CN117140592A - Industrial welding robot with collision warning function and warning method thereof - Google Patents
Industrial welding robot with collision warning function and warning method thereof Download PDFInfo
- Publication number
- CN117140592A CN117140592A CN202311194946.1A CN202311194946A CN117140592A CN 117140592 A CN117140592 A CN 117140592A CN 202311194946 A CN202311194946 A CN 202311194946A CN 117140592 A CN117140592 A CN 117140592A
- Authority
- CN
- China
- Prior art keywords
- warning
- groove
- collision warning
- collision
- subassembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims description 23
- 230000001681 protective effect Effects 0.000 claims abstract description 33
- 238000007789 sealing Methods 0.000 claims abstract description 32
- 238000012544 monitoring process Methods 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 15
- 230000000149 penetrating effect Effects 0.000 claims abstract description 7
- 238000013016 damping Methods 0.000 claims description 35
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000007774 longterm Effects 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910001000 nickel titanium Inorganic materials 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/027—Electromagnetic sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
- B23K9/321—Protecting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses an industrial welding robot with a collision warning function, which comprises an industrial robot base, a horizontal adjusting component and a collision warning component, wherein a mechanical arm is arranged at the output end of a main arm, the inner side of a mounting groove is provided with the horizontal adjusting component, and the outer side of the horizontal adjusting component is provided with the collision warning component. According to the utility model, the monitoring port is formed in the front surface of the warning protective box, the control system drives the working robot to transmit signals to the PLC when in welding processing, the PLC controls the electric telescopic rod to work so as to push the sealing protective plate to slide on the inner side of the sliding groove and move towards the direction of the movable groove, the outer penetrating opening of the sealing protective plate is positioned on the inner side of the movable groove, the limit on the monitoring port is released, the radar distance sensor works so as to monitor the distances among the main arm, the mechanical arm and an external object in real time, and the sealing protective plate seals and protects the warning protective box, so that the service life of the collision warning assembly is prolonged.
Description
Technical Field
The utility model relates to the technical field of welding robots, in particular to an industrial welding robot with a collision warning function and a warning method thereof.
Background
Along with the acceleration of the national industry upgrading pace, parts to be processed by applying the laser welding technology are more and more, the track of a welding seam is more and more diversified and complex, and the welding robot is an industrial robot for welding, is a multipurpose and repeatedly programmable automatic control manipulator, is used in the field of industrial automation, and has more and more functions and automation along with the continuous development of the technology, and has higher and more flexible welding speed.
The welding robot in the prior art has the following defects:
1. the utility model discloses a single-gun double-wire high-speed full-automatic gas-shield industrial welding robot, which comprises a workbench, wherein a single-gun double-wire high-speed full-automatic gas-shield industrial welding robot body is arranged on the upper surface of the workbench, a plurality of uniformly distributed through grooves are formed in the upper surface of the workbench, mounting grooves are formed in the workbench, a first funnel is fixedly communicated with the inner top wall of the mounting groove, and a second funnel is fixedly communicated with one side of the interior of the workbench. According to the utility model, the plates to be welded are placed on the surface of the workbench and can pass through the single-gun double-wire high-speed full-automatic gas-shield industrial welding robot body to perform welding work, the pungent smell at the upper surface of the workbench can be sucked into the mounting pipe through the first funnel and the second funnel by starting the fan and filtered through the activated carbon in the mounting pipe, and the effect of protecting the health of staff can be achieved by treating the pungent gas emitted in the welding process. The welding robot can not pre-warn collision between the welding robot body and objects in the working environment, and frequent collision between the welding robot and the outside can easily cause damage to the welding robot.
2. Patent document CN215284767U discloses an anti-collision warning device, "it includes: the device comprises a laser ranging device, a data transmission device, a data processing device and an alarm device; the laser ranging device comprises laser ranging units and a first data sending unit, wherein the laser ranging units are electrically connected with each other; the data transmission device comprises a data conversion unit, a first data receiving unit and a second data sending unit, wherein the data conversion unit is used for converting the distance measured by the laser ranging unit into a data format which can be processed by the data processing unit, and the first data receiving unit and the second data sending unit are electrically connected with the data conversion unit; the data processing device comprises a data processing unit, a second data receiving unit and an alarm signal sending unit, wherein the data processing unit is used for performing data processing on the distance measured by the laser ranging unit, and the second data receiving unit and the alarm signal sending unit are electrically connected with the data processing unit; the alarm device comprises an alarm signal receiving unit for receiving the alarm signal and an alarm unit electrically connected with the alarm signal receiving unit. The utility model monitors the drilling machine and sends out an alarm signal to avoid collision with obstacles. "this warning device can not protect laser rangefinder when not using, laser rangefinder exposes in the outside and easily receives external environment's influence to lead to damaging, has shortened laser rangefinder's life.
3. Patent document CN217562119U discloses an induction type anti-collision warning device and an induction type anti-collision warning apparatus, wherein the induction type anti-collision warning device comprises a housing, a circuit board, a radar sensor, an acoustic alarm, a luminous alarm and a reflecting component, and the circuit board is arranged on the housing; the radar sensor is arranged on the shell and is electrically connected with the circuit main board, and the radar sensor is used for sensing the distance between the vehicle and the mounting matrix; the sound alarm piece and the light-emitting alarm piece are both arranged on the shell and are electrically connected with the circuit main board, and when the distance between the detected vehicle and the mounting matrix is smaller than a preset value, the sound alarm piece outputs alarm sound, and the light-emitting alarm piece outputs flashing light to remind a vehicle owner of the risk of collision with the mounting matrix; the light reflection assembly is arranged on the shell and used for reflecting the light rays of the car lamp, and meanwhile, the existence of the stand column of a car owner can be prompted, the effect of warning collision is enhanced, and the installation of a light reflection label can be omitted. The anti-collision warning device only has a warning function, can not buffer collision impact force, and can still collide with the anti-collision warning device in time to cause damage when the vehicle personnel react in time.
4. Patent document CN207326227U discloses a combined welding robot collision preventing device, "comprising a first collision bumper, a second collision bumper, a telescopic connecting plate, a first buffer device and a second buffer device; the first anti-collision bar comprises a middle part, arc parts arranged at two ends of the middle part and a tail part connected with the arc parts; the connecting device made of high-strength rubber is arranged at the connecting position among the middle part, the arc part and the tail part, and the first bumper is made of nickel-titanium alloy material; when the first bumper is locally damaged, only the damaged part is required to be replaced, the connecting device can avoid friction damage among the adjacent middle part, the arc part and the tail part, and can play a role in buffering in the collision process, and the first bumper is made of nickel-titanium alloy materials and can automatically recover the original model after collision, so that the maintenance times and the maintenance cost of the anti-collision device are reduced. "this buffer stop damages when serious after long-term use and is inconvenient for changing, has increased cost of maintenance, and staff's maintenance intensity is higher.
Disclosure of Invention
The utility model aims to provide an industrial welding robot with a collision warning function and a warning method thereof, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides an industrial welding robot with collision warning function, includes industrial robot base, horizontal adjustment subassembly and collision warning subassembly, the master arm is installed at industrial robot base's top, the arm is installed to the output of master arm, the mounting groove has been seted up in the outside of arm, horizontal adjustment subassembly is installed to the inboard of mounting groove, horizontal adjustment subassembly's outside is provided with collision warning subassembly, horizontal adjustment subassembly is used for adjusting collision warning subassembly, horizontal adjustment subassembly includes the regulating frame, the threaded rod is installed to the inboard of regulating frame, the outside of threaded rod is installed and is born the movable block, and bears the outside of movable block and be connected with collision warning subassembly, collision warning subassembly is used for carrying out collision early warning to the arm, collision warning subassembly includes warning protective housing and monitoring mouth, monitoring mouth has been seted up to the front of warning protective housing.
Preferably, the installation base is installed to industrial robot base's bottom, and the welding head mounting bracket is installed to the output of arm, and the electric arc welding head is installed to the inboard of welding head mounting bracket.
Preferably, the motor is installed in the outside of adjusting the frame, and the output of motor is connected with the input of threaded rod, has seted up the spacing groove on the inner wall of adjusting the frame, and bears the weight of the inboard of movable block gomphosis installation in the spacing groove.
Preferably, the radar distance sensor is installed on the inner wall of the warning protective box, the output end of the radar distance sensor is connected with a receiving module, the output end of the receiving module is connected with a control system, the control system is internally provided with a control module, the inner wall of the warning protective box is provided with a PLC controller, the control module is used for controlling the horizontal adjusting component and the PLC controller, the front of the warning protective box is provided with an inserting arc-shaped groove, and the top of the warning protective box is provided with an audible-visual alarm.
Preferably, the inner wall of the monitoring port is provided with a groove, the inner side of the groove is provided with an electric telescopic rod, the inner side of the top of the monitoring port and the bottom wall are provided with sliding grooves, the output end of the electric telescopic rod is provided with a sealing protection plate, the sealing protection plate is embedded and installed on the inner side of the sliding grooves, the inner wall of one side of the monitoring port far away from the groove is provided with a movable groove, the sealing protection plate moves on the inner side of the movable groove, the outer side of the warning protection box is penetrated and provided with an opening, the opening is communicated with the movable groove, and the sealing protection plate penetrates the inner side of the opening.
Preferably, the inside gomphosis of grafting arc wall is installed the grafting frame, and miniature attenuator is installed in the front of grafting frame, and miniature attenuator's outside is provided with damping spring, and damping spring's front end is installed the connecting plate, and the rubber pad is installed in the front of connecting plate.
Preferably, the top and the bottom symmetry of warning protective housing install spacing subassembly, and spacing subassembly is used for carrying out spacing clamp to the grafting frame, spacing subassembly includes spacing double-screw bolt, and spacing double-screw bolt runs through the outside of warning protective housing, and spacing arc frame is installed in the outside of spacing double-screw bolt, and the fastening plectane is installed to the output of spacing double-screw bolt, and the slipmat is installed to the bottom of fastening plectane, and the slipmat contacts with the outside of grafting frame.
Preferably, the working steps of the industrial welding robot are as follows:
s1, when a control system drives a working robot to carry out welding processing, a control module transmits signals to a PLC controller, the PLC controller controls an electric telescopic rod to work, the electric telescopic rod pushes a sealing protection plate to slide on the inner side of a sliding groove and move towards the direction of a movable groove, a penetrating opening on the outer side of the sealing protection plate is positioned on the inner side of the movable groove and then limiting of a monitoring opening is removed, and a radar distance sensor works to monitor the distances among a main arm, a mechanical arm and an external object in real time;
s2, after the adjustment of the main arm is completed, the horizontal adjusting assembly works, the motor runs to drive the threaded rod to rotate, the threaded rod rotates to enable the bearing moving block to carry out position adjustment in the horizontal direction on the inner side of the limiting groove, the bearing moving block drives the collision warning assembly to move to a position far away from the main arm, then the horizontal adjusting assembly stops working, and the radar distance sensor monitors the distance between the mechanical arm and an external object in real time;
s3, in the working process of the industrial welding robot, the working of the audible and visual alarm alerts the staff when the mechanical arm collides with an external object due to the fact that the speed is high, the external object is in contact with the rubber pad at first and enables the connecting plate to shake to squeeze the damping springs, the plurality of groups of damping springs buffer the transmission impact force in the horizontal direction, and the miniature damper prevents the damping springs from driving the connecting plate to shake continuously on the outer side of the damping springs, so that damage to the mechanical arm caused by collision impact is reduced.
Preferably, in the step S2, the method further includes the following steps:
s21, when the distance between the mechanical arm and an external object reaches a preset range, the radar distance sensor transmits a signal to the control system, and the control system controls the working state of the industrial welding robot to prevent the mechanical arm from colliding with the external object;
in the step S3, the method further includes the following steps:
and S31, when the connecting plate and the damping spring work for a long time and are damaged, the limiting stud is rotated to drive the fastening circular plate to upwards rotate to release the limit of the plug frame, and the plug frame is pulled out from the inner side of the plug arc-shaped groove to detach and replace the plug frame.
Compared with the prior art, the utility model has the following beneficial effects:
1. according to the utility model, the collision warning assembly is arranged on the outer side of the horizontal adjusting assembly, the horizontal adjusting assembly works after the adjustment of the main arm is completed, the motor drives the threaded rod to rotate, the threaded rod rotates to enable the bearing moving block to adjust the position of the bearing moving block in the horizontal direction on the inner side of the limiting groove, the bearing moving block drives the collision warning assembly to move to a position far away from the main arm, the horizontal adjusting assembly stops working, the radar distance sensor monitors the distance between the mechanical arm and an external object in real time, the radar distance sensor transmits signals to the control system when the distance between the mechanical arm and the external object reaches a preset range, the control system controls the working state of the industrial welding robot to prevent the mechanical arm from colliding with the external object, and the collision between the welding robot and the object in the working environment is early-warning controlled, so that the stability of the welding robot in use is ensured.
2. According to the utility model, the monitoring port is formed in the front surface of the warning protective box, the control system drives the working robot to transmit signals to the PLC when in welding processing, the PLC controls the electric telescopic rod to work, the electric telescopic rod pushes the sealing protective plate to slide on the inner side of the sliding groove and move towards the direction of the movable groove, the outer penetrating opening of the sealing protective plate is positioned on the inner side of the movable groove, the limit on the monitoring port is relieved, the radar distance sensor works to monitor the distances among the main arm, the mechanical arm and external objects in real time, the sealing protective plate seals the warning protective box, adverse influence of the external environment on the radar distance sensor is reduced, and the service life of the collision warning assembly is prolonged.
3. According to the utility model, the inserting frame is embedded and installed on the inner side of the inserting arc groove, and the audible and visual alarm works to warn workers when the mechanical arm collides with an external object due to high speed in the working process of the industrial welding robot, the external object contacts with the rubber pad and enables the connecting plate to shake to squeeze the damping springs, the plurality of groups of damping springs buffer the transmission impact force in the horizontal direction, and the miniature damper prevents the damping springs from driving the connecting plate to shake continuously on the outer side of the damping springs, so that the damage to the mechanical arm caused by collision impact is reduced.
4. According to the utility model, the limit components are symmetrically arranged at the top and the bottom of the warning protective box, the limit stud is rotated to drive the fastening circular plate to rotate upwards to release the limit of the plug frame when the connecting plate and the damping spring are damaged in long-term working, the plug frame is pulled out from the inner side of the plug arc-shaped groove to detach and replace the plug frame, the maintenance cost is reduced, the maintenance intensity of workers is reduced, and the working efficiency of the industrial welding machine robot is improved.
Drawings
FIG. 1 is a schematic perspective view of the present utility model;
FIG. 2 is a schematic perspective view of a horizontal adjustment assembly according to the present utility model;
FIG. 3 is a schematic perspective view of a collision warning assembly according to the present utility model;
FIG. 4 is a schematic view of a three-dimensional mounting structure of a plug frame according to the present utility model;
FIG. 5 is a schematic top view of the internal structure of the warning protection box according to the present utility model;
FIG. 6 is a schematic top view of a mounting structure of a connection plate according to the present utility model;
FIG. 7 is a schematic perspective view of a spacing assembly according to the present utility model;
FIG. 8 is a control system diagram of the present utility model;
fig. 9 is a flowchart of the operation of the present utility model.
In the figure: 1. an industrial robot base; 2. a level adjustment assembly; 3. a collision warning assembly; 4. monitoring the mouth; 5. a plug frame; 6. a limit component; 7. a mounting base; 8. a main arm; 9. a mechanical arm; 10. a welding head mounting rack; 11. a mounting groove; 12. an adjusting frame; 13. a threaded rod; 14. a motor; 15. carrying a moving block; 16. a limit groove; 17. a warning protective box; 18. a radar distance sensor; 19. a PLC controller; 20. a splicing arc groove; 21. a groove; 22. an electric telescopic rod; 23. sealing protection plates; 24. a movable groove; 25. an opening; 26. a miniature damper; 27. a damping spring; 28. a connecting plate; 29. a rubber pad; 30. a limit stud; 31. limiting the arc-shaped frame; 32. fastening a circular plate; 33. an anti-slip pad; 34. an arc welding head; 35. an audible and visual alarm; 36. a sliding groove.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected or movably connected, or may be detachably connected or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 and 2, an embodiment of the present utility model is provided: an industrial welding robot with collision warning function and a warning method thereof;
comprises an industrial robot base 1, a horizontal adjusting component 2 and an adjusting frame 12, wherein a main arm 8 is arranged at the top of the industrial robot base 1, a mechanical arm 9 is arranged at the output end of the main arm 8, a mounting groove 11 is arranged at the outer side of the mechanical arm 9, a mounting base 7 is arranged at the bottom of the industrial robot base 1, a welding head mounting frame 10 is arranged at the output end of the mechanical arm 9, an arc welding head 34 is arranged at the inner side of the welding head mounting frame 10, the industrial robot is arranged at a designated working position through the mounting base 7, the main arm 8 and the mechanical arm 9 respectively drive and adjust the position of the welding head mounting frame 10, the industrial robot carries out welding processing through the arc welding head 34, a horizontal adjusting component 2 is arranged at the inner side of the mounting groove 11, a collision warning component 3 is arranged at the outer side of the horizontal adjusting component 2, the horizontal adjusting component 2 is used for adjusting the collision warning component 3, the horizontal adjusting component 2 comprises an adjusting frame 12, a threaded rod 13 is arranged at the inner side of the adjusting frame 12, a bearing moving block 15 is arranged at the outer side of the threaded rod 13, the outer side of the bearing moving block 15 is connected with the collision warning component 3, a motor 14 is arranged at the outer side of the adjusting frame 12, the output end of the motor 14 is connected with the input end of the threaded rod 13, a limit groove 16 is arranged on the inner wall of the adjusting frame 12, the bearing moving block 15 is embedded and arranged at the inner side of the limit groove 16, the mounting groove 11 provides an installation position for the adjusting frame 12, the horizontal adjusting component 2 works after the main arm 8 is adjusted, the motor 14 operates to drive the threaded rod 13 to rotate, the threaded rod 13 rotates to enable the bearing moving block 15 to perform position adjustment in the horizontal direction at the inner side of the limit groove 16, the bearing moving block 15 drives the collision warning component 3 to move to a position far away from the main arm 8, the horizontal adjusting component 2 stops working, the radar distance sensor 18 monitors the distance between the mechanical arm 9 and an external object in real time, and the control system controls the working state of the industrial welding robot to prevent the main arm 8 and the mechanical arm 9 from colliding with the external object.
Referring to fig. 1, 3, 4, 5 and 8, an industrial welding robot with collision warning function and a warning method thereof;
comprises a collision warning component 3, a monitoring port 4 and a radar distance sensor 18, the collision warning component 3 is used for carrying out collision warning on a mechanical arm 9, the collision warning component 3 comprises a warning protective box 17 and the monitoring port 4, the radar distance sensor 18 is installed on the inner wall of the warning protective box 17, the output end of the radar distance sensor 18 is connected with a receiving module, the output end of the receiving module is connected with a control system, the control module is internally installed, the inner wall of the warning protective box 17 is provided with a PLC (programmable logic controller) 19, the control module is used for controlling the horizontal adjusting component 2 and the PLC 19, the front surface of the warning protective box 17 is provided with an inserting arc groove 20, the top of the warning protective box 17 is provided with an audible-visual alarm 35, the radar distance sensor 18 works to monitor the distances among the main arm 8, the mechanical arm 9 and external objects in real time, when the distance between the mechanical arm 9 and an external object reaches a preset range, the radar distance sensor 18 transmits signals to a receiving module in a control system, the PLC 19 controls the working states of the electric telescopic rod 22 and the audible and visual alarm 35, the plug-in arc-shaped groove 20 provides an installation position for the plug-in frame 5, the front surface of the warning protection box 17 is provided with a monitoring port 4, the inner wall of the monitoring port 4 is provided with a groove 21, the inner side of the groove 21 is provided with the electric telescopic rod 22, the inner side and the bottom wall of the top of the monitoring port 4 are provided with sliding grooves 36, the output end of the electric telescopic rod 22 is provided with a sealing protection plate 23, the sealing protection plate 23 is embedded and installed at the inner side of the sliding grooves 36, the inner wall of one side of the monitoring port 4 far away from the groove 21 is provided with a movable groove 24, the sealing protection plate 23 moves at the inner side of the movable groove 24, the outer side of the warning protection box 17 is provided with an opening 25 in a penetrating way, the opening 25 is communicated with the movable groove 24, and the sealing protection plate 23 penetrates through the inner side of the opening 25, a control module transmits signals to the PLC 19 when the control system drives the working robot to perform welding processing, the groove 21 provides an installation position for the electric telescopic rod 22, the PLC 19 controls the electric telescopic rod 22 to work, the electric telescopic rod 22 pushes the sealing protection plate 23 to enable the sealing protection plate 23 to slide on the inner side of the sliding groove 36 and move towards the direction of the movable groove 24, the outer penetrating opening 25 of the sealing protection plate 23 is located on the inner side of the movable groove 24 and then releases the limit of the monitoring port 4, the radar distance sensor 18 is used through the monitoring port 4, and the opening 25 provides a space for opening the sealing protection plate 23.
Referring to fig. 1, 6 and 7, an industrial welding robot with collision warning function and a warning method thereof;
comprises a plug frame 5, a connecting plate 28 and a limiting component 6, wherein the plug frame 5 is embedded and installed at the inner side of a plug arc groove 20, a miniature damper 26 is installed at the front side of the plug frame 5, a damping spring 27 is arranged at the outer side of the miniature damper 26, the connecting plate 28 is installed at the front end of the damping spring 27, a rubber pad 29 is installed at the front side of the connecting plate 28, an audible and visual alarm 35 works to warn staff when a mechanical arm 9 collides with an external object due to higher speed in the working process of an industrial welding robot, the external object contacts with the rubber pad 29 and enables the connecting plate 28 to shake to squeeze the damping spring 27, a plurality of groups of damping springs 27 buffer the transmission impact force in the horizontal direction, the miniature damper 26 prevents the damping spring 27 from continuously shaking the connecting plate 28 at the outer side thereof, the damage of the collision impact to the mechanical arm 9 is reduced, the top and the bottom of the warning protective box 17 are symmetrically provided with the limit components 6, the limit components 6 are used for limiting and clamping the plug frame 5, the limit components 6 comprise limit studs 30, the limit studs 30 penetrate through the outer side of the warning protective box 17, the outer sides of the limit studs 30 are provided with limit arc frames 31, the output ends of the limit studs 30 are provided with fastening circular plates 32, the bottoms of the fastening circular plates 32 are provided with anti-slip pads 33, the anti-slip pads 33 are contacted with the outer sides of the plug frame 5, when the connecting plates 28 and the damping springs 27 work for a long time and are damaged, the fastening circular plates 32 are driven to rotate upwards by the limit studs 30 to release the limit of the plug frame 5, the plug frame 5 is pulled out from the inner sides of the plug arc grooves 20 to detach and replace the plug frame 5, the outer sides of the plug frame 5 are initially limited by the limit arc frames 31, the fastening circular plates 32 are convenient to be screwed in, the replacement efficiency of staff is quickened.
The working steps of the industrial welding robot are as follows:
s1, when a control system drives a working robot to perform welding processing, a control module transmits signals to a PLC (programmable logic controller) 19, the PLC 19 controls an electric telescopic rod 22 to work, the electric telescopic rod 22 pushes a sealing protection plate 23 to slide inside a sliding groove 36 and move towards a movable groove 24, an outside penetrating opening 25 of the sealing protection plate 23 is positioned inside the movable groove 24 and then stops limiting a monitoring port 4, and a radar distance sensor 18 works to monitor the distances between a main arm 8, a mechanical arm 9 and external objects in real time;
s2, after the main arm 8 is adjusted, the horizontal adjusting assembly 2 works, the motor 14 operates to drive the threaded rod 13 to rotate, the threaded rod 13 rotates to enable the bearing moving block 15 to adjust the position of the inner side of the limiting groove 16 in the horizontal direction, the bearing moving block 15 drives the collision warning assembly 3 to move to a position far away from the main arm 8, then the horizontal adjusting assembly 2 stops working, and the radar distance sensor 18 monitors the distance between the mechanical arm 9 and an external object in real time;
s3, in the working process of the industrial welding robot, the audible and visual alarm 35 works to warn the staff when the mechanical arm 9 collides with an external object due to the fact that the speed is high, the external object is firstly in contact with the rubber pad 29, the connecting plate 28 is made to shake to squeeze the damping springs 27, the plurality of groups of damping springs 27 buffer the transmission impact force in the horizontal direction, the miniature damper 26 prevents the damping springs 27 from driving the connecting plate 28 to shake continuously on the outer side of the damping springs 27, and damage to the mechanical arm 9 caused by collision impact is reduced.
In step S2, the method further includes the steps of:
s21, when the distance between the mechanical arm 9 and an external object reaches a preset range, the radar distance sensor 18 transmits a signal to a control system, and the control system controls the working state of the industrial welding robot to prevent the mechanical arm 9 from colliding with the external object;
in step S3, the method further includes the steps of:
and S31, when the connecting plate 28 and the damping spring 27 work for a long time and are damaged, the limiting stud 30 is rotated to drive the fastening circular plate 32 to rotate upwards to release the limit on the plug frame 5, and the plug frame 5 is pulled out from the inner side of the plug arc-shaped groove 20 to detach and replace the plug frame 5.
Working principle: when the device is used, firstly, the control system drives the working robot to transmit signals to the PLC 19 when in welding processing, the PLC 19 controls the electric telescopic rod 22 to work, the electric telescopic rod 22 pushes the sealing protection plate 23 to slide on the inner side of the sliding groove 36 and move towards the movable groove 24, the outside through opening 25 of the sealing protection plate 23 is positioned on the inner side of the movable groove 24, then the limit on the monitoring port 4 is released, the radar distance sensor 18 works to monitor the distances between the main arm 8, the mechanical arm 9 and external objects in real time, the horizontal adjusting component 2 works after the adjustment of the main arm 8 is completed, the motor 14 operates to drive the threaded rod 13 to rotate, the threaded rod 13 rotates to enable the bearing moving block 15 to adjust the position of the bearing moving block 15 on the inner side of the limiting groove 16 in the horizontal direction, the bearing moving block 15 drives the collision warning component 3 to move to a position far away from the main arm 8, then the horizontal adjusting component 2 stops working, the radar distance sensor 18 monitors the distance between the mechanical arm 9 and the external object in real time, when the distance between the mechanical arm 9 and the external object reaches a preset range, the radar distance sensor 18 transmits signals to the control system, the control system controls the working state of the industrial welding robot to prevent the mechanical arm 9 from colliding with the external object, the audible and visual alarm 35 works to warn the staff when the mechanical arm 9 collides with the external object due to the faster speed in the working process of the industrial welding robot, the external object firstly contacts with the rubber pad 29 and enables the connecting plate 28 to shake to squeeze the damping springs 27, the plurality of groups of damping springs 27 buffer the transmission impact force in the horizontal direction, the miniature dampers 26 prevent the damping springs 27 from driving the connecting plate 28 to shake continuously at the outer side of the miniature dampers, the damage to the mechanical arm 9 caused by collision impact is reduced, when the connecting plate 28 and the damping spring 27 work for a long time and are damaged, the limiting stud 30 is rotated to drive the fastening circular plate 32 to rotate upwards to release the limit of the plug frame 5, the plug frame 5 is pulled out of the inner side of the plug arc-shaped groove 20 to detach and replace the plug frame 5, after the welding work of the industrial welding robot is finished, the electric telescopic rod 22 works to enable the sealing protection plate 23 to be closed, so that the protection to the inside of the warning protection box 17 is realized, and the horizontal adjusting assembly 2 drives the collision warning assembly 3 to reset.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. The utility model provides an industrial welding robot with collision warning function, includes industrial robot base (1), level adjustment subassembly (2) and collision warning subassembly (3), its characterized in that: the utility model provides a robot base, including industrial robot base (1), main arm (8) are installed at the top of industrial robot base (1), arm (9) are installed to the output of main arm (8), mounting groove (11) have been seted up in the outside of arm (9), horizontal adjustment subassembly (2) are installed to the inboard of mounting groove (11), the outside of horizontal adjustment subassembly (2) is provided with collision warning subassembly (3), horizontal adjustment subassembly (2) are used for adjusting collision warning subassembly (3), horizontal adjustment subassembly (2) include regulating frame (12), threaded rod (13) are installed to the inboard of regulating frame (12), bear movable block (15) are installed in the outside of threaded rod (13), and bear the outside of movable block (15) and be connected with collision warning subassembly (3), collision warning subassembly (3) are used for carrying out collision early warning to arm (9), collision warning subassembly (3) are including warning case (17) and monitoring mouth (4), monitoring mouth (4) have been seted up to the front of warning case (17).
2. The industrial welding robot with collision warning function according to claim 1, wherein: the bottom of industrial robot base (1) is installed and is installed base (7), and welding head mounting bracket (10) are installed to the output of arm (9), and arc welding head (34) are installed to the inboard of welding head mounting bracket (10).
3. The industrial welding robot with collision warning function according to claim 1, wherein: the motor (14) is installed in the outside of adjusting frame (12), and the output of motor (14) is connected with the input of threaded rod (13), has seted up spacing groove (16) on the inner wall of adjusting frame (12), and bears movable block (15) gomphosis and install the inboard in spacing groove (16).
4. The industrial welding robot with collision warning function according to claim 1, wherein: install radar distance sensor (18) on the inner wall of warning protective housing (17), and the output of radar distance sensor (18) is connected with receiving module, receiving module's output is connected with control system, control system's internally mounted has control module, install PLC controller (19) on the inner wall of warning protective housing (17), and control module is used for controlling level adjustment subassembly (2) and PLC controller (19), grafting arc wall (20) have been seted up in the front of warning protective housing (17), audible-visual annunciator (35) are installed at the top of warning protective housing (17).
5. The industrial welding robot with collision warning function according to claim 1, wherein: the inner wall of monitoring mouth (4) is provided with a groove (21), the inner side of the groove (21) is provided with an electric telescopic rod (22), the inner side of the top of the monitoring mouth (4) and the bottom wall are provided with sliding grooves (36), the output end of the electric telescopic rod (22) is provided with a sealing protection plate (23), the sealing protection plate (23) is embedded and arranged on the inner side of the sliding grooves (36), the inner wall of one side of the monitoring mouth (4) far away from the groove (21) is provided with a movable groove (24), the sealing protection plate (23) moves on the inner side of the movable groove (24), the outer side of the warning protection box (17) is penetrated and provided with an opening (25), the opening (25) is communicated with the movable groove (24), and the sealing protection plate (23) penetrates the inner side of the opening (25).
6. The industrial welding robot with collision warning function according to claim 4, wherein: the novel energy-saving socket is characterized in that the inner side of the socket arc-shaped groove (20) is embedded with the socket frame (5), the front side of the socket frame (5) is provided with the miniature damper (26), the outer side of the miniature damper (26) is provided with the damping spring (27), the front end of the damping spring (27) is provided with the connecting plate (28), and the front side of the connecting plate (28) is provided with the rubber pad (29).
7. The industrial welding robot with collision warning function according to claim 1, wherein: the top and the bottom symmetry of warning protective housing (17) are installed spacing subassembly (6), and spacing subassembly (6) are used for carrying out spacing clamp to grafting frame (5), spacing subassembly (6) are including spacing double-screw bolt (30), and spacing double-screw bolt (30) run through the outside of warning protective housing (17), and spacing arc frame (31) are installed in the outside of spacing double-screw bolt (30), and fastening plectane (32) are installed to the output of spacing double-screw bolt (30), and slipmat (33) are installed to the bottom of fastening plectane (32), and slipmat (33) contact with the outside of grafting frame (5).
8. The warning method of an industrial welding robot with collision warning function according to any one of claims 1 to 7, characterized in that the working steps of the industrial welding robot are as follows:
s1, when a control system drives a working robot to perform welding processing, a control module transmits signals to a PLC (programmable logic controller) 19, the PLC 19 controls an electric telescopic rod 22 to work, the electric telescopic rod 22 pushes a sealing protection plate 23 to slide on the inner side of a sliding groove 36 and move towards the direction of a movable groove 24, an outer penetrating opening 25 of the sealing protection plate 23 is positioned on the inner side of the movable groove 24 and then limits a monitoring opening 4, and a radar distance sensor 18 works to monitor the distances among a main arm 8, a mechanical arm 9 and external objects in real time;
s2, after the adjustment of the main arm (8) is finished, the horizontal adjustment assembly (2) works, the motor (14) operates to drive the threaded rod (13) to rotate, the threaded rod (13) rotates to enable the bearing moving block (15) to carry out position adjustment in the horizontal direction on the inner side of the limiting groove (16), the bearing moving block (15) drives the collision warning assembly (3) to move to a position far away from the main arm (8), then the horizontal adjustment assembly (2) stops working, and the radar distance sensor (18) monitors the distance between the mechanical arm (9) and an external object in real time;
s3, in the working process of the industrial welding robot, as the speed is high, when the mechanical arm (9) collides with an external object, the audible and visual alarm (35) works to warn a worker, the external object is firstly contacted with the rubber pad (29) and enables the connecting plate (28) to shake to squeeze the damping springs (27), the plurality of groups of damping springs (27) buffer the transmission impact force in the horizontal direction, and the miniature damper (26) prevents the damping springs (27) from continuously shaking outside the damping springs and drives the connecting plate (28), so that the damage to the mechanical arm (9) caused by collision impact is reduced.
9. The method according to claim 8, wherein in the step S2, the method further comprises the steps of:
s21, when the distance between the mechanical arm (9) and an external object reaches a preset range, a radar distance sensor (18) transmits a signal to a control system, and the control system controls the working state of the industrial welding robot to prevent the mechanical arm (9) from colliding with the external object;
in the step S3, the method further includes the following steps:
s31, when the connecting plate (28) and the damping spring (27) are damaged in long-term operation, the limiting stud (30) is rotated to drive the fastening circular plate (32) to rotate upwards to release the limit on the plug frame (5), and the plug frame (5) is pulled out of the inner side of the plug arc-shaped groove (20) to detach and replace the plug frame (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311194946.1A CN117140592B (en) | 2023-09-15 | 2023-09-15 | Industrial welding robot with collision warning function and warning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311194946.1A CN117140592B (en) | 2023-09-15 | 2023-09-15 | Industrial welding robot with collision warning function and warning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117140592A true CN117140592A (en) | 2023-12-01 |
| CN117140592B CN117140592B (en) | 2024-06-11 |
Family
ID=88886744
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311194946.1A Active CN117140592B (en) | 2023-09-15 | 2023-09-15 | Industrial welding robot with collision warning function and warning method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117140592B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07241790A (en) * | 1994-03-08 | 1995-09-19 | Fujitsu Ltd | Robot collision preventing method |
| CN105751250A (en) * | 2014-12-14 | 2016-07-13 | 王欣欣 | Novel robot anti-collision protection device |
| CN106736120A (en) * | 2017-01-10 | 2017-05-31 | 江苏昌弘机器人科技有限公司 | Anticollision sensor and welding robot |
| KR20180062602A (en) * | 2016-12-01 | 2018-06-11 | 고려대학교 세종산학협력단 | Apparatus of industrial robot for preventing collision, preventing collision and teaching method for industrial robot using thereof |
| CN207900520U (en) * | 2018-02-05 | 2018-09-25 | 江苏长虹智能装备股份有限公司 | A kind of passenger-carrying chassis welding robot |
| CN108858211A (en) * | 2018-09-26 | 2018-11-23 | 珠海格力智能装备有限公司 | Anti-collision mechanism, robot and collision-proof method |
| CN211806247U (en) * | 2019-12-26 | 2020-10-30 | 南京青图信息技术有限公司 | Robot collision device |
| CN214293205U (en) * | 2020-12-15 | 2021-09-28 | 佛山市益晖金属制品有限公司 | Manipulator collision device |
| CN216399662U (en) * | 2021-12-07 | 2022-04-29 | 苏州曦龙净化设备有限公司 | Processing is with surrounding type robot arm anticollision structure |
| CN217256432U (en) * | 2022-03-08 | 2022-08-23 | 西安外事学院 | Anticollision determine module of robot |
| CN217562119U (en) * | 2022-06-17 | 2022-10-11 | 惠州欣立达科技有限公司 | Induction type anticollision warning device and induction type anticollision warning equipment |
| CN115383768A (en) * | 2022-09-11 | 2022-11-25 | 南通威锋数控机械有限公司 | Numerical control mechanical arm based on sensing technology |
-
2023
- 2023-09-15 CN CN202311194946.1A patent/CN117140592B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07241790A (en) * | 1994-03-08 | 1995-09-19 | Fujitsu Ltd | Robot collision preventing method |
| CN105751250A (en) * | 2014-12-14 | 2016-07-13 | 王欣欣 | Novel robot anti-collision protection device |
| KR20180062602A (en) * | 2016-12-01 | 2018-06-11 | 고려대학교 세종산학협력단 | Apparatus of industrial robot for preventing collision, preventing collision and teaching method for industrial robot using thereof |
| CN106736120A (en) * | 2017-01-10 | 2017-05-31 | 江苏昌弘机器人科技有限公司 | Anticollision sensor and welding robot |
| CN207900520U (en) * | 2018-02-05 | 2018-09-25 | 江苏长虹智能装备股份有限公司 | A kind of passenger-carrying chassis welding robot |
| CN108858211A (en) * | 2018-09-26 | 2018-11-23 | 珠海格力智能装备有限公司 | Anti-collision mechanism, robot and collision-proof method |
| CN211806247U (en) * | 2019-12-26 | 2020-10-30 | 南京青图信息技术有限公司 | Robot collision device |
| CN214293205U (en) * | 2020-12-15 | 2021-09-28 | 佛山市益晖金属制品有限公司 | Manipulator collision device |
| CN216399662U (en) * | 2021-12-07 | 2022-04-29 | 苏州曦龙净化设备有限公司 | Processing is with surrounding type robot arm anticollision structure |
| CN217256432U (en) * | 2022-03-08 | 2022-08-23 | 西安外事学院 | Anticollision determine module of robot |
| CN217562119U (en) * | 2022-06-17 | 2022-10-11 | 惠州欣立达科技有限公司 | Induction type anticollision warning device and induction type anticollision warning equipment |
| CN115383768A (en) * | 2022-09-11 | 2022-11-25 | 南通威锋数控机械有限公司 | Numerical control mechanical arm based on sensing technology |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117140592B (en) | 2024-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109571102B (en) | Metal working machine tool capable of quickly changing tools | |
| CN103121162A (en) | Semi-automatic press for mechanical assembly | |
| CN102596489B (en) | Mobile workbench | |
| CN212484156U (en) | Line control robot to autopilot research and development | |
| CN113936409A (en) | Intelligent monitoring method and equipment | |
| CN117140592B (en) | Industrial welding robot with collision warning function and warning method thereof | |
| CN104959717A (en) | Anti-collision robot welding gun | |
| CN105021366A (en) | Automobile seat impact test system | |
| CN112707341A (en) | A collision avoidance system for AGV fork truck | |
| CN204818389U (en) | Anticollision welder of robot | |
| CN109941294A (en) | Railway endless rope traction shuttle car automated security control system | |
| CN114939758A (en) | Automatic welding system of gas-filled cabinet robot | |
| CN204988672U (en) | Car seat collision test system | |
| CN207900524U (en) | Welding robot swing arm with collision prevention function | |
| KR102176563B1 (en) | Collision test device of vehicle | |
| CN209648766U (en) | Manipulator fixture adjusts device | |
| CN201166252Y (en) | Punching machine bis-falling protecting equipment | |
| CN203109571U (en) | Mechanical assembly semi-automatic pressing machine | |
| CN112710479A (en) | Safety protection system and protection method for crash test bed | |
| CN221190599U (en) | Manipulator with clamping workpiece anti-falling function | |
| CN111076661A (en) | Automobile tail door handle position detector and operation method thereof | |
| CN214686112U (en) | Special clamping device for power battery component electric core | |
| CN215746975U (en) | Flame cutting machine | |
| CN216500866U (en) | Mechanical arm part sorting device based on 3D visual positioning | |
| CN218368331U (en) | Unmanned aerial vehicle's flight obstacle alarm device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |