mobile unit 11,
Mobile unit 11 is sheathed on the outside at 14 top of the second Mobile base, is equipped on two opposite lateral walls of the second Mobile base 14
Two parallel third guide rails 141, the cross section of third guide rail 141 are T shape, and vertically C is arranged third guide rail 141, mobile single
Corresponding position is equipped with third T-slot in member 11, and four third guide rails 141 are stuck in respectively in four third T-slots, so that mobile
Unit 11 can with respect to the second Mobile base 14 on vertical C smooth sliding.
The effect of lateral driver device 15 is that driving first movement seat 13 is mobile relative to 12 transverse direction A of support base, laterally driven
Device 15 can be various structures.In the present embodiment, lateral driver device 15 includes first servo motor 151 and the first screw rod
152, first servo motor 151 is electrically connected with control device, and first servo motor 151 is fixed on support base 12, the first screw rod 152
It is rotatably connected at support base 12 by bearing, transversely A is arranged the first screw rod 152, and first movement seat 13 is bolted in first
The outside of screw rod 152, the output axis connection of the first screw rod 152 and first servo motor 151.When control device controls the first servo
When motor 151 works, the rotation of the first screw rod 152 is to drive first movement seat 13 mobile relative to 12 transverse direction A of support base.
The effect of longitudinal driving device 16 is that the second Mobile base 14 of driving is mobile relative to 13 longitudinal direction B of first movement seat, longitudinal
Driving device 16 can be various structures.In the present embodiment, longitudinal driving device 16 includes the second servo motor 161 and second
Bar 162, the second servo motor 161 are electrically connected with control device, and the second servo motor 161 is fixed on first movement seat 13, and second
Screw rod 162 is rotatably connected at first movement seat 13 by bearing, and B is arranged the second screw rod 162 along longitudinal direction, the second Mobile base 14
It is bolted in the outside of the second screw rod 162, the output axis connection of the second screw rod 162 and the second servo motor 161.When control device control
When making the work of the second servo motor 161, the rotation of the second screw rod 162 is longitudinal to drive the opposite first movement seat 13 of the second Mobile base 14
B is mobile.
The effect of vertical drive is that driving mobile unit 11 is mobile relative to the vertical C of the second Mobile base 14, vertical to drive
Device can be various structures.In the present embodiment, vertical drive (not shown go out) includes third servo motor and third silk
Bar, third servo motor are electrically connected with control device, and third servo motor is fixed on the second Mobile base 14, and third screw rod passes through axis
It holds and is rotatably connected at the second Mobile base 14, vertically C is arranged third screw rod, and mobile unit 11 is bolted in the outer of third screw rod
Side, the output axis connection of third screw rod and third servo motor.When control device control third servo motor work, third silk
Bar rotation is to drive mobile unit 11 mobile relative to the vertical C of the second Mobile base 14.
Wherein, in the present embodiment, support base 12 is equipped with multiple supporting legs 122, and supporting leg 122 is rotatably set to branch
The side of seat 12 is supportted, supporting leg 122 can be rotated relative to support base 12 around axis arranged in a vertical direction, to realize supporting leg
122 folding or expansion.After supporting leg 122 is rotated and is unfolded around axis arranged in a vertical direction relative to support base 12, supporting leg
122 can play a supporting role, and improve the stability of entire welding robot 100.
During vertical drive driving mobile unit 11 is moved up with respect to the vertical C of the second Mobile base 14, weldering
Connection device 20 will also follow the vertical C of the second Mobile base 14 to move up, so that the center of gravity of entire welding robot 100 increases, make
Obtain the stability decline of welding robot 100.
Therefore, in the present embodiment, as shown in figure 4, welding robot 100 further includes counter weight device 40.Counter weight device 40
Including the first counterweight 41, connecting rope 42 and the second counterweight 43, one end of connecting rope 42 is connect with the first counterweight 41, connection
The other end of rope 42 is connect with the second counterweight 43.Second Mobile base 14 is equipped with the first support portion 142 and the second support portion 143,
Mobile unit 11 is equipped with third support portion 111, and connecting rope 42 is successively wound in the first support portion 142, the second support portion 143 and the
Three support portions 111, third support portion 111 are lower than the first support portion 142 and the second support portion 143 on vertical C.
When mobile unit 11 is moved up with respect to the vertical C of the second Mobile base 14, the first counterweight 41 and the second counterweight 43
Vertical C is moved down under self gravitation effect, to reduce the center of gravity of entire welding robot 100, guarantees welding robot
The stability of people 100.Certainly, when mobile unit 11 is moved down with respect to the vertical C of the second Mobile base 14, the first counterweight 41 and the
Two counterweights 43 move up vertical C under the action of connecting rope 42.
Optionally, the first counterweight 41 and the second counterweight 42 are block structure, can select the biggish metal of density
It is made, for example, lead.
In the present embodiment, the first support portion 142 and the second support portion 143 are respectively arranged at first on the second Mobile base 14
Pulley and second pulley, first pulley is parallel with the axis of second pulley and is located at sustained height position.Third support portion 111 is
The axis of third pulley in mobile unit 11, third pulley is parallel to the axis of first pulley.Certainly, in other implementations
In example, the first support portion 142, the second support portion 143 and third support portion 111 can also be other structures, as long as can be for connection
42 winding of rope, for example, the first support portion 142 and the second support portion 143 are the rod piece being fixed on the second Mobile base 14, the
Three support portions 111 are the rod piece for being fixed on mobile unit 11.
It should be noted that three coordinate mobile mechanisms 10 are not limited only to above structure, in other embodiments, three
Coordinate mobile mechanism 10 can also be other structures, for example, first movement seat 13 is movably set to support base 12, it is vertical to drive
It is mobile relative to the vertical C of support base 12 that dynamic device is configured as driving Mobile base；Second Mobile base 14 is movably set to first
Mobile base 13, it is mobile relative to 13 transverse direction A of first movement seat that lateral driver device 15 is configured as the second Mobile base 14 of driving；It is mobile
Unit 11 is movably set to the second Mobile base 14, and longitudinal driving device 16 is configured as driving mobile unit 11 opposite second
14 longitudinal direction B of Mobile base is mobile.
Further, as shown in figure 5, in the present embodiment, sliding seat 22 includes the first attachment base 221, the second attachment base 222
With third driving device 223.First attachment base 221 is movably set to fixing seat 21, and arc welding gun head 23 is set to the second attachment base
222, first driving device 24 is configured as the first attachment base 221 of driving and moves relative to fixed seat 21 along the first preset direction D.The
Two attachment bases 222 are movably arranged at the first attachment base 221.Third driving device 223 is electrically connected with control device, and third is driven
Dynamic device 223 is configured as the second attachment base 222 of driving and moves relative to the first attachment base 221 along the second preset direction E, and second is pre-
Set direction E is consistent with the arranged direction of axis of reference 101.
After positioning welder 20, i.e., after axis of reference 101 is overlapped with the axis of tube-like piece 210, need to make
When the feeding of arc welding gun head 23 is to reach welding position, third driving device 223 can be controlled by control device to make the second attachment base
222 move relative to the first attachment base 221 along the second preset direction E, so that arc welding gun head 23 be made to reach welding position.
Wherein, fixing seat 21 includes axle portion 211 and plate portion 212, and one end of axle portion 211, axle portion 211 are fixed in plate portion 212
Axis perpendicular to plate portion 212, the axis of axle portion 211 is axis of reference 101.
First attachment base 221 is movably arranged at plate portion 212, and plate portion 212 is equipped with for the first attachment base 221 along first
Two preset direction D mobile guide rails.Equally, the first attachment base 221 is equipped with for the second attachment base 222 along the second preset direction
Two E mobile guide rails.
The effect of first driving device 24 is to drive the plate portion 212 of the relatively fixed seat 21 of the first attachment base 221 pre- along first
Set direction D is mobile, and first driving device 24 can be various structures.In the present embodiment, as shown in fig. 6, first driving device 24
Including the 4th servo motor 241 and the 4th screw rod 242, the 4th servo motor 241 is electrically connected with control device, the 4th servo motor
241 are fixed on fixing seat 21, and the 4th screw rod 242 is rotatably connected at plate portion 212 by bearing, and the 4th screw rod 242 is along first
Preset direction D arrangement, the first attachment base 221 are bolted in the outside of the 4th screw rod 242, and the axis of the 4th screw rod 242 is watched with the 4th
The axis for taking the output shaft of motor 241 is parallel, and the output shaft of the 4th screw rod 242 and the 4th servo motor 241 passes through the first transmission
Mechanism driving connection, the first transmission mechanism can be various structures, for example, the first transmission mechanism is tape handler, gear biography
Motivation structure etc..
The effect of third driving device 223 is opposite first attachment base 221 of the second attachment base of driving 222 along the second default side
Mobile to E, third driving device 223 can be various structures.In the present embodiment, as shown in fig. 7, third driving device 223 is wrapped
The 5th servo motor 2231 and the 5th screw rod 2232 are included, the 5th servo motor 2231 is electrically connected with control device, the 5th servo electricity
Machine 2231 is fixed on the first attachment base 221, and the 5th screw rod 2232 is rotatablely connected with the first attachment base 221 by bearing, the
Five screw rods 2232 arrange that the second attachment base 222 is bolted in the outside of the 5th screw rod 2232, the 5th screw rod along the second preset direction E
2232 axis is parallel with the axis of output shaft of the 5th servo motor 2231, the 5th screw rod 2232 and the 5th servo motor 2231
Output shaft by the second transmission mechanism be sequentially connected, the second transmission mechanism can be various structures, for example, the second transmission mechanism
For tape handler, gear drive etc..
In the present embodiment, welder 20 further includes welding arc pressure detection device, and welding arc presses detection device and control device electricity
Connection.The pulse voltage that welding arc pressure detection device generates when can be to welding detects, and the voltage signal of detection is through control device
Welding distance is obtained after calculation process, according to welding distance value preset in control device, automatically controls third driving device 223
Movement, is automatically adjusted with the distance between butt welding pipette tips 23 and tube sheet 200, guarantees welding quality.
In addition, with continued reference to Fig. 5, welder 20 further includes wire feeder 25 and wire reel 27, wire feed in the present embodiment
Device 25 is fixed on fixing seat 21, and wire reel 27 is rotatably set to fixing seat 21, and wire reel 27 is for winding welding wire, wire feed
The welding wire that device 25 is used to wind on wire reel 27 is conveyed to the direction close to arc welding gun head 23.
Wherein, as shown in figure 8, wire feeder 25 includes matrix 251, wire-feeding pipe, wire feeder and silk pressing mechanism.Matrix
251 are fixed on fixing seat 21.Wire-feeding pipe includes being fixed on the first of matrix 251 wear fiber tube 252, second wear fiber tube 253 and third
Wear fiber tube 254, first wears fiber tube 252, second wears fiber tube 253 and third wears the coaxial arrangement of fiber tube 254, first wear fiber tube 252 with
Second wears and forms the first gap between fiber tube 253, and second wears fiber tube 253 and third wears fiber tube 254 and forms the second gap.Wire-feed motor
Structure includes the first wire feed rolls 255, the second wire feed rolls 256 and driving motor 257, the peripheral wall and the second wire feed of the first wire feed rolls 255
The card slot 2551 being caught in for welding wire is equipped on the peripheral wall of wheel 256, the first wire feed rolls 255 passes through first rotating shaft 258 and matrix 251
Rotation connection, the second wire feed rolls 256 are rotatablely connected by the second shaft 259 with matrix 251, first rotating shaft 258 and the second shaft
259 are arranged in parallel, and first rotating shaft 258 is equipped with first gear 260, and the second shaft 259 is equipped with second gear 261, matrix 251
It is equipped with rotatable third gear 262, third gear 262 is engaged with first gear 260 and second gear 261 simultaneously, is driven
Motor 257 is fixed on matrix 251, and the output shaft of driving motor 257 is connect with third gear 262；When driving motor 257 works
When, driving motor 257 will drive the first wire feed rolls 255 and the second wire feed rolls 256 to rotate to identical direction simultaneously.Silk pressing mechanism
Including mobile 263, the first thread pressing wheel 264, the second thread pressing wheel 265, the first guide rod 266, the second guide rod 267, the first spiral shell
Mother 268 and the second nut 269, the first thread pressing wheel 264 and the second thread pressing wheel 265 are rotatablely arranged at mobile 263, the first pressure
The pivot center of the pivot center and the second thread pressing wheel 265 of silk wheel 264 is arranged in parallel, the first guide rod 266 and the second guide rod
267 are connected to matrix 251, the first guide rod 266 and the second guide rod 267 also cross mobile 263,268 spiral shell of the first nut
It is connected to the first guide rod 266, the second nut 269 is bolted in the second guide rod 267.First thread pressing wheel 264 and the first wire feed rolls 255
It is corresponding, the first crimping gap is formed between the first thread pressing wheel 264 and the first wire feed rolls 255, between the first crimping gap and first
Gap crosses；Second thread pressing wheel 265 is corresponding with the second wire feed rolls 256, shape between the second thread pressing wheel 265 and the second wire feed rolls 256
At the second crimping gap, the second crimping gap crosses with the second gap.After matrix 251 is fixed in fixing seat 21, wire feeder
25 wire feed direction is consistent with the second preset direction E, i.e., first wears fiber tube 252, second wears fiber tube 253 and third wears fiber tube 254
Arranged along the second preset direction E.
The welding wire wound when wire feeder 25 works, on wire reel 27 sequentially passes through first and wears fiber tube 252, second wears fiber tube
253 and third wear fiber tube 254, welding wire had not only been located between the first wire feed rolls 255 and the first thread pressing wheel 264, but be located at the second wire feed
Between wheel 256 and the second thread pressing wheel 265, welding wire is pressed on the first wire feed rolls 255 by the first thread pressing wheel 264 and the second thread pressing wheel 265
In the card slot 2551 on the second wire feed rolls 256；It can adjust the first wire feed by adjusting the first nut 268 and the second nut 269
The distance between wheel 255 and the first thread pressing wheel 264 and the distance between the second wire feed rolls 256 and the second thread pressing wheel 265, thus
The first wire feed rolls 255 and the first thread pressing wheel 264 are adjusted to the pressing force of welding wire, and adjusts the second wire feed rolls 256 and the second pressure
The pressing force of silk 265 pairs of welding wires of wheel.When 257 first wire feed rolls 255 of driving motor and the second wire feed rolls 256 rotate, welding wire will
Fiber tube 252 is worn first, second wears fiber tube 253 and third is worn in fiber tube 254 and moved, completes wire feed movement.
Further, in this embodiment as shown in figure 5, welder 20 further includes positioning shooting head 28 and effect camera shooting
First 29.
Wherein, positioning shooting head 28 is set to the plate portion 212 of fixing seat 21, the optical axis and axis of reference of positioning shooting head 28
101 are overlapped, and positioning shooting head 28 is electrically connected with control device.Certainly, the optical axis in other specific positioning shooting heads 28 and reference
Axis 101 is parallel.Positioning shooting head 28 can realize the accurate positioning to welder 20.It in actual operation, can be to tube-like piece
210 outer wall and the hole wall of the through-hole on substrate 220 are surface-treated, and in positioning, positioning shooting head 28 can recognize tubulose
The position of arch welded joint between part 210 and substrate 220, arch welded joint is in black in the picture, and tube-like piece 210 is white, root
The position of the axis of tube-like piece 210 and the axis of tube-like piece 210 can be obtained away from the distance of weld seam according to arch welded joint.Obtain pipe
After the axial location of shape part 210, control device controls driving unit movement, moves welder 20 on lateral A, vertical C,
So that axis of reference 101 is overlapped with the axis of tube-like piece 210；Control device is obtained further according to the detection identification of positioning shooting head 28
The axis of tube-like piece 210 controls the movement of first driving device 24 at a distance from away from arch welded joint, so that the welding of arc welding gun head 23
Position accurately reaches on the circumference where the arch welded joint between tube-like piece 210 and substrate 220.
In addition, the plate portion 212 of fixing seat 21 is equipped with light compensating lamp, when light compensating lamp is used to identify for the detection of positioning shooting head 28
It provides bright.
Effect camera 29 is fixed on the first attachment base 221, and effect camera 29 is electrically connected with the controller.Welding is completed
Afterwards, lines will be formed on workpiece, effect camera 29 can carry out shooting imaging, line of the controller to shooting to the lines on workpiece
Road is compared, to judge whether welding is qualified.
It should be noted that the fixing seat 21 of welder 20 and the mobile unit 11 of three coordinate mobile mechanisms 10 can be
It is directly connected to, is also possible to be indirectly connected with.If fixing seat 21 is directly connected to mobile unit 11, fixing seat 21 directly with movement
Unit 11 is rotatablely connected, if fixing seat 21 is indirectly connected with mobile unit 11, during this fixing seat 21 and mobile unit 11 pass through
Between part connect, i.e., middleware connect with mobile unit 11, fixing seat 21 and middleware rotation connection.
In the present embodiment, with continued reference to Fig. 1, fixing seat 21 is indirectly connected with mobile unit 11.Welding robot 100 also wraps
Include mechanical arm 50 and fourth drive device 60.Mechanical arm 50 is rotatablely arranged at mobile unit 11, fourth drive device 60 with
Control device electrical connection, fourth drive device 60 are configured as driving 50 relative mobile unit 11 of mechanical arm around 102 turns of vertical axis
It is dynamic.Fixing seat 21 is rotatablely arranged at mechanical arm 50, and the second driving device 30 is configured as driving 21 relative mechanical of fixing seat
Arm 50 is rotated around axis of reference 101.
In the actual operation process, control device control fourth drive device 60 movement can make mechanical arm 50 relatively move list
Member 11 is rotated around vertical axis 102, to make entire welder 20 rotate around vertical axis 102, to reach adjustment welder
The purpose in 20 orientation.
Wherein, mechanical arm 50 can be various structures.In the present embodiment, as shown in figure 9, mechanical arm 50 is foldable structure.
Specifically, mechanical arm 50 includes the first linking arm 51, the second linking arm 52, third linking arm 53, the 5th driving device 54 and the
Six driving devices 55.First linking arm 51 is rotatablely arranged at mobile unit 11, and fourth drive device 60 is configured as driving
First linking arm, 51 relative mobile unit 11 is rotated around vertical axis 102.Second linking arm 52 is rotatablely arranged at the first connection
Arm 51, the 5th driving device 54 are electrically connected with control device, and the 5th driving device 54 is configured as driving 52 phase of the second linking arm
First linking arm 51 is rotated around first axle 103, first axle 103 is perpendicular to vertical axis 102.Third linking arm 53 can be rotated
Ground is set to the second linking arm 52, and the 6th driving device 55 is electrically connected with control device, and the 6th driving device 55 is configured as driving
Dynamic third linking arm 53 is rotated relative to the second linking arm 52 around second axis 104, and second axis 104 is parallel to first axle 103.
Fixing seat 21 is rotatablely arranged at third linking arm 53, and the second driving device 30 is configured as driving fixing seat 21 with respect to third
Linking arm 53 is rotated around axis of reference 101.
In the actual operation process, control device controls the movement of the 5th driving device 54, and the second linking arm 52 can be made opposite
First linking arm 51 is rotated around first axle 103, to realize that the inclination angle of butt welding pipette tips 23 is adjusted；Equally, control device control
The movement of the 6th driving device 55 is made, third linking arm 53 can be made to rotate relative to the second linking arm 52 around second axis 104, to realize
The inclination angle of butt welding pipette tips 23 is adjusted.Certainly, since mechanical arm 50 is foldable structure, the 5th driving device 54 and the 6th driving
In movement, the height and position of arc welding gun head 23 will also change device 55.During actual welding, filled by the 4th driving
It sets the 60, the 5th driving device 54 and arc welding gun head 23 can be adjusted to position perpendicular to substrate 220 by the 6th driving device 55, to protect
Demonstrate,prove welding quality.
In the present embodiment, axis of reference 101 is perpendicular to first axle 103.Third linking arm 53 is with respect to the second linking arm 52
During rotation, axis of reference 101 is all located at always in the perpendicular perpendicular to first axle 103.When the second linking arm
52 relative to the first linking arm 51 rotate or third linking arm 53 rotated relative to the second linking arm 52 when, the welding position of arc welding gun head 23
Position can only change in both direction in a two-dimensional plane, convenient for butt welding pipette tips 23 adjust positioning.
Wherein, the first linking arm 51 is rotatably set to the top of mobile unit 11, and the first linking arm 51 passes through vertical transfer
Axis and mobile unit 11 are rotatablely connected.Vertical transfer axis is fixedly connected with the first linking arm 51, and vertical transfer axis and mobile unit 11 pass through axis
Hold rotation connection.The axis of vertical transfer axis is vertical axis 102.
Second linking arm 52 is rotatablely connected by first level shaft and the first linking arm 51.First level shaft and first
Linking arm 51 is rotatablely connected by bearing, and the second linking arm 52 is fixedly connected with first level shaft.The axis of first level shaft
Line is first axle 103.
Third linking arm 53 is rotatablely connected by the second horizontal rotating shaft parallel with first level shaft, the second horizontal rotating shaft
It is rotatablely connected with the second linking arm 52 by bearing, third linking arm 53 is fixedly connected with the second horizontal rotating shaft.Second horizontal turn
The axis of axis is second axis 104.
The axle portion 211 and third linking arm 53 of fixing seat 21 are realized by bearing to be rotatablely connected, and fixing seat 21 is with respect to third
Linking arm 53 is rotated around axis of reference 101, i.e. axis of the axle portion 211 relative to third linking arm 53 around axle portion 211 itself rotates.
The effect of second driving device 30 is that driving fixing seat 21 is rotated relative to third linking arm 53 around axis of reference 101,
Second driving device 30 can be various structures.In the present embodiment, the second driving device 30 includes the 6th servo motor 31 and the
Three transmission mechanisms (not shown go out), the 6th servo motor 31 are fixed on third linking arm 53, and the 6th servo motor 31 is filled with control
Electrical connection is set, the output shaft of the 6th servo motor 31 is sequentially connected with the axle portion 211 of fixing seat 21 by third transmission mechanism.The
Three transmission mechanisms can be with various structures, for example, third transmission mechanism is tape handler, gear drive etc..Control device
When controlling the movement of the 6th servo motor 31, fixing seat 21 will be rotated relative to third linking arm 53 around axis of reference 101.
The effect of fourth drive device 60 is that driving 51 relative mobile unit 11 of the first linking arm is rotated around vertical axis 102.
Fourth drive device 60 can be various structures.In the present embodiment, fourth drive device 60 includes the 7th servo motor 61 and the
Four transmission mechanisms (the non-view of figure), the 7th servo motor 61 is fixed on mobile unit 11, the 7th servo motor 61 and control device
Electrical connection, the output shaft and vertical transfer axis of the 7th servo motor 61 are sequentially connected by the 4th transmission mechanism.4th transmission mechanism can
To be various structures, in the present embodiment, the 4th transmission mechanism is worm gear, worm gearing.In other embodiments, the 4th transmission
Mechanism can also make other structures form, for example, the 4th transmission mechanism is tape handler, gear drive etc..Control dress
When setting control the 7th servo motor 61 movement, the first linking arm 51 rotates relative mobile unit 11 around vertical axis 102.
The effect of 5th driving device 54 is opposite first linking arm 51 of the second linking arm of driving 52 around 103 turns of first axle
It is dynamic.5th driving device 54 can be various structures.In the present embodiment, the 5th driving device 54 includes the 8th servo motor, the
Eight servo motors are fixed on the first linking arm 51, and the output shaft of the 8th servo motor is connect with first level shaft.Control device
When controlling the movement of the 8th servo motor, 52 relative mobile unit 11 of the second linking arm is rotated around first axle 103.
The effect of 6th driving device 55 is opposite first linking arm 51 of driving third linking arm 53 around 104 turns of second axis
Dynamic, the 6th driving device 55 can be various structures.In the present embodiment, the 6th driving device 55 includes the first connector 551, the
Two connectors 552 and force piece.First connector 551, the second connector 552, the second linking arm 52 and third linking arm 53 according to
Secondary hinged composition lanar four rod mechanism.Force piece is electrically connected with control device, and force piece is configured as the second connector of driving
552 rotate relative to the second linking arm 52.Wherein, the second connector 552 relative to the second linking arm 52 rotation during, first connect
Fitting 551 is parallel to the second linking arm 52 always.
When control device controls force piece movement, under the action of force piece, opposite second linking arm of the second connector 552
52 rotations connect since the first connector 551, the second connector 552, the second linking arm 52 and third linking arm 53 constitute plane four
Linkage, so that third linking arm 53 will be rotated relative to the second linking arm 52, to realize that the inclination angle of butt welding pipette tips 23 is adjusted
Section.55 structure of the 6th driving device of above structure is simple, so that third linking arm 53 has when rotating relative to the second linking arm 52
There is good stability.
Wherein, force piece is the 9th servo motor 553, and the 9th servo motor 553 and the 8th servo motor are located at the
The two sides of one linking arm 51, the 9th servo motor 553 and the 8th servo motor are coaxially disposed, and guarantee mechanical arm 50 in work to improve
Stationarity during work.
In addition, in the present embodiment, as shown in figure 5, range sensor 70, Distance-sensing can also be arranged in welder 20
Device 70 is electrically connected with control device, and range sensor 70 is for detecting arc welding gun head 23 at a distance from the workpiece of welding.Distance passes
Sensor 70 is mountable on the second attachment base 222.
In actual welding, perfect condition is to construct the parallel arrangement of substrate 220 of tube sheet 200 in lateral A and vertical C
Plane, but in the actual operation process, substrate 220 is likely to the plane constructed with transverse direction A and vertical C, and there are inclination angles.At this point, can
Arc welding gun head 23 can be adjusted by controlling fourth drive device 60, the 5th driving device 54 and the 6th driving device 55 by control device
To the position of the substrate 220 perpendicular to tube sheet 200.
When being welded to tube sheet 200 and substrate 220, since the weld seam between tube sheet 200 and substrate 220 is arc-shaped
Weld seam, to guarantee welding quality, arc welding gun head 23 is during start to be welded to end welding, the angle of 23 circumferential movement of arc welding gun head
Degree is greater than 360 preferably, i.e., fixing seat 21 is greater than around the angle that axis of reference 101 rotates under the action of the second driving device 30
360 degree.
For the accuracy of the guarantee angle that fixing seat 21 is rotated around axis of reference 101 in the welding process.In the present embodiment
In, welding robot 100 further includes angle detection device, and angle detection device is electrically connected with control device, angle detection device
It is configured as the angle that detection 21 relative mobile unit 11 of fixing seat is rotated around axis of reference 101.
Angle detection device can the angle that the circular arc where the arch welded joint circumferentially moves in the welding process of butt welding pipette tips 23,
According to angle value preset in control device, the movement of the second driving device 30 is automatically controlled, with welding for butt welding pipette tips 23
It is automatically adjusted in journey along the angle that circular arc where arch welded joint circumferentially moves, guarantees welding quality.For example, in control device
Preset angle angle value be 370 degree, then the angle that fixing seat 21 is rotated around axis of reference 101 under the action of the second driving device 30
It is then 370 degree.In the present embodiment, angle detection device is angular transducer.
In the present embodiment, the obliquity sensor connecting with control device, inclination angle sensing can be also set in welder 20
Device is configured as the tilt angle of detection welder 20, and control device is controlled according to the angle signal that obliquity sensor detects
The 5th driving device 54 and the movement of the 6th driving device 55 are made, to adjust the posture of mechanical arm 50.Obliquity sensor is mountable to
On second connecting plate.
In practical work process, it is in the lateral A and vertical C plane constructed with the parallel arrangement of substrate 220 of tube sheet 200
Example, after axis of reference 101 is overlapped with the axis of tube-like piece 210, longitudinal direction B under the action of longitudinal driving device 16 of welder 20
When feeding, range sensor 70 can the distance between butt welding pipette tips 23 and substrate 220 detected, control device according to it is default away from
Acted from control longitudinal driving device 16 so that arc welding gun head 23 reaches pre-determined distance with substrate 220 at a distance from, completion for the first time into
It gives.Then, control device controls opposite first attachment base 221 of second attachment base of the driving of third driving device 223 222 along default again
Direction is mobile, completes second and feeds.Wherein, the first feed speed is greater than the second feed speed.
It is intelligible, in practical work process, if the substrate 220 of tube sheet 200 is the same as the plane of transverse direction A and vertical C component
There are when inclination angle, after axis of reference 101 is overlapped with the axis of tube-like piece 210, welder 20 may be in lateral driver device
15, first feeding is completed under the action of at least the two in longitudinal driving device 16 and vertical drive three, to guarantee
During feeding, axis of reference 101 is overlapped always with tube-like piece 210.
Welding robot 100 provided by the present application can also carry out two plates other than it can weld tube sheet 200
Welding, the effect of positioning shooting head 28 are then the bar shaped weld seams identified between two plates.In the welding process, positioning shooting head
28 identification positioning work and the welding of welder 20 carries out simultaneously, and generated light may be right in welding process
Positioning shooting head 28 interferes.Therefore, in the present embodiment, the second attachment base 222 is equipped with dismountable block piece 80, the
Block piece 80 is between arc welding gun head 23 and positioning shooting head 28 on two preset direction E.When being welded to two plates, hide
Block piece 80 can block light generated in welding process, prevent from interfering positioning shooting head 28.Certainly, right
When tube sheet 200 is welded, then this block piece 80 can be removed.
There are many removablies of block piece 80 and the second attachment base 222, for example, block piece 80 and the second attachment base
222 are connected by screw to.
When welding to tube sheet 200, welder 20 will be around axis of reference under the action of the second driving device 30
101 rotate, each electrical equipment (the 4th servo electricity in positioning shooting head 28, first driving device 24 in welder 20
The 5th servo motor 2231 etc. in machine 241, third driving device 223) will also be rotated around axis of reference 101, for prevent with respectively
The electric wire of a electrical equipment connection is wound, and in the present embodiment, as shown in Fig. 1, Fig. 9, is set in the axle portion 211 of fixing seat 21
There is the rotation electric slip ring 2111 for connecting with electric wire.Rotation electric slip ring 2111 includes inner ring and is sheathed on outer on the outside of inner ring
Ring, inner ring are fixed on the outside of axle portion 211, and outer ring is fixed by the third linking arm 53 of fixed frame and mechanical arm 50.
It should be noted that the control device in the present embodiment can be PLC controller or single-chip microcontroller.
The above is only preferred embodiment of the present application, are not intended to limit this application, for those skilled in the art
For member, various changes and changes are possible in this application.Within the spirit and principles of this application, it is made it is any modification,
Equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of welding robot characterized by comprising
Three coordinate mobile mechanisms, three coordinate mobile mechanism include driving unit and mobile unit, and the driving unit is matched
Be set to the driving mobile unit laterally, it is longitudinal and perpendicular move up；
Welder, the welder include fixing seat, sliding seat, arc welding gun head and first driving device, and the fixing seat can
It is rotatably arranged in the mobile unit, the sliding seat is movably set to the fixing seat, and the arc welding gun head is set to
The sliding seat, the first driving device are configured as that the relatively fixed seat of the sliding seat is driven to move along the first preset direction
It is dynamic；
Second driving device, second driving device are configured as driving the relatively described mobile unit of the fixing seat around reference
Axis rotation, the arranged direction of the axis of reference is perpendicular to first preset direction；And
Control device, the driving unit, the first driving device and second driving device with the control device
Electrical connection.
2. welding robot according to claim 1, which is characterized in that the welder further includes positioning shooting head；
The positioning shooting head is set to the fixing seat, and the optical axis of the positioning shooting head is overlapped or puts down with the axis of reference
Row, the positioning shooting head are electrically connected with the control device.
3. welding robot according to claim 1, which is characterized in that the sliding seat includes the first attachment base, second
Attachment base and third driving device；
First attachment base is movably set to fixing seat, and the first driving device is configured as driving described first to connect
Joint chair is moved relative to the fixing seat along first preset direction；
Second attachment base is movably arranged at first attachment base, and the arc welding gun head is set to second attachment base；
The third driving device is electrically connected with the control device, and the third driving device is configured as driving described second
Attachment base is moved relative to first attachment base along the second preset direction, the cloth of second preset direction and the axis of reference
It is consistent to set direction.
4. welding robot according to claim 3, which is characterized in that the welder further includes welding arc pressure detection dress
It sets, the welding arc pressure detection device is electrically connected with the control device.
5. welding robot according to claim 1, which is characterized in that the welding robot further includes mechanical arm and
Fourth drive device；
The mechanical arm is rotatablely arranged at the mobile unit, and the fourth drive device is electrically connected with the control device
It connects, the fourth drive device is configured as that the mechanical arm is driven to rotate relative to the mobile unit around vertical axis；
The fixing seat is rotatablely arranged at the mechanical arm, and second driving device is configured as driving the fixing seat
It is rotated relative to the mechanical arm around the axis of reference.
6. welding robot according to claim 5, which is characterized in that the mechanical arm includes the first linking arm, second
Linking arm, third linking arm, the 5th driving device and the 6th driving device；
First linking arm is rotatablely arranged at the mobile unit, and the fourth drive device is configured as described in driving
First linking arm is rotated relative to the mobile unit around the vertical axis；
Second linking arm is rotatablely arranged at first linking arm, the 5th driving device and the control device
Electrical connection, the 5th driving device are configured as driving relatively described first linking arm of the second linking arm and turn around first axle
Dynamic, the first axle is perpendicular to the vertical axis；
The third linking arm is rotatablely arranged at second linking arm, the 6th driving device and the control device
Electrical connection, the 6th driving device are configured as driving relatively described second linking arm of the third linking arm around second axis
Rotation, the second axis are parallel to the first axle；
The fixing seat is rotatablely arranged at the third linking arm, and second driving device is configured as driving described solid
Reservation is rotated relative to the third linking arm around the axis of reference.
7. welding robot according to claim 6, which is characterized in that the 6th driving device includes the first connector, the
Two connectors and force piece:
First connector, second connector, second linking arm and third linking arm successively hingedly constitute plane
Four-bar mechanism；
The force piece is electrically connected with the control device, and the force piece is configured as driving second connector with respect to institute
State the rotation of the second linking arm.
8. welding robot according to claim 1, which is characterized in that three coordinate mobile mechanism further includes support
Seat, first movement seat and the second Mobile base, the driving unit include the lateral driver device being electrically connected with control device, longitudinal direction
Driving device and vertical drive；
The first movement seat is movably arranged at the support base, and the lateral driver device is configured as driving described
The relatively described support base transverse shifting of one Mobile base；
Second Mobile base is movably arranged at the first movement seat, and the longitudinal driving device is configured as driving institute
State the relatively described first movement seat longitudinal movement of the second Mobile base；
The mobile unit is movably arranged at second Mobile base, and the vertical drive is configured as described in driving
Relatively described second Mobile base of mobile unit is vertically movable.
9. welding robot according to claim 8, which is characterized in that the welding robot further includes counter weight device；
The counter weight device includes the first counterweight, connecting rope and the second counterweight, one end of the connecting rope and described first
Counterweight connection, the other end of the connecting rope are connect with second counterweight；
Second Mobile base is equipped with the first support portion and the second support portion, and the mobile unit is equipped with third support portion, described
Connecting rope is successively wound in first support portion, the second support portion and third support portion, and the third support portion is vertically
Lower than first support portion and second support portion.
10. welding robot according to claim 1, which is characterized in that the welding robot further includes angle detection
Device, the angle detection device are electrically connected with the control device；
The angle detection device, which is configured as detecting the fixing seat, to be rotated relative to the mobile unit around the axis of reference
Angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910326143.4A CN109926694A (en) | 2019-04-22 | 2019-04-22 | A kind of welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910326143.4A CN109926694A (en) | 2019-04-22 | 2019-04-22 | A kind of welding robot |
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| CN109926694A true CN109926694A (en) | 2019-06-25 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110958794A (en) * | 2019-11-19 | 2020-04-03 | 珠海格力智能装备有限公司 | Vision device |
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