CN202411671U - Spot welding robot - Google Patents
Spot welding robot Download PDFInfo
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- CN202411671U CN202411671U CN2011204470648U CN201120447064U CN202411671U CN 202411671 U CN202411671 U CN 202411671U CN 2011204470648 U CN2011204470648 U CN 2011204470648U CN 201120447064 U CN201120447064 U CN 201120447064U CN 202411671 U CN202411671 U CN 202411671U
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- spot welding
- manipulator
- soldering turret
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Abstract
The utility model discloses a spot welding robot. The spot welding robot comprises a manipulator, drivers, a controller, a welding tongs and a workpiece-clamping mechanism; the drivers and the controller are used for driving the manipulator, so that the end of the manipulator can be at a needed position and have a needed posture and/or move along a needed moving track; the welding tongs and the workpiece-clamping mechanism are connected with the end of the manipulator, and the workpiece-clamping mechanism is used for clamping the welding tongs and/or a workpiece. Consequently, the spot welding function and carrying function of the robot are integrated, the robot utilization efficiency is increased, and the labor intensity of manpower is decreased.
Description
Technical field
The utility model relates to welding technology field, particularly relates to a kind of spot welding robot.
Background technology
Along with the development of technology, industrial robot obtains increasingly extensive application.For example, at welding field, industrial robot has also obtained using widely.In the welding procedure of prior art, adopt following dual mode to use industrial robot usually.
In first kind of mode, use same robot to come workpiece is welded and carries, its method of operation is following: 1) robot is with first catching plate (soldering turret) clamping welding gun (perhaps welding electrode); 2) weld; 3) welding finishes, and robot changes catching plate, changes second catching plate (being the workpiece handgrip) that is independent of first catching plate to drive system; 4) with the second catching plate grabbing workpiece; 5) workpiece is removed, for example, moved to next welding post.
Like this, the motion of the soldering turret of this robot of this kind and workpiece handgrip is by separate system drive and control, and cost of investment is higher.Perhaps, need the 7th power drive of extra introducing and control system to realize extracting and carrying to workpiece.That is, the 6th of robot is connected with first catching plate (soldering turret), and the 7th is connected with second catching plate (workpiece handgrip).
In the second way, use two robots.First robot welds, and second robot is carried.Its method of operation is following: 1) first robot clamping welding gun welds; 2) welding finishes; 3) first robot waits, simultaneously, second robot gripping's workpiece is also removed workpiece, for example moves to next welding post.Like this, use two robots to come to accomplish respectively welding and carrying, cost of investment is higher.
Therefore, hope to have the lower technical scheme of a kind of cost to accomplish welding and carrying work.
The utility model content
The purpose of the utility model provides a kind of new type of welding anchor clamps and comes to provide simultaneously high orientation precision and higher operating efficiency.
The inventor of the utility model is anatomizing the back discovery: conventional art has drawback: the use of robot is fully excavated, and utilization rate of equipment and installations is not high; Introduce the 7th power drive of robot and control or second robot and will improve cost of investment.That is to say that each item function driver module of the industrial robot of prior art is independent, thereby carrying out composition operation when (for example welding adds carrying), utilization ratio is lower.Thereby the inventor of the utility model imagines with an industrial robot and carries out a plurality of functions.
To achieve these goals, the utility model provides a kind of spot welding robot, and this kind the spot welding robot comprise: manipulator; Drive and control device, it is used to drive said manipulator, with desired location, attitude and/or the movement locus of the end of realizing said manipulator; Soldering turret and work holder, it is connected with said arm end, with clamping soldering turret and/or workpiece.
Thereby, Robot Spot Welding function and carrying function are gathered in one, improved the utilization ratio of robot, reduced hand labor intensity.
Preferably, said soldering turret comprises soldering turret and the workpiece handgrip that separates with work holder, and the end of said manipulator is suitable under the control of said driving and control device, being connected said soldering turret or said workpiece handgrip.
Preferably, said workpiece handgrip comprises work piece holder, and said work piece holder is installed on the said workpiece handgrip removably.
Preferably, said spot welding robot further comprises workpiece perception unit, and whether said workpiece perception unit is used to judge said workpiece handgrip clamping workpiece.
Preferably, said soldering turret and workpiece handgrip are sentenced one the mode of selecting at said spot welding robot's the 6th adpting flange and are connected to said manipulator.
Description of drawings
Fig. 1 is the structural representation according to the spot welding robot of the utility model one embodiment.
Fig. 2 is according to the spot welding robot's of the utility model one embodiment soldering turret unit and handgrip cellular construction sketch map.
Fig. 3 is schematic according to the spot welding robot's of the utility model one embodiment workflow.
Fig. 4 is the schematic block diagram according to the spot welding robot's of the utility model one embodiment information flow mode.
The specific embodiment
Spot welding robot according to the utility model first embodiment is used for workpiece is welded and carries.Said spot welding robot comprises manipulator (1).Manipulator (1) is the main mechanical part of robot, and usually, the end of manipulator has six free ends, can in certain scope, move according to certain attitude and/or movement locus.The spot welding robot of the utility model comprises that also drive unit (2) and control device (3) drive said manipulator (1), with desired location, attitude and/or the movement locus of the end of realizing said manipulator (1).Drive unit (2) and control device (3) mainly comprise motor (21) (for example a plurality of servomotor), controller (31) and various sensor (32).The spot welding robot of the utility model also comprises soldering turret (4) and work holder (5), and said soldering turret (4) is connected with said manipulator (1) end with work holder (5), with clamping soldering turret (4) and/or workpiece.And drive soldering turret (4) clamps and/or workpiece moves with required destination locations, attitude and/or movement locus.And can apply required welding pressure to soldering turret.
This kind spot welding robot gathers spot welding function and carrying function in one, has improved the utilization ratio of robot, has reduced hand labor intensity.
In a preferred embodiment; Said soldering turret (4) comprises soldering turret (4) and the workpiece handgrip (51) that separates with work holder (5), and the end of said manipulator (1) is suitable under the control of said drive unit (2) and control device (3), being connected said soldering turret (4) or said workpiece handgrip (51).Thereby avoid manipulator to drive soldering turret (4) and workpiece handgrip (51) simultaneously, help reducing load, and minimizing interferes and possibility of collision.Preferably, said soldering turret (4) and workpiece handgrip (51) are sentenced one the mode of selecting at said spot welding robot's the 6th adpting flange (6) and are connected to said manipulator (1).Thereby connect soldering turret (4) and workpiece handgrip (51) with simple relatively mode.
Preferably, said workpiece handgrip (51) comprises work piece holder (511), and said work piece holder (511) is installed on the said workpiece handgrip (51) removably.Thereby improve said spot welding robot's versatility.
In a further embodiment, said spot welding robot also comprises workpiece perception unit (321) except that the various combinations that comprise above-mentioned technical characterictic.Whether said workpiece perception unit (321) is used to judge said workpiece handgrip (51) clamping workpiece.Thereby improve the reliability of piece-holder.
The spot welding robot's of the utility model one embodiment concrete structure is referring to Fig. 1-Fig. 2.Fig. 1 is the structural representation according to the spot welding robot of the utility model one embodiment.Fig. 2 is according to the spot welding robot's of the utility model one embodiment soldering turret unit and handgrip cellular construction sketch map.Fig. 3 is schematic according to the spot welding robot's of the utility model one embodiment workflow.Fig. 4 is the schematic block diagram according to the spot welding robot's of the utility model one embodiment information flow mode.The spot welding robot's corresponding with Fig. 3 and content shown in Figure 4 technical scheme is following.
Operation principle: through with soldering turret (4) and workpiece handgrip (51) (carrying handgrip) design and one, arrange demand, in the industrial robot welding control system, introduce the carrying function according to the welding post beat; After this station welding is over; Welding system feedback welding end signal is given master control system, and master control system sends the carrying instruction, and welding tooling is opened pressure head automatically; Anchor clamps are opened feedback information and are given robot; Robot carries out carrying instruction grabbing workpiece, and after the workpiece perception unit (321) in the handgrip unit detected the grabbing workpiece completion, robot carried out the subsequent job content with this station operation workpiece handling to next station.During this time, the stand-by period of a dead lift and workman's operating environment have been liberated.Improve the service efficiency of robot, reduced the labour intensity of the manual work of welding post operation, improved production efficiency.
Workflow is referring to Fig. 3.The control information mobility status is referring to Fig. 4.
Structure: this spot welding robot welding system and handling system integrated design, break through traditional soldering turret design concept, according to the workpiece weld characteristics; At structured design phase; According to the robot simulation feedback, spot welding soldering turret (4) and workpiece handgrip (51) (carrying handgrip) are organically combined, be connected to respectively in the robot through the 6th in robot; Shared Robot Spot Welding driver package is accomplished the function of spot welding and handling system and is mainly divided mechanical structure and electric control system two aspects.
Frame for movement aspect: form by robot soldering turret (4) and workpiece handgrip (51).Workpiece handgrip (51) is located to stretch out bearing through the 6th adpting flange of robot (6) and is connected in one, and soldering turret (4) and workpiece handgrip (51) are connected in the robot through the 6th adpting flange of robot (6).It should be noted that to preventing the soldering turret shunting.Referring to structure shown in Figure 2.
Electric control system aspect: attend between robot in the co-operation scope at production line, set the hard spacing and soft spacing dual security protection pattern of robot.In specified operating range, set spacingly firmly according to robot,, realize that robot exceeds the theoretical work zone, the self-braking defencive function of system according to the current overload protection protective function of robot; According to robot work region on the production line, the common region of setting the running orbit of two robots is the interference interlock region, guarantees the security and the reliability of robot use.
Compare and the traditional industry robot application; This embodiment organically makes up soldering turret and handgrip, and welding controller is controlled the design concept of bonding machine carrying instruction simultaneously, has improved the robot service efficiency; Lower working strength of workers, improved Production Line efficient.Compare with first kind of mode of prior art, economized the 6th in a cover robot and changed changeover panel, repack the implementation that is integrated by welding gun and handgrip into, development cost reduces; With soldering turret and handgrip design and one, welding ends, and directly calls the carrying instruction and can realize robot transport.And welding ends to middle minimizing actuation time of next station welding, robot operating efficiency raising.Compare with the second way of prior art, the scheme of present embodiment has reduced the input of a robot, has reduced the equipment investment expense.
Claims (5)
1. a spot welding robot is characterized in that, comprising:
Manipulator;
Drive and control device, it is used to drive said manipulator, with desired location, attitude and/or the movement locus of the end of realizing said manipulator;
Soldering turret and work holder, it is connected with said arm end, with clamping soldering turret and/or workpiece.
2. spot welding robot as claimed in claim 1; It is characterized in that; Said soldering turret comprises soldering turret and the workpiece handgrip that separates with work holder, and the end of said manipulator is suitable under the control of said driving and control device, being connected said soldering turret or said workpiece handgrip.
3. spot welding robot as claimed in claim 2 is characterized in that, said workpiece handgrip comprises work piece holder, and said work piece holder is installed on the said workpiece handgrip removably.
4. spot welding robot as claimed in claim 2 is characterized in that, said spot welding robot further comprises workpiece perception unit, and whether said workpiece perception unit is used to judge said workpiece handgrip clamping workpiece.
5. spot welding robot as claimed in claim 2 is characterized in that, said soldering turret and workpiece handgrip are sentenced one the mode of selecting at said spot welding robot's the 6th adpting flange and be connected to said manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204470648U CN202411671U (en) | 2011-05-10 | 2011-11-01 | Spot welding robot |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120147020 | 2011-05-10 | ||
| CN201120147020.3 | 2011-05-10 | ||
| CN2011204470648U CN202411671U (en) | 2011-05-10 | 2011-11-01 | Spot welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202411671U true CN202411671U (en) | 2012-09-05 |
Family
ID=46736465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204470648U Expired - Fee Related CN202411671U (en) | 2011-05-10 | 2011-11-01 | Spot welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202411671U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858584A (en) * | 2015-06-05 | 2015-08-26 | 捷福装备（武汉）股份有限公司 | Electric servo automatic soldering pliers |
| CN106541205A (en) * | 2017-01-22 | 2017-03-29 | 徐松良 | A kind of spot welding mechanical arm |
| CN109015711A (en) * | 2018-08-15 | 2018-12-18 | 长春森酉科技有限公司 | A kind of multi-function robot and intelligent production line |
-
2011
- 2011-11-01 CN CN2011204470648U patent/CN202411671U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104858584A (en) * | 2015-06-05 | 2015-08-26 | 捷福装备（武汉）股份有限公司 | Electric servo automatic soldering pliers |
| CN106541205A (en) * | 2017-01-22 | 2017-03-29 | 徐松良 | A kind of spot welding mechanical arm |
| CN109015711A (en) * | 2018-08-15 | 2018-12-18 | 长春森酉科技有限公司 | A kind of multi-function robot and intelligent production line |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120905 Termination date: 20161101 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |