CN204308433U - Heavy duty transfer robot and welding robot combine comprehensive automatically welding workstation - Google Patents
Heavy duty transfer robot and welding robot combine comprehensive automatically welding workstation Download PDFInfo
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- CN204308433U CN204308433U CN201420685743.2U CN201420685743U CN204308433U CN 204308433 U CN204308433 U CN 204308433U CN 201420685743 U CN201420685743 U CN 201420685743U CN 204308433 U CN204308433 U CN 204308433U
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Abstract
The utility model provides a kind of heavily loaded transfer robot and welding robot combines comprehensive automatically welding workstation, and this work station comprises heavily loaded transfer robot, welding robot, robot control system unit, air-actuated jaw unit, visual sensor system unit; Described heavily loaded transfer robot is carried workpiece, clamp and 360 ° of comprehensive displacements, adjusts welding posture in good time; Described visual sensor system unit inspection, judge workpiece type and position, coordinate robot control system unit accurately to locate workpiece; Described robot control system unit controls heavy duty transfer robot realizes 6+6 axle with welding robot and link, adjusts workpiece extremely best welding posture in good time, guarantee workpiece be able to disposable, comprehensive, automatically complete welding.
Description
Technical field
The utility model relates to robot automatic welding technique field, and the one being specifically related to a kind of carrying and welding robot combines comprehensive automatically welding workstation.
Background technology
At present, along with welding robot extensive use in the industry, increasing factory brings into use welding robot to weld complex large-sized structural member.On the one hand, traditional welding is that complex large-sized structural member is placed on welding bench or positioner, and the action by means of only robot itself is welded.Although current welding robot achieves 6 axle motions, but still can not meet the welding of the Omnibearing automatic of complex large-sized structural member and automated handling, the faying face of especially complex large-sized structural member and welding bench or positioner, welding robot cannot weld at all; On the other hand, due to the comparatively large and complex structure of the size of workpiece own, the operations such as artificial handling, clamping, welding are loaded down with trivial details, and above-mentioned operation is difficult to the high efficiency, the automated job that coordinate robot welding.The pattern of therefore traditional artificial handling, artificial clamping, positioner upset displacement, robot welding carries out producing the stability that not only can not ensure welding quality in enormous quantities, and welding efficiency is low, and automaticity is low, and welding robot mobility is low.
Utility model content
The purpose of this utility model overcomes the deficiencies in the prior art, a kind of heavily loaded transfer robot and welding robot is provided to combine comprehensive automatically welding workstation, highly versatile, disposable, Omnibearing automatic for solving complex part weld and automated handling, improve the mobility of welding efficiency, Automation of Welding degree and welding robot.
The technical solution of the utility model is: heavily loaded transfer robot and welding robot combine comprehensive automatically welding workstation, comprise having and workpiece is carried, clamp and the heavily loaded transfer robot of 3600 comprehensive displacements, and there is seam tracking system function, welding robot to the comprehensive automatic continuous welding of workpiece clamped by described heavily loaded transfer robot;
Described heavily loaded transfer robot is arranged in the middle part of comprehensive automation welding workstation, and welding robot is arranged at the front of heavily loaded transfer robot; Two proceeds posterolateral of described heavily loaded transfer robot are provided with workpiece transport line body unit; The front end of the execution axle of described heavily loaded transfer robot is provided with for carrying workpiece, clamping and fixing air-actuated jaw unit; The side of described air-actuated jaw unit is provided with the visual sensing system unit for workpiece type judgement, location of workpiece location; Described visual sensing system cell signal is connected to robot control system unit, by robot control system unit controls heavy duty transfer robot and welding robot work.
Further, the periphery of described welding robot is provided with and coordinates the Multifunctional digitized welding machine of welding robot work and clear rifle to cut a unit.
Further, within one week of described comprehensive automation welding workstation, security protection diaphragm system is provided with.
Further, described workpiece transport line body unit is provided with the optoelectronic switch for detecting work status on workpiece transport line body unit.
The beneficial effects of the utility model are:
The utility model is the comprehensive automatically welding workstation of a kind of carrying and welding robot combination, after the workpiece that optoelectronic switch on workpiece transport line body unit detects is in place, signal is sent to robot control system unit, robot control system unit controls heavy duty transfer robot arrives precalculated position, visual sensing system unit is to the kind of workpiece, exact position is carried out detecting and signal feedback is processed to robot control system unit, default welding position is transported to by pre-set programs by air-actuated jaw system unit clamping work pieces after judging workpiece kind and exact position, welding robot is had to weld, in welding process, heavy duty transfer robot and welding robot realize 6+6 axle and link, guarantee that workpiece is able to disposable, comprehensive, automatically complete welding.Welded rear heavily loaded transfer robot workpiece handling on workpiece transport line body, the optoelectronic switch that line body fills detects that workpiece puts in place backward robot control system feedback signal, and heavily loaded transfer robot carries out next step action, completes a weld job.While heavily loaded transfer robot carrying workpiece, welding robot under the cooperation of a unit cut by clear rifle, complete clearly rifle, cut an action.Because heavily loaded transfer robot and welding robot realize the interlock of 6+6 axle, therefore the handling of workpiece, clamping work is not only solved, more solve the problem of different attitude in the accurate location of workpiece, resetting, welding, disposable, the Omnibearing automatic that realize complex part completely weld and automated handling, greatly improve the mobility of welding efficiency, Automation of Welding degree and welding robot.
Accompanying drawing explanation
Fig. 1 is the utility model schematic layout pattern.
Wherein: 1-heavy duty transfer robot; 2-welding robot; 3-air-actuated jaw unit; 4-visual sensing system unit; 5-Multifunctional digitized welding machine; 6-robot control system unit; A unit cut by the clear rifle of 7-; 8-workpiece transport line body unit; 9-security protection diaphragm system.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further described.
A kind of highly versatile that the utility model embodiment provides, realize disposable, the Omnibearing automatic welding of complex part and the welding of automated handling and carry comprehensive work station, mainly comprising heavily loaded transfer robot 1, welding robot 2, air-actuated jaw system unit 3, visual sensing system unit 4, robot control system unit 6, Multifunctional digitized welding machine 5.Described heavily loaded transfer robot 1 substitutes hoisting mechanism, displacement mechanism, clamp system, positioner structure, not only realizes the rectilinear motion of X-axis, Y-axis, Z axis, and has lifting, spinfunction, possesses the function of adjustment welding posture in good time.After the workpiece that optoelectronic switch on workpiece transport line body unit 8 detects is in place, send signal to robot control system unit 6, robot control system unit 6 controls heavily loaded transfer robot 1 and arrives precalculated position.The visual sensing system unit 4 pairs of workpiece be contained on heavily loaded transfer robot 1 carry out information gathering, and the information feed back collected is processed to robot control system unit 6, robot control system unit 6 judges the exact position of workpiece type and workpiece according to the information of pre-stored, control heavily loaded transfer robot 1 and perform the predetermined clamping position of pre-set programs arrival workpiece, control air-actuated jaw system unit 3 clamping work pieces on heavily loaded transfer robot 1 and be transported to default welding position, then the welding procedure controlling welding robot 2 execution default welds.In welding process, robot control system unit 6 controls heavily loaded transfer robot 1 and realizes 6+6 axle with welding robot 2 and link, adjustment workpiece extremely best welding posture in good time, guarantee workpiece be able to disposable, comprehensive, automatically complete welding.Heavy duty transfer robot 1 links with the 6+6 axle of welding robot 2, not only meet the welding of rectilinear in planes weld seam, circular weld joint, and achieve the disposable welding forming of space curve welding seam, change the situation that Traditional Space curved welding seam will divide multistage to be welded, substantially increase welding quality and the welding efficiency of weld seam.
After workpiece has welded, robot control system unit 6 controls heavily loaded transfer robot workpiece handling on workpiece transport line body unit 8, optoelectronic switch on workpiece transport line body unit 8 detects that workpiece puts in place backward robot control system unit 6 feedback signal, air-actuated jaw system unit 3 on heavy duty transfer robot 2 unclamps workpiece, heavy duty transfer robot 1 gets back to initial position, performs weld job next time.
While heavily loaded transfer robot 1 carries workpiece, welding robot 2 under the cooperation of a unit 7 cut by clear rifle, complete clearly rifle, cut an action.Heavy duty transfer robot 1 links with the 6+6 axle of welding robot 2 under robot control system unit 6 controls, not only solve the handling of workpiece, clamping, more solve the problem of the welding of different welding posture, space curve welding seam in the accurate location of workpiece, resetting, welding, realize complexity completely, disposable, the Omnibearing automatic of large-size workpiece weld, automated handling.
The utility model embodiment, the part be not described further, as welding robot 2, air-actuated jaw unit 3, clear rifle are cut a unit 7, Multifunctional digitized welding machine 5, security protection diaphragm system 9 etc. and are prior art, therefore repeat no more in a specific embodiment.
In a word; although the utility model lists above-mentioned preferred embodiment; but should illustrate; those skilled in the art can carry out various change and remodeling; unless such change and remodeling deviate from scope of the present utility model, otherwise all should be included in protection domain of the present utility model.
Claims (4)
1. heavily loaded transfer robot and welding robot combine comprehensive automatically welding workstation, it is characterized in that: comprise having and workpiece is carried, clamp and the heavily loaded transfer robot (1) of 360 ° of comprehensive displacements, and there is seam tracking system function, welding robot (2) to the comprehensive automatic continuous welding of the clamped workpiece of described heavily loaded transfer robot (1);
Described heavily loaded transfer robot (1) is arranged in the middle part of comprehensive automation welding workstation, and welding robot (2) is arranged at the front of heavily loaded transfer robot (1); Two proceeds posterolateral of described heavily loaded transfer robot (1) are provided with workpiece transport line body unit (8); The front end of the execution axle of described heavily loaded transfer robot (1) is provided with for carrying workpiece, clamping and fixing air-actuated jaw unit (3); The side of described air-actuated jaw unit (3) is provided with the visual sensing system unit (4) for workpiece type judgement, location of workpiece location; Described visual sensing system unit (4) signal is connected to robot control system unit (6), controls heavily loaded transfer robot (1) and welding robot (2) work by robot control system unit (6).
2. heavily loaded transfer robot according to claim 1 and welding robot combine comprehensive automatically welding workstation, it is characterized in that: the periphery of described welding robot (2) is provided with the Multifunctional digitized welding machine (5) that coordinates welding robot (2) to work and a unit (7) cut by clear rifle.
3. heavily loaded transfer robot according to claim 1 and welding robot combine comprehensive automatically welding workstation, it is characterized in that: described comprehensive automation welding workstation within one week, be provided with security protection diaphragm system (9).
4. heavily loaded transfer robot according to claim 1 and welding robot combine comprehensive automatically welding workstation, it is characterized in that: described workpiece transport line body unit (8) is provided with the optoelectronic switch for detecting work status on workpiece transport line body unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420685743.2U CN204308433U (en) | 2014-11-14 | 2014-11-14 | Heavy duty transfer robot and welding robot combine comprehensive automatically welding workstation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420685743.2U CN204308433U (en) | 2014-11-14 | 2014-11-14 | Heavy duty transfer robot and welding robot combine comprehensive automatically welding workstation |
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| CN204308433U true CN204308433U (en) | 2015-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420685743.2U Expired - Fee Related CN204308433U (en) | 2014-11-14 | 2014-11-14 | Heavy duty transfer robot and welding robot combine comprehensive automatically welding workstation |
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| CN105397244A (en) * | 2015-11-27 | 2016-03-16 | 大连理工大学 | Multi-station robot intelligent welding system for pipe piling sheets |
| CN105798477A (en) * | 2016-05-08 | 2016-07-27 | 无锡奥特维智能装备有限公司 | Current-carrying sheet welding assembly equipment |
| CN105945441A (en) * | 2016-06-14 | 2016-09-21 | 大连理工大学 | Multi-station robot welding system based on welding seam intelligent identification technology for ring-disc parts |
| CN106392285A (en) * | 2016-10-31 | 2017-02-15 | 亿和精密工业（苏州）有限公司 | Integrated control method for welding machine of plasma welding equipment and machine hand |
| CN106843160A (en) * | 2017-02-09 | 2017-06-13 | 南京威亚丁数据科技有限公司 | It is a kind of to be applied to the form controller that glue sprayer is believed in promise |
| CN106827268A (en) * | 2017-01-25 | 2017-06-13 | 上海日进机床有限公司 | Crystalline silicon workpiece shear and crystalline silicon workpiece method for cutting |
| CN106862813A (en) * | 2017-03-14 | 2017-06-20 | 浙江大学 | A kind of automatic surfacing of caterpillar teeth wheel disc robot and vision detection system |
| CN107825024A (en) * | 2017-12-12 | 2018-03-23 | 江苏大德重工股份有限公司 | Carbon steel automatic welding production line |
| CN108290261A (en) * | 2015-11-17 | 2018-07-17 | Ntn株式会社 | Loader mechanism and machine tool system |
| CN108655627A (en) * | 2018-05-02 | 2018-10-16 | 安徽机电职业技术学院 | Intelligent welding robot |
| WO2018191890A1 (en) * | 2017-04-19 | 2018-10-25 | 深圳配天智能技术研究院有限公司 | Automatic welding work system and operation method therefor |
| CN109530983A (en) * | 2018-11-09 | 2019-03-29 | 无锡威卓智能机器人有限公司 | A kind of robot welding system and welding method |
| CN109967905A (en) * | 2017-12-27 | 2019-07-05 | 中集车辆（集团）有限公司 | A kind of trailer automatic butt welding system |
| CN110614450A (en) * | 2019-09-02 | 2019-12-27 | 天津大学 | Cutting of building steel construction robot, transport, welding integration workstation |
| CN112692471A (en) * | 2020-12-18 | 2021-04-23 | 盐城耀晖人防防护设备科技有限公司 | Robot-based robot symmetry overturning fixture civil air defense door welding workstation |
| CN113601075A (en) * | 2021-07-29 | 2021-11-05 | 上海发那科机器人有限公司 | Four-robot coordinated tracking standard welding system |
-
2014
- 2014-11-14 CN CN201420685743.2U patent/CN204308433U/en not_active Expired - Fee Related
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| CN108290261B (en) * | 2015-11-17 | 2020-02-28 | Ntn株式会社 | Loading mechanism and machine tool system |
| CN108290261A (en) * | 2015-11-17 | 2018-07-17 | Ntn株式会社 | Loader mechanism and machine tool system |
| CN105397244A (en) * | 2015-11-27 | 2016-03-16 | 大连理工大学 | Multi-station robot intelligent welding system for pipe piling sheets |
| CN105397244B (en) * | 2015-11-27 | 2017-06-23 | 大连理工大学 | A kind of pile end board multistation robot Intelligent welding system |
| CN105798477A (en) * | 2016-05-08 | 2016-07-27 | 无锡奥特维智能装备有限公司 | Current-carrying sheet welding assembly equipment |
| CN105798477B (en) * | 2016-05-08 | 2018-12-28 | 无锡奥特维智能装备有限公司 | A kind of current carrying lug welding assembly equipment |
| CN105945441A (en) * | 2016-06-14 | 2016-09-21 | 大连理工大学 | Multi-station robot welding system based on welding seam intelligent identification technology for ring-disc parts |
| CN106392285A (en) * | 2016-10-31 | 2017-02-15 | 亿和精密工业（苏州）有限公司 | Integrated control method for welding machine of plasma welding equipment and machine hand |
| CN106827268A (en) * | 2017-01-25 | 2017-06-13 | 上海日进机床有限公司 | Crystalline silicon workpiece shear and crystalline silicon workpiece method for cutting |
| CN106843160A (en) * | 2017-02-09 | 2017-06-13 | 南京威亚丁数据科技有限公司 | It is a kind of to be applied to the form controller that glue sprayer is believed in promise |
| CN106862813B (en) * | 2017-03-14 | 2018-08-14 | 浙江大学 | A kind of robot automatic surfacing of caterpillar teeth wheel disc and vision detection system |
| CN106862813A (en) * | 2017-03-14 | 2017-06-20 | 浙江大学 | A kind of automatic surfacing of caterpillar teeth wheel disc robot and vision detection system |
| WO2018191890A1 (en) * | 2017-04-19 | 2018-10-25 | 深圳配天智能技术研究院有限公司 | Automatic welding work system and operation method therefor |
| CN107825024A (en) * | 2017-12-12 | 2018-03-23 | 江苏大德重工股份有限公司 | Carbon steel automatic welding production line |
| CN107825024B (en) * | 2017-12-12 | 2024-02-13 | 江苏大德重工股份有限公司 | Automatic welding production line for carbon steel |
| CN109967905A (en) * | 2017-12-27 | 2019-07-05 | 中集车辆（集团）有限公司 | A kind of trailer automatic butt welding system |
| CN109967905B (en) * | 2017-12-27 | 2023-12-22 | 中集车辆(集团)股份有限公司 | Automatic welding system of trailer |
| CN108655627A (en) * | 2018-05-02 | 2018-10-16 | 安徽机电职业技术学院 | Intelligent welding robot |
| CN109530983A (en) * | 2018-11-09 | 2019-03-29 | 无锡威卓智能机器人有限公司 | A kind of robot welding system and welding method |
| CN110614450A (en) * | 2019-09-02 | 2019-12-27 | 天津大学 | Cutting of building steel construction robot, transport, welding integration workstation |
| CN112692471A (en) * | 2020-12-18 | 2021-04-23 | 盐城耀晖人防防护设备科技有限公司 | Robot-based robot symmetry overturning fixture civil air defense door welding workstation |
| CN113601075A (en) * | 2021-07-29 | 2021-11-05 | 上海发那科机器人有限公司 | Four-robot coordinated tracking standard welding system |
| CN113601075B (en) * | 2021-07-29 | 2023-02-24 | 上海发那科机器人有限公司 | Four-robot coordinated tracking standard welding system |
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| 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: 20150506 Termination date: 20201114 |
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| CF01 | Termination of patent right due to non-payment of annual fee |