CN204725047U - A kind of intelligent five axle welding robots - Google Patents
A kind of intelligent five axle welding robots Download PDFInfo
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- CN204725047U CN204725047U CN201520477875.0U CN201520477875U CN204725047U CN 204725047 U CN204725047 U CN 204725047U CN 201520477875 U CN201520477875 U CN 201520477875U CN 204725047 U CN204725047 U CN 204725047U
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Abstract
The utility model discloses a kind of intelligent five axle welding robots, comprise the workbench being provided with base, described workbench is provided with welding gun and drives welding gun along X-axis, Y-axis, the X-axis displacement mechanism of Z axis movement, Y-axis displacement mechanism and Z axis displacement mechanism, workbench is also provided with control system, described workbench is provided with the signal pickup assembly for scanning collection welding track and drives welding gun to realize transverse rotation and the rotating mechanism A longitudinally rotated and rotating mechanism B, described signal pickup assembly is electrically connected with control system, described rotating mechanism A is fixedly installed on Y-axis displacement mechanism by the first installing rack, described rotating mechanism B is fixedly installed in rotating mechanism A bottom through the second installing rack.The utility model is alternative manually, and energy saving economy, can meet special workpiece requirement, automaticity is high, simple to operation, and weldment quality is good, the simple low price of structure.
Description
Technical field
The utility model relates to Technology of Welding Robot field, particularly relates to a kind of intelligent five axle welding robots.
Technical background
Current weldering joint technology is with the production of people and have inseparable relation in living, connection between many parts all must adopt welding, this proposes very high requirement to the quality problems of welding, traditional solder technology adopts manual welding, because needs Butt welding gun supports for a long time, the eyesight hand-power of workman is easily tired, the quality of weldment can not be guaranteed, and adopt robot welding to not only solve the problems referred to above, and save material, but artificial three to four axles of the General welding machine on market, six axles besides, three to four axles can not meet the requirement of a special workpiece, and six-joint robot price is extremely expensive, and the requirement price that wu-zhi-shan pig can meet special workpiece is unlikely too expensive.
CN 203401208 U discloses a kind of five axles and drives automatic spot welding equipment, comprise welding machine, spin upside down mechanism, vertical lifting mechanism, longitudinal translation mechanism, horizontal rotary mechanism, laterial translation mechanism and base, described base is fixing in the horizontal plane, described laterial translation mechanism is arranged on base, laterial translation mechanism, horizontal rotary mechanism, longitudinal translation mechanism, vertical lifting mechanism, spin upside down mechanism and assemble successively, described welding machine with spin upside down mechanism fits, its special feature is: described in spin upside down mechanism be air cylinder driven structure.Though above-mentioned utility model can realize mechanized operation, intelligent level is not high, need manually operate on it, and the technical merit of workman requires higher, and this just makes the quality of weldment relatively poor.
Summary of the invention
For solving above-mentioned Problems existing, the utility model provide a kind of alternative manually, energy saving economy, can meet special workpiece requirement, automaticity is high, simple to operation, weldment quality is good, the simple low-cost intelligent five axle welding robots of structure.
The technical scheme in the invention for solving the above technical problem is: a kind of intelligent five axle welding robots, comprise the workbench being provided with base, described workbench is provided with welding gun and drives welding gun along X-axis, Y-axis, the X-axis displacement mechanism of Z axis movement, Y-axis displacement mechanism and Z axis displacement mechanism, workbench is also provided with and drives X-axis displacement mechanism by the signal of telecommunication, the control system of Y-axis displacement mechanism and the motion of Z axis displacement mechanism, described workbench is provided with the signal pickup assembly for scanning collection welding track and drives welding gun to realize transverse rotation and the rotating mechanism A longitudinally rotated and rotating mechanism B, described signal pickup assembly is electrically connected with control system, described rotating mechanism A is fixedly installed on Y-axis displacement mechanism by the first installing rack, described rotating mechanism B is fixedly installed in rotating mechanism A bottom through the second installing rack.
Above-mentioned intelligence five axle welding robot, described control system comprises: CPU, complete Chinese human-computer interaction interface, welding parameter memory module, interpolation algorithm module, motor drive module and encoder, described complete Chinese human-computer interaction interface, welding parameter memory module, interpolation algorithm module are all electrically connected with CPU, described interpolation algorithm module is electrically connected with encoder output by motor drive module, and described encoder input is electrically connected with interpolation algorithm module.
Above-mentioned intelligence five axle welding robot, described signal pickup assembly comprises the hand-held signal picker and signal processing unit that can move freely along welding position, described signal processing unit comprises hand-held teaching seam track acquisition module and robot location's detection module, and described hand-held teaching seam track acquisition module and robot location's detection module are all electrically connected with CPU.
Above-mentioned intelligence five axle welding robot, described X-axis displacement mechanism comprises the first support, the first guide rail coordinated with the first bracket slide and the first leading screw realizing support transverse shifting, and drive the first servomotor of the first screw turns, the first servomotor is connected with and sends drive singal for receiving control system and the first encoder driving the first servomotor motion.
Above-mentioned intelligence five axle welding robot, described Y-axis displacement mechanism comprises the second support, the second guide rail coordinated with the second bracket slide and realize the second leading screw that support vertically moves, and drive the second servomotor of the second screw turns, second servomotor is connected with and sends drive singal for receiving control system and the second encoder driving the second servomotor motion, described second support is provided with the line sending motor into welding gun conveying welding wire.
Above-mentioned intelligence five axle welding robot, described Z axis displacement mechanism comprises the 3rd support, the 3rd guide rail coordinated with the 3rd bracket slide and realize the 3rd leading screw that support vertically moves, and drive the 3rd servomotor of the 3rd screw turns, the 3rd servomotor is connected with and sends drive singal for receiving control system and the 3rd encoder driving the 3rd servomotor motion.
Above-mentioned intelligence five axle welding robot, described rotating mechanism A comprises: mounting bracket, be provided with the 4th servomotor and rotating shaft of reductor, described 4th servomotor is located on installing rack, 4th servomotor is connected with and sends drive singal for receiving control system and the 4th encoder driving the 4th servomotor motion, described rotating shaft is connected with the 4th servomotor output.
Above-mentioned intelligence five axle welding robot, described rotating mechanism B forms by with the 5th servomotor of reductor, mounting bracket and support arm, described 5th servomotor is located on installing rack, 5th servomotor is connected with and sends drive singal for receiving control system and the 4th encoder driving the 5th servomotor motion, described support arm one end is provided with welding gun bare terminal end, and the support arm other end is connected with the 5th servo motor output shaft.
Above-mentioned intelligence five axle welding robot, first, second and third support described is equipped with the limit sensors for controlling first, second and third support motion stroke.
Above-mentioned intelligence five axle welding robot, described 3rd support is fixedly connected with the first support, and described 3rd support is also fixedly connected with the second support.
The utility model adopts the beneficial effect that realizes of technique scheme to be: use that robot is alternative manually to be operated, not only liberate labour productive forces, improve work situation, and energy saving economy, weldment quality is good, special workpiece requirement can be met, adopt the mode of hand-held teaching to substantially increase automaticity, simple to operate, flexibility is strong, intelligence degree is high, and the simple low price of structure, can meet the demand of medium-sized and small enterprises simultaneously.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is the partial enlarged drawing of part A in figure;
Fig. 3 is the partial enlarged drawing of part B in figure;
Fig. 4 is the circuit structure block diagram of the utility model control system;
Fig. 5 is the circuit structure block diagram of this signal pickup assembly.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the utility model is described in further details.
As Fig. 1, 2, 3, 4, shown in 5, a kind of intelligent five axle welding robots, comprise the workbench 1 being provided with base, workbench 1 is provided with welding gun 5 and drives welding gun 5 along X-axis, Y-axis, the X-axis displacement mechanism of Z axis movement, Y-axis displacement mechanism and Z axis displacement mechanism, described X-axis displacement mechanism comprises the first support 11, the first guide rail 8 be slidably matched with the first support 11 and the first leading screw 9 realizing support transverse shifting, and the first servomotor 10 driving the first leading screw 9 to rotate, first servomotor 10 is connected with and sends drive singal for receiving control system and drive the first encoder that the first servomotor 10 moves.Described Y-axis displacement mechanism comprises the second support 12, the second guide rail 13 be slidably matched with the second support 12 and realize the second leading screw 14 that support vertically moves, and the second servomotor 15 driving the second leading screw 14 to rotate, second servomotor 15 is connected with and sends drive singal for receiving control system and drive the second encoder that the second servomotor 15 moves, described second support 12 is provided with as the line sending motor 7 of welding wire carried by welding gun 5.Described Z axis displacement mechanism comprises the 3rd support 19, the 3rd guide rail 16 be slidably matched with the 3rd support 19 and realize the 3rd leading screw 18 that support vertically moves, and the 3rd servomotor 17 driving the 3rd leading screw 18 to rotate, 3rd servomotor 17 is connected with and sends drive singal for receiving control system and drive the 3rd encoder that the 3rd servomotor 17 moves, described first, two, three supports are equipped with for controlling first, two, the limit sensors of three support motion strokes, described 3rd support 19 is fixedly connected with the first support 11, described 3rd support 11 is also fixedly connected with the second support 12.Workbench is also provided with the control system being driven the motion of X-axis displacement mechanism, Y-axis displacement mechanism and Z axis displacement mechanism by the signal of telecommunication, described control system comprises: CPU, complete Chinese human-computer interaction interface, welding parameter memory module, interpolation algorithm module, motor drive module and encoder, described complete Chinese human-computer interaction interface, welding parameter memory module, interpolation algorithm module are all electrically connected with CPU, described interpolation algorithm module is electrically connected with encoder one end by motor drive module, and the described encoder other end is electrically connected with interpolation algorithm module.Described workbench 1 is provided with the signal pickup assembly for scanning collection welding track and drives welding gun 5 to realize transverse rotation and the rotating mechanism A longitudinally rotated and rotating mechanism B, described signal pickup assembly comprises the hand-held signal picker 3 and signal processing unit that can move freely along welding machine position, described signal processing unit comprises hand-held teaching seam track acquisition module and robot location's detection module, and described hand-held teaching seam track acquisition module and robot location's detection module are all electrically connected with CPU.Described signal pickup assembly is electrically connected with control system, described rotating mechanism A comprises: the first installing rack 20, the 4th servomotor 21 being provided with reductor and rotating shaft 22, described 4th servomotor 21 is located on the first installing rack 20,4th servomotor 21 is connected with and sends drive singal for receiving control system and drive the 4th encoder that the 4th servomotor 21 moves, described 4th servomotor 21 output is provided with rotating shaft 22.Described rotating mechanism A is fixedly installed on Y-axis displacement mechanism by the first installing rack 20, described rotating mechanism B is by the 5th servomotor 24 with reductor, second installing rack 23 and support arm 27 form, described 5th servomotor 24 is located on the second installing rack 23, 5th servomotor 24 is connected with and sends drive singal for receiving control system and drive the 4th encoder that the 5th servomotor 24 moves, described support arm 27 one end is provided with welding gun bare terminal end 26, support arm 27 other end is connected with the 5th servo motor output shaft 25, described rotating mechanism B is fixedly installed in rotating mechanism A bottom through the second installing rack 23, workbench is also provided with for welding gun provides the coil 6 of welding wire, one end of workbench is provided with power on button 2-1, power-off button 2-2, return push-button 2-3, arc welding gun switch button 2-4, the adjustment button 2-6 of power supply indication fault alarm lamp 2-5 and adjustment welding current and voltage swing, these buttons are all electrically connected with control system.
The course of work is as follows:
After switching on power, start teaching pattern, walk one time along the route simulation that will weld with hand-held signal picker, hand-held teaching seam track acquisition module can be recorded route and pass to control system and generator, start bond pattern, control system is given an order and is driven each spindle motor to motor drive module, and realizing that welding gun moved along track can along welding successively.
By reference to the accompanying drawings detailed description of the invention of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.
Claims (10)
1. an intelligence five axle welding robot, comprise the workbench being provided with base, described workbench is provided with welding gun and drives welding gun along X-axis, Y-axis, the X-axis displacement mechanism of Z axis movement, Y-axis displacement mechanism and Z axis displacement mechanism, workbench is also provided with and drives X-axis displacement mechanism by the signal of telecommunication, the control system of Y-axis displacement mechanism and the motion of Z axis displacement mechanism, it is characterized in that: described workbench is provided with the signal pickup assembly for scanning collection welding track and drives welding gun to realize transverse rotation and the rotating mechanism A longitudinally rotated and rotating mechanism B, described signal pickup assembly is electrically connected with control system, described rotating mechanism A is fixedly installed on Y-axis displacement mechanism by the first installing rack, described rotating mechanism B is fixedly installed in rotating mechanism A bottom through the second installing rack.
2. intelligent five axle welding robots according to claim 1, it is characterized in that: described control system comprises: CPU, complete Chinese human-computer interaction interface, welding parameter memory module, interpolation algorithm module, motor drive module and encoder, described complete Chinese human-computer interaction interface, welding parameter memory module, interpolation algorithm module are all electrically connected with CPU, described interpolation algorithm module is electrically connected with encoder output by motor drive module, and described encoder input is electrically connected with interpolation algorithm module.
3. intelligent five axle welding robots according to claim 2, it is characterized in that: described signal pickup assembly comprises the hand-held signal picker and signal processing unit that can move freely along welding position, described signal processing unit comprises hand-held teaching seam track acquisition module and robot location's detection module, and described hand-held teaching seam track acquisition module and robot location's detection module are all electrically connected with CPU.
4. intelligent five axle welding robots according to claim 1, it is characterized in that: described X-axis displacement mechanism comprises the first support, the first guide rail coordinated with the first bracket slide and the first leading screw realizing support transverse shifting, and drive the first servomotor of the first screw turns, the first servomotor is connected with and sends drive singal for receiving control system and the first encoder driving the first servomotor motion.
5. intelligent five axle welding robots according to claim 4, it is characterized in that: described Y-axis displacement mechanism comprises the second support, the second guide rail coordinated with the second bracket slide and realize the second leading screw that support vertically moves, and drive the second servomotor of the second screw turns, second servomotor is connected with and sends drive singal for receiving control system and the second encoder driving the second servomotor motion, described second support is provided with the line sending motor into welding gun conveying welding wire.
6. intelligent five axle welding robots according to claim 5, it is characterized in that: described Z axis displacement mechanism comprises the 3rd support, the 3rd guide rail coordinated with the 3rd bracket slide and realize the 3rd leading screw that support vertically moves, and drive the 3rd servomotor of the 3rd screw turns, the 3rd servomotor is connected with and sends drive singal for receiving control system and the 3rd encoder driving the 3rd servomotor motion.
7. intelligent five axle welding robots according to claim 1, it is characterized in that: described rotating mechanism A comprises: mounting bracket, be provided with the 4th servomotor and rotating shaft of reductor, described 4th servomotor is located on installing rack, 4th servomotor is connected with and sends drive singal for receiving control system and the 4th encoder driving the 4th servomotor motion, described rotating shaft is connected with the 4th servomotor output.
8. intelligent five axle welding robots according to claim 1, it is characterized in that: described rotating mechanism B forms by with the 5th servomotor of reductor, mounting bracket and support arm, described 5th servomotor is located on installing rack, 5th servomotor is connected with and sends drive singal for receiving control system and the 4th encoder driving the 5th servomotor motion, described support arm one end is provided with welding gun bare terminal end, and the support arm other end is connected with the 5th servo motor output shaft.
9. the intelligence five axle welding robot according to claim 4,5 or 6, is characterized in that: first, second and third support described is equipped with the limit sensors for controlling first, second and third support motion stroke.
10. intelligent five axle welding robots according to claim 6, it is characterized in that: described 3rd support is fixedly connected with the first support, described 3rd support is also fixedly connected with the second support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520477875.0U CN204725047U (en) | 2015-07-06 | 2015-07-06 | A kind of intelligent five axle welding robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520477875.0U CN204725047U (en) | 2015-07-06 | 2015-07-06 | A kind of intelligent five axle welding robots |
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| CN204725047U true CN204725047U (en) | 2015-10-28 |
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| CN201520477875.0U Expired - Fee Related CN204725047U (en) | 2015-07-06 | 2015-07-06 | A kind of intelligent five axle welding robots |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041260A (en) * | 2016-06-21 | 2016-10-26 | 天津大学 | Lightweight rail-mounted five-axis welding robot |
| CN106695232A (en) * | 2017-01-19 | 2017-05-24 | 常熟市中恒自动化设备有限公司 | Glass mold clamping and positioning device of automatic glass mold welding machine |
| CN106695208A (en) * | 2017-01-19 | 2017-05-24 | 常熟市中恒自动化设备有限公司 | Welding gun station adjusting device for glass mold automatic welding machine |
| CN107470812A (en) * | 2017-09-14 | 2017-12-15 | 常熟凯博智能装备有限公司 | Five degree-of-freedom manipulator automatic soldering device |
| CN107649805A (en) * | 2017-10-31 | 2018-02-02 | 王龙 | A kind of Intelligent welding industrial robot |
| CN107855704A (en) * | 2017-12-01 | 2018-03-30 | 河南宝盛精密机械有限公司 | Rush-harvesting and rush-planting coordinate welding robot |
| CN108247251A (en) * | 2018-01-03 | 2018-07-06 | 江苏理工学院 | Using the excitation coil weld seam path deviation correcting device and method of dual-Hall sensor |
| CN108296677A (en) * | 2018-01-24 | 2018-07-20 | 江苏理工学院 | A kind of flabellum shape welder |
| CN108339761A (en) * | 2018-01-24 | 2018-07-31 | 江苏理工学院 | A kind of sorting welder and its method based on thermal infrared imager detection |
| CN108436329A (en) * | 2018-03-10 | 2018-08-24 | 冯秉健 | Intelligent temperature control welding robot |
| CN108672999A (en) * | 2018-04-24 | 2018-10-19 | 衢州学院 | A kind of auxiliary welding equipment of hull high-strength steel |
| CN108687198A (en) * | 2018-05-16 | 2018-10-23 | 安徽同步自动化科技有限公司 | A kind of five axis rolling pressing edge covering profile modeling NC programming method of automobile panel and its device |
| CN109382818A (en) * | 2017-08-02 | 2019-02-26 | 深圳市元硕自动化科技有限公司 | A kind of four axis mechanisms of band rotation |
| CN109590582A (en) * | 2019-01-24 | 2019-04-09 | 南京机电职业技术学院 | A kind of welder of hexaxial reference system |
| CN109623121A (en) * | 2019-02-01 | 2019-04-16 | 郭端晓 | A kind of induction copper pipe welder of 4DOF |
| CN110919255A (en) * | 2019-12-05 | 2020-03-27 | 天津市春信制冷净化设备有限公司 | Special welding robot for long welding line of stainless steel wall |
| CN113369782A (en) * | 2021-08-13 | 2021-09-10 | 佛山市腾翱科技有限公司 | Welding equipment |
| CN118218874A (en) * | 2024-05-21 | 2024-06-21 | 河南威猛振动设备股份有限公司 | Intelligent somatosensory welding equipment and somatosensory welding method |
-
2015
- 2015-07-06 CN CN201520477875.0U patent/CN204725047U/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041260A (en) * | 2016-06-21 | 2016-10-26 | 天津大学 | Lightweight rail-mounted five-axis welding robot |
| CN106041260B (en) * | 2016-06-21 | 2019-01-22 | 天津大学 | A kind of five axis welding robot of light-weighted rail mounted |
| CN106695232A (en) * | 2017-01-19 | 2017-05-24 | 常熟市中恒自动化设备有限公司 | Glass mold clamping and positioning device of automatic glass mold welding machine |
| CN106695208A (en) * | 2017-01-19 | 2017-05-24 | 常熟市中恒自动化设备有限公司 | Welding gun station adjusting device for glass mold automatic welding machine |
| CN106695208B (en) * | 2017-01-19 | 2018-01-26 | 太平洋纺织机械（常熟）有限公司 | The welding gun station adjusting apparatus of glass mold automatic welding machine |
| CN109382818A (en) * | 2017-08-02 | 2019-02-26 | 深圳市元硕自动化科技有限公司 | A kind of four axis mechanisms of band rotation |
| CN107470812A (en) * | 2017-09-14 | 2017-12-15 | 常熟凯博智能装备有限公司 | Five degree-of-freedom manipulator automatic soldering device |
| CN107649805A (en) * | 2017-10-31 | 2018-02-02 | 王龙 | A kind of Intelligent welding industrial robot |
| CN107855704A (en) * | 2017-12-01 | 2018-03-30 | 河南宝盛精密机械有限公司 | Rush-harvesting and rush-planting coordinate welding robot |
| CN108247251A (en) * | 2018-01-03 | 2018-07-06 | 江苏理工学院 | Using the excitation coil weld seam path deviation correcting device and method of dual-Hall sensor |
| CN108339761A (en) * | 2018-01-24 | 2018-07-31 | 江苏理工学院 | A kind of sorting welder and its method based on thermal infrared imager detection |
| CN108296677A (en) * | 2018-01-24 | 2018-07-20 | 江苏理工学院 | A kind of flabellum shape welder |
| CN108296677B (en) * | 2018-01-24 | 2019-11-12 | 江苏理工学院 | A kind of flabellum shape welder |
| CN108436329A (en) * | 2018-03-10 | 2018-08-24 | 冯秉健 | Intelligent temperature control welding robot |
| CN108672999A (en) * | 2018-04-24 | 2018-10-19 | 衢州学院 | A kind of auxiliary welding equipment of hull high-strength steel |
| CN108687198A (en) * | 2018-05-16 | 2018-10-23 | 安徽同步自动化科技有限公司 | A kind of five axis rolling pressing edge covering profile modeling NC programming method of automobile panel and its device |
| CN109590582A (en) * | 2019-01-24 | 2019-04-09 | 南京机电职业技术学院 | A kind of welder of hexaxial reference system |
| CN109623121A (en) * | 2019-02-01 | 2019-04-16 | 郭端晓 | A kind of induction copper pipe welder of 4DOF |
| CN110919255A (en) * | 2019-12-05 | 2020-03-27 | 天津市春信制冷净化设备有限公司 | Special welding robot for long welding line of stainless steel wall |
| CN113369782A (en) * | 2021-08-13 | 2021-09-10 | 佛山市腾翱科技有限公司 | Welding equipment |
| CN113369782B (en) * | 2021-08-13 | 2021-10-29 | 佛山市腾翱科技有限公司 | Welding equipment |
| CN118218874A (en) * | 2024-05-21 | 2024-06-21 | 河南威猛振动设备股份有限公司 | Intelligent somatosensory welding equipment and somatosensory welding method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151028 Termination date: 20180706 |