CN115740889A - Intelligent welding system of robot - Google Patents
Intelligent welding system of robot Download PDFInfo
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- CN115740889A CN115740889A CN202211467769.5A CN202211467769A CN115740889A CN 115740889 A CN115740889 A CN 115740889A CN 202211467769 A CN202211467769 A CN 202211467769A CN 115740889 A CN115740889 A CN 115740889A
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Abstract
The invention discloses an intelligent robot welding system, which relates to the technical field of intelligent welding and comprises a mobile gantry system, a gantry intelligent welding robot system, a guide rail mobile feeding robot system, a welding system, a mobile AGV feeding work station and a control work station. According to the intelligent welding automatic production line, the intelligent welding automatic production process of intelligent feeding, carrying and welding of the robot based on visual guidance is realized through setting and controlling all components of the intelligent welding system of the robot, and meanwhile, the flexibility and the function diversification of the system are improved.
Description
Technical Field
The invention relates to the technical field of intelligent welding, in particular to an intelligent welding system of a robot.
Background
With the vigorous development of the manufacturing industry and the rapid expansion of the industrial robot automation industry, the robot automation welding is more and more widely applied in the industrial production field, such as the fields of electronic and electrical manufacturing, automobile manufacturing, material sorting, processing and assembling, transportation and the like. Particularly, the application of robot vision guidance on the production line greatly improves the automation rate and the intelligent level of the whole system.
With the production of feeding and discharging, welding automation and randomization, higher requirements are put forward on the production flexibility and intelligence in the field of automatic production lines, and especially for the automatic production lines with high precision and more intelligent random feeding requirements, a large amount of testing and verification work needs to be carried out on system operation schemes and control strategies in the early stage of formal use. On the basis of the existing problem research of an automatic production line, an environment actual simulation system is incomplete in control mode and function realization, and is lack of intuitiveness and single in object.
Therefore, those skilled in the art are dedicated to developing an intelligent welding system based on robot vision guidance to improve the automation rate and functional diversity of the system.
Disclosure of Invention
In view of the above defects in the prior art, the technical problem to be solved by the present invention is how to realize intelligent robot feeding, transporting and welding based on visual guidance, so as to improve the automation rate and functional diversity of an intelligent system.
In order to achieve the above object, the present invention provides an intelligent robot welding system, which comprises a mobile gantry system, a gantry intelligent welding robot system, a rail mobile loading robot system, a welding system, a mobile AGV loading workstation and a control workstation, wherein:
the movable gantry system comprises a gantry cross beam, a gantry longitudinal beam and a gantry upright post, wherein two ends of the gantry cross beam are connected with the gantry longitudinal beam, and the gantry longitudinal beam is supported by the gantry upright post;
the intelligent gantry welding robot system comprises two welding robots, a lateral linear guide rail module, a robot vision guiding system and a terminal welding device. The lateral linear guide rail modules are arranged on two sides of the gantry beam, the two welding robots are hung upside down on the adapter plate of the lateral linear guide rail modules and can be driven to move independently by the lateral linear guide rail modules, the end flange adapters of the two welding robots are respectively connected with the end welding equipment and the vision system, and the two welding robots complete the tracking, moving and welding actions under the guidance of the vision system;
guide rail removes material loading robot system includes material loading robot, material loading guide rail module, flange anchor clamps subassembly, magnetism, servo motor and 3D vision bootstrap system, the material loading robot install on material loading guide rail module, and with servo motor elastic connection, servo motor drive control the material loading robot follows the guide rail of material loading guide rail module removes, the material loading robot end is provided with flange anchor clamps subassembly, the one end of flange anchor clamps subassembly is connected magnetism is inhaled, and the other end is connected 3D vision bootstrap system, magnetism is inhaled and is used for absorbing and treats welding workpiece, 3D vision bootstrap system is used for acquireing treats welding workpiece position and characteristic point information and guide the material loading robot carries out the orbit and removes.
Preferably, the robot vision guidance system include with two welding robot elastic connection's 2D vision camera and infrared scanning sensor, 2D vision camera and infrared scanning sensor set up respectively in on the two welding robot terminal flange adaptor.
Preferably, the upper part of the gantry beam is provided with a first X-direction linear guide rail module and a second X-direction linear guide rail module, the left end of the gantry beam is connected with a first Y-direction linear guide rail module, the right end of the gantry beam is connected with a second Y-direction linear guide rail module, and the first Y-direction linear guide rail module and the second Y-direction linear guide rail module are installed on the gantry longitudinal beam.
Preferably, the mobile gantry system further comprises a servo motor and a speed reducer, and the servo motor and the speed reducer are elastically connected with the first Y-direction linear guide rail module and the second Y-direction linear guide rail module.
Preferably, the gantry columns are of steel structures, and the number of the gantry columns is four.
Preferably, the end welding device is a welding gun.
Preferably, the welding system comprises a welding machine, a wire feeder, a gun cleaning station and a welding gun detection and calibration device, and the welding system controls the intelligent gantry welding robot system to jointly complete the welding work of the workpieces to be welded.
Preferably, the welding machine is arranged on the adapter plate above the gantry beam and can move along with the gantry beam along the gantry longitudinal beam, and the welding machine is connected with the welding gun.
Preferably, the movable AGV feeding workstation comprises an AGV trolley, a charging basket and workpieces to be welded, wherein the charging basket is arranged on the AGV trolley, the workpieces to be welded are placed in the charging basket, and the AGV trolley conveys the workpieces to be welded to the specified positions near the feeding robot according to the programmed path and time.
Preferably, the control workstation is elastically connected with and controls the movable gantry system, the gantry intelligent welding robot system, the guide rail movable feeding robot system, the welding system and the movable AGV feeding workstation
The invention has the beneficial effects that:
the intelligent welding automatic production process of the robot based on intelligent feeding, carrying and welding is realized by setting and controlling all components of the robot intelligent welding system, and meanwhile, the flexibility and the function diversification of the system are improved.
The conception, specific structure and technical effects of the present invention will be further described in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention.
Drawings
FIG. 1 is a system diagram of a preferred embodiment of the present invention;
FIG. 2 is a schematic structural view of a mobile gantry system according to a preferred embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a gantry intelligent welding robot system in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of the structure of a rail mobile loader robotic system in accordance with a preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of a robotic welding system in accordance with a preferred embodiment of the present invention;
FIG. 6 is a schematic diagram of a mobile AGV loading workstation in accordance with a preferred embodiment of the present invention;
fig. 7 is a schematic configuration diagram of the control workstation.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components has been exaggerated in some places in the drawings where appropriate for clarity of illustration.
The embodiment of the invention provides an intelligent robot welding system which is used for completing the intelligent robot feeding, carrying and welding process based on visual guidance of a robot through different settings and controls of the intelligent robot welding system.
In a preferred embodiment of the present invention, as shown in fig. 1, the robotic intelligent welding system comprises a mobile gantry system 1, a gantry intelligent welding robot system 2, a rail mobile loader robot system 3, a welding system 4, a mobile AGV loading workstation 5 and a control workstation 6.
As shown in fig. 2, the mobile gantry system 1 includes a gantry beam 11, a gantry upright 12, a first gantry longitudinal beam 19, and a second gantry longitudinal beam 20, two ends of the gantry beam 11 are respectively connected to the first gantry longitudinal beam 19 and the second gantry longitudinal beam 20, the first gantry longitudinal beam 19 and the second gantry longitudinal beam 20 are supported by the gantry upright 12, in one embodiment, the gantry upright 12 is a steel structure, and two ends of the first gantry longitudinal beam 19 and the second gantry longitudinal beam 20 are respectively supported by one gantry upright 12.
In a preferred embodiment of the present invention, a first X-direction linear guide rail module 15 and a second X-direction linear guide rail module 16 are disposed on the upper portion of the gantry beam 11, the left end of the gantry beam is connected to the first Y-direction linear guide rail module 13, the right end of the gantry beam is connected to the second Y-direction linear guide rail module 14, the first Y-direction linear guide rail module 13 is mounted on the first gantry longitudinal beam 19, and the second Y-direction linear guide rail module 14 is mounted on the second gantry longitudinal beam 20. The gantry beam 11 can be driven by the first Y-direction linear guide rail module 13 and the second Y-direction linear guide rail module 14 together to realize Y-direction movement of the gantry according to actual welding process requirements, namely, the gantry beam moves along the first gantry longitudinal beam 19 and the second gantry longitudinal beam 20.
In another preferred embodiment of the present invention, the moving gantry system further includes a servo motor 17 and a reducer 18, the servo motor 17 and the reducer 18 are elastically connected to the first Y-direction linear guide module 13 and the second Y-direction linear guide module 14, and the first Y-direction linear guide module 13 and the second Y-direction linear guide module 14 can be controlled by the servo motor 17 and the reducer 18.
As shown in fig. 3, the gantry intelligent welding robot system 2 includes a first welding robot 21 and a second welding robot 26, a first lateral linear guide rail module 23, a second lateral linear guide rail module 24, a robot vision guiding system and an end welding device, the first welding robot 21 and the second welding robot 26 are respectively hung upside down on a first lateral linear guide rail module adapter plate 22 and a second linear guide rail module adapter plate 25, the first linear guide rail module adapter plate 22 and the second linear guide rail module adapter plate 25 are respectively installed on the first lateral linear guide rail module 23 and the second lateral linear guide rail module 24, the first lateral linear guide rail module 23 and the second lateral linear guide rail module 24 are respectively and laterally arranged at two sides of the gantry beam 11, the first welding robot 21 and the second welding robot 26 can be independently driven to walk by the first lateral linear guide rail module 23 and the second lateral linear guide rail module 24, the flange plate ends of the first welding robot 21 and the second welding robot 26 are respectively provided with a clamp assembly 29, the clamp assembly 29 is respectively connected with the end welding equipment and a robot vision guiding system, in this embodiment, the end welding equipment is a first welding gun 27 and a second welding gun 292, the robot vision guiding system comprises a 2D vision camera 291 and an infrared scanning sensor 28, the 2D vision camera 291 and the infrared scanning sensor 28 are respectively arranged on the flange adapter of the end of the first welding robot 21 and the end of the second welding robot 26, the setting modes of the 2D vision camera 291 and the infrared scanning sensor 28 at the setting positions of the two welding robots are not limited as long as the vision guiding function can be achieved, and the first welding robot 21 and the second welding robot 26 complete tracking under the guidance of the vision system, the actions of moving and welding.
As shown in fig. 4, the rail-moving loading robot system 3 includes a loading robot 32, a loading rail module 35, a flange end clamp assembly 37, a magnetic attraction 33, and a 3D vision guiding system 34. The utility model discloses a welding robot, including material loading robot 32, material loading guide rail module 35 is installed on material loading guide rail module 35, material loading guide rail module 35 is by servo motor 36 drive control material loading robot 32 is followed guide rail 35 removes, material loading robot 32 end mounting flange anchor clamps subassembly 37, 33 and 3D vision bootstrap system 34 are inhaled respectively to the both ends of flange anchor clamps subassembly 37, it is in to inhale under the guide of 3D vision bootstrap system 34 and treats that welded workpiece shifts to welding platform 31 assigned position, 3D vision bootstrap system 34 is used for acquireing treats that welded workpiece 52 position and characteristic point information and guide material loading robot 32 carries out the orbit and removes.
As shown in fig. 5, the welding system 4 includes a first welding machine 41, a second welding machine 42, a wire feeder 43, a gun cleaning station 44, and a gun detection and calibration device 45. The first welding machine 41 and the second welding machine 42 are arranged on the adapter plate above the gantry beam 11 and can move along with the gantry beam 11 along the gantry longitudinal beam, and the welding system and the intelligent welding robot system 4 are controlled to jointly complete the welding work of a workpiece 52 to be welded;
as shown in fig. 6, the moving AGV loading workstation 5 includes the AGV cart 51 for carrying and transferring the workpieces 52 to be welded in the basket, and the AGV cart 51 transports the workpieces 52 to be welded to a designated position near the loading robot 32 according to a programmed path and time.
As shown in fig. 7, the control workstation 6 includes a friendly human-machine interface 61 and an industrial personal computer 62, the human-machine interface 61 includes single-cycle and multi-cycle function buttons of a test verification intelligent welding production line, and the human-machine interface 61 can control the cooperative operation among the gantry system 1, the gantry intelligent welding robot system 2, the guide rail mobile feeding robot system 3, the welding system 4 and the mobile AGV feeding workstation 5.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The utility model provides an intelligence welding system of robot, its characterized in that removes material loading robot system, welding system, removes AGV material loading workstation and control workstation including removing longmen system, longmen intelligence welding robot system, guide rail, wherein:
the movable gantry system comprises a gantry beam, a gantry longitudinal beam and a gantry upright post, wherein two ends of the gantry beam are connected with the gantry longitudinal beam, and the gantry longitudinal beam is supported by the gantry upright post;
the intelligent gantry welding robot system comprises two welding robots, a lateral linear guide rail module, a robot vision guide system and terminal welding equipment. The lateral linear guide rail modules are arranged on two sides of the gantry beam, the two welding robots are hung upside down on the adapter plate of the lateral linear guide rail modules and can be driven to move independently by the lateral linear guide rail modules, the end flange adapters of the two welding robots are respectively connected with the end welding equipment and the vision system, and the two welding robots complete the tracking, moving and welding actions under the guidance of the vision system;
the guide rail moving and feeding robot system comprises a feeding robot, a feeding guide rail module, a flange clamp assembly, a magnetic suction device, a servo motor and a 3D vision guiding system, wherein the feeding robot is installed on the feeding guide rail module and is elastically connected with the servo motor, the servo motor drives and controls the feeding robot to move along the guide rail of the feeding guide rail module, the end of the feeding robot is provided with the flange clamp assembly, one end of the flange clamp assembly is connected with the magnetic suction device, the other end of the flange clamp assembly is connected with the 3D vision guiding system, the magnetic suction device is used for sucking a workpiece to be welded, and the 3D vision guiding system is used for acquiring the position and characteristic point information of the workpiece to be welded and guiding the feeding robot to perform track movement.
2. The robotic intelligent welding system of claim 1, wherein the robotic visual guidance system includes a 2D visual camera and an infrared scanning sensor elastically coupled to the two welding robots, the 2D visual camera and the infrared scanning sensor being respectively disposed on the two welding robot end flange adapters.
3. The robotic intelligent welding system of claim 1, wherein a first X-direction linear guide module and a second X-direction linear guide module are disposed on an upper portion of the gantry beam, the left end of the gantry beam is connected to the first Y-direction linear guide module, the right end of the gantry beam is connected to the second Y-direction linear guide module, and the first Y-direction linear guide module and the second Y-direction linear guide module are mounted on the gantry beam.
4. The robotic intelligent welding system of claim 3, wherein the mobile gantry system further comprises a servo motor and a decelerator, the servo motor and the decelerator being elastically connected to the first Y-direction linear guide module and the second Y-direction linear guide module.
5. The robotic intelligent welding system of claim 1, wherein the gantry columns are of steel construction and are four in number.
6. The robotic intelligent welding system of claim 1, wherein the tip welding device is a welding gun.
7. The robotic intelligent welding system of claim 6 wherein the welding system includes a welding machine, a wire feeder, a gun cleaning station, a welding gun detection and calibration device, and the welding system controls the gantry intelligent welding robot system to jointly complete the welding of the workpieces to be welded.
8. The robotic intelligent welding system of claim 7, wherein said welder is mounted on an adapter plate above said gantry beam and is movable with said gantry beam along said gantry rail, said welder being connected to said welding gun.
9. The robotic smart welding system of claim 1, wherein the mobile AGV loading workstation includes an AGV cart, a basket, and a workpiece to be welded, the frame is mounted on the AGV cart, the workpiece to be welded is placed in the frame, and the AGV cart transports the workpiece to be welded to a designated location near the loading robot according to a programmed path and time.
10. The robotic smart welding system of claim 1, wherein said control workstation is flexibly coupled to and controls said mobile gantry system, said gantry smart welding robot system, said rail mobile loader robot system, said welding system, and said mobile AGV loading workstation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211467769.5A CN115740889A (en) | 2022-11-22 | 2022-11-22 | Intelligent welding system of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211467769.5A CN115740889A (en) | 2022-11-22 | 2022-11-22 | Intelligent welding system of robot |
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| CN115740889A true CN115740889A (en) | 2023-03-07 |
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| CN202211467769.5A Pending CN115740889A (en) | 2022-11-22 | 2022-11-22 | Intelligent welding system of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117359150A (en) * | 2023-12-01 | 2024-01-09 | 四川众和讯智能科技有限公司 | Automatic production line for guardrail welding and processing method |
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2022
- 2022-11-22 CN CN202211467769.5A patent/CN115740889A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117359150A (en) * | 2023-12-01 | 2024-01-09 | 四川众和讯智能科技有限公司 | Automatic production line for guardrail welding and processing method |
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