CN204867745U - Steel grating board special purpose machinery people automatic welder - Google Patents
Steel grating board special purpose machinery people automatic welder Download PDFInfo
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- CN204867745U CN204867745U CN201520585705.4U CN201520585705U CN204867745U CN 204867745 U CN204867745 U CN 204867745U CN 201520585705 U CN201520585705 U CN 201520585705U CN 204867745 U CN204867745 U CN 204867745U
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Abstract
The utility model discloses a steel grating board special purpose machinery people automatic welder, include: fixing base, cross axle, a joint axis, the 2nd joint axis, welder and controlling means, the fixing base be fixed in ground through the foundation bolt, the cross axle be fixed in the fixing base through the locating pin on, cross axle, a joint axis, the 2nd joint axis and welder all be connected with controlling means through the circuit, a steel grating board special purpose machinery people automatic welder, it passes through at the machine, it is through installing position sensor at robot arm, it comes the butt welding contact to carry out accurate location to control position sensor through automatic control system, let its and welder cooperate, thereby great improvement welding equipment's welding accuracy, effectual stability and the uniformity of having guaranteed welding quality, can effectually avoid the rosin joint appearing and the hourglass is welded, let it realize the precision welding, thereby the better demand that satisfies the customer.
Description
Technical field
The utility model relates to a kind of welder, specifically a kind of steel grating plate special purpose robot automatic soldering device for welding.
Background technology
Steel grating plate carbon dioxide is mainly used in the edge sealing work of steel grating plate, welding most enterprise all still adopts the mode of human weld to weld, the workload of work is very large, simultaneously, because people's great majority in the process of welding are all rely on naked eyes to weld, the quality of its welding is stable not, because the controllability of people is poor, the quality of thus welding is difficult to be consistent, because its pad is comparatively intensive, technical requirement for welder is higher, welding position and parameter matching not easily keep best, usually rosin joint is there will be in the process of welding, the problem of solder skip, and the gas that welding process produces can have certain injury to human body, meanwhile, because the production of enterprise there will be dull season and busy season unavoidably, in order to ensure that enterprise just can complete output in Changde, often recruit workman according to the busy season, but once enterprise enters dull season, the situation that the few personnel of work are many will be there is, like this will in the fund input virtually increasing enterprise, thus human weld is replaced will become inevitable.
Along with socioeconomic fast development, be the life of people or the rhythm of work all in continuous quickening, the production of enterprise is also like this, and most enterprise all adopts the automation of machinery progressively to replace manual operation.Enterprises a lot of at present all can adopt robot to weld, its cost is higher, because the operation of steel grating plate welding is too loaded down with trivial details, existing universal robot configuration is all by 7 weeks mostly at 4 axles, so not only can increase the action in its welding process, cause its welding efficiency step-down, because it is not strive the product custom-made to welding, some technique has been difficult to or cannot have realized, simultaneously because its structure is too complicated, the parts used are more also can increase its production cost, and thus the solder technology of existing steel grating plate needs to improve.
Utility model content
Utility model object: the purpose of this utility model is to solve the deficiencies in the prior art, provides a kind of steel grating plate special purpose robot automatic soldering device.
Technical scheme: in order to realize above object, a kind of steel grating plate special purpose robot automatic soldering device described in the utility model, comprise: holder, transverse axis, first joint shaft, second joint axle, welding gun and control device, described holder is fixed on ground by fot screw, described transverse axis is fixed on holder by alignment pin, the first described joint shaft is located at one end of transverse axis by alignment pin, described second joint axle is connected with the first joint shaft, described welding gun is fixed on second joint axle, described transverse axis, first joint shaft and second joint axle form robot arm, and described transverse axis, first joint shaft, second joint axle is all connected with control device by circuit with welding gun, described control device comprises welder, sensory-control system, actuating unit and automatic control system, wherein, described sensory-control system is made up of position sensor and sensor controller, described automatic control system is formed by adopting single-chip computer control system and controller, described welder is connected with second joint axle, described position sensor is located on second joint axle, and it is connected with sensor controller, described actuating unit simultaneously and transverse axis, , first joint shaft is connected with second joint axle, described single-chip computer control system is connected with controller, described welder, sensory-control system and actuating unit are all connected with the controller in automatic control system.Steel grating plate special purpose robot automatic soldering device described in the utility model, it passes through at robot arm installation site sensor, carry out control position sensor by automatic control system to carry out butt welding contact and locate accurately, it is allowed to match with welding gun, thus improve the welding accuracy of welding equipment greatly, also effectively ensure that stability and the uniformity of welding quality, can effectively avoid occurring rosin joint and solder skip, allow it realize precision welding, well solve human weld's Problems existing.
The utility model also comprises display screen, operation keyboard and warning device, described display screen is connected with holder by mechanical arm, described operation keyboard is located on holder, one end of transverse axis is located at by described warning device, the setting of warning device, can in time by the failure notification of equipment to staff, avoid because fault causes the generation of heavy losses.
Welder described in the utility model comprises welding tool setup, positioner, manipulator and welding work pieces conveying device, described positioner is connected with position sensor and welding gun, described welding tool setup, manipulator are all connected with automatic control system with welding work pieces conveying device, and they all match with welding gun.
Actuating unit described in the utility model is made up of servomotor and pneumatic circuit, and described pneumatic circuit is made up of source of the gas, control valve and cylinder, and described servomotor is all connected with automatic control system with pneumatic circuit.
Single-chip computer control system described in the utility model is made up of central processor CPU, program memory ROM, data storage RAM, I/O mouth, data converter, timer conter, external interrupt and serial communication, described program memory ROM, data storage RAM, I/O mouth, data converter, timer conter, external interrupt are all connected with central processor CPU with serial communication, described position sensor is connected with the input of data storage RAM, and the output of described data storage RAM is connected with data converter.
Transverse axis described in the utility model is fixed on holder by steady pin, and its fixing position can regulate, the adjustable range of its height is-50mm ~+50mm, and horizontal direction has third gear and regulates, it is respectively-25 °, 0 ° ,+25 °, and rotation angle range is-90 ° ~+90 °.
The rotating range of the horizontal direction of the first joint shaft described in the utility model and second joint axle is-180 ° ~+180 °, and the rotating range of vertical direction is-60 ° ~+60 °.
Beneficial effect: steel grating plate special purpose robot automatic soldering device described in the utility model, has the following advantages:
1, a kind of steel grating plate special purpose robot automatic soldering device described in the utility model its by machine and method of work thereof, it passes through at robot arm installation site sensor, carry out control position sensor by automatic control system to carry out butt welding contact and locate accurately, it is allowed to match with welding gun, thus improve the welding accuracy of welding equipment greatly, also effectively ensure that stability and the uniformity of welding quality, can effectively avoid occurring rosin joint and solder skip, allow it realize precision welding, well solve human weld's Problems existing.
2, its structure of steel grating plate special purpose robot automatic soldering device described in the utility model, structure is simple, it only has 3 axles, in the process of welding, just high flexibly, thus improve the speed of its welding greatly, simultaneously because accessory is less, while satisfied welding demand, the cost reducing this equipment drops into, thus meets the demand of client better.
3, the steel grating plate special purpose robot automatic soldering device described in the utility model its by machine and method of work thereof, it instead of the working method of human weld by robot arm welding, can effectively prevent people from directly contacting with the gas of welding, effectively prevent the toxic gas occurred because of welding from damaging human body, simultaneously due to machine can its work of manual control whether, thus well solve the staffing problem in enterprise's dull season and busy season.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is electrically connected schematic diagram in the utility model;
In figure: holder-1, transverse axis-2, the first joint shaft-3, second joint axle-4, welding gun-5, control device-6, welder-7, sensory-control system-8, actuating unit-9 and automatic control system-10.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, illustrate the utility model further.
Embodiment
A kind of steel grating plate special purpose robot automatic soldering device as depicted in figs. 1 and 2, comprise: holder 1, transverse axis 2, first joint shaft 3, second joint axle 4, welding gun 5 and control device 6, also comprise display screen, operation keyboard and warning device, described control device 6 comprises welder 7, sensory-control system 8, actuating unit 9 and automatic control system 10.
The relation of above-mentioned each parts is as follows:
Described display screen is connected with holder 1 by mechanical arm, described operation keyboard is located on holder 1, and described holder 1 is fixed on ground by fot screw, and described transverse axis 2 is fixed on holder 1 by alignment pin, one end of transverse axis 2 is located at by described warning device
The first described joint shaft 3 is located at one end of transverse axis 2 by alignment pin, described second joint axle 4 is connected with the first joint shaft 3, described welding gun 5 is fixed on second joint axle 4, described transverse axis 2, first joint shaft 3 and second joint axle 4 form robot arm, and described transverse axis 2, first joint shaft 3, second joint axle 4 are all connected with control device 6 by circuit with welding gun 5, wherein, described sensory-control system 8 is made up of position sensor 11 and sensor controller, described automatic control system 10 is made up of employing single-chip computer control system and controller, described welder 7 is connected with second joint axle 4, described position sensor 11 is located on second joint axle 4, and it is connected with sensor controller, described actuating unit 9 simultaneously with transverse axis 2, first joint shaft 3 is connected with second joint axle 4, described single-chip computer control system is connected with controller, described welder 7, sensory-control system 8 is all connected with the controller in automatic control system 10 with actuating unit 9.
Welder 7 described in the present embodiment comprises welding tool setup, positioner, manipulator and welding work pieces conveying device, described positioner is connected with position sensor 11 and welding gun 5, described welding tool setup, manipulator are all connected with automatic control system 10 with welding work pieces conveying device, and they all match with welding gun 5.
Actuating unit 9 described in the present embodiment is made up of servomotor and pneumatic circuit, and described pneumatic circuit is made up of source of the gas, control valve and cylinder, and described servomotor and pneumatic circuit are all connected with automatic control system 10.
Single-chip computer control system described in the present embodiment is made up of central processor CPU, program memory ROM, data storage RAM, I/O mouth, data converter, timer conter, external interrupt and serial communication, described program memory ROM, data storage RAM, I/O mouth, data converter, timer conter, external interrupt are all connected with central processor CPU with serial communication, described position sensor 11 is connected with the input of data storage RAM, and the output of described data storage RAM is connected with data converter.
Transverse axis 2 described in the present embodiment is fixed on holder 1 by steady pin, and its fixing position can regulate, the adjustable range of its height is-50mm ~+50mm, and horizontal direction has third gear and regulates, it is respectively-25 °, 0 ° ,+25 °, and rotation angle range is-90 ° ~+90 °; The rotating range of the first described joint shaft 3 and the horizontal direction of second joint axle 4 is-180 ° ~+180 °, and the rotating range of vertical direction is-60 ° ~+60 °.
A kind of steel grating plate special purpose robot automatic soldering device described in the present embodiment, the specific works method of this welder is as follows:
(1): first according to welding needs by welding route and pad between scope typing automatic control system 10 in;
(2): after pending data typing is good, start to start this automatic welding device, the various piece then in whole equipment all enters duty;
(3): then welding work pieces is delivered to the station of specifying by welding work pieces conveying device;
(4) position sensor (11): be sent to after the station of specifying until workpiece, being located at second joint axle 4 will detect the pad that workpiece is preset;
(5): after position sensor 11 detects data, by the data storage the RAM immediately data detected sent in single-chip computer control system, data are stored;
(6): then convert data signal to by the analog signal of data converter to storage, and send the data after conversion to central processor CPU;
(7): to receive after data data analysis until central processor CPU and process, then analog signal is converted to through data converter again by analyzing the result drawn;
(8): after pending data converts, send data to controller, then controller will drive transverse axis 2, first joint shaft 3 in robot arm and second joint axle 4 to rotate the position adjusting to welding the best by order servomotor;
(9): after treating that after receiving order transverse axis 2, first joint shaft 3 and second joint axle 4 adjust, order welding gun 5 butt welding contact welds by controller;
(10): after completing until a means of spot welds, transverse axis 2 will move to the position of next pad, then the first joint shaft 3 and second joint axle 4 are according to the spacing between the pad set, and again carry out the welding of next pad with above-mentioned welding step;
(11): according to above-mentioned method of work until after all pads all weld, in whole welding process, once there is any abnormal problem, all buzzing warning will be carried out by warning device, until handling failure remove can;
(12): quit work by control order servomotor finally by operation keyboard, other equipment are then allowed to shut down, finally by operation keyboard by device shutdown successively.
Embodiment is only not used in restriction scope of the present utility model for illustration of the utility model, after having read the utility model, the amendment of those skilled in the art to the various equivalent form of value of the present utility model has all fallen within the application's claims limited range.
Claims (7)
1. a steel grating plate special purpose robot automatic soldering device, it is characterized in that: comprising: holder (1), transverse axis (2), first joint shaft (3), second joint axle (4), welding gun (5) and control device (6), described holder (1) is fixed on ground by fot screw, described transverse axis (2) is fixed on holder (1) by alignment pin, described the first joint shaft (3) is located at one end of transverse axis (2) by alignment pin, described second joint axle (4) is connected with the first joint shaft (3), described welding gun (5) is fixed on second joint axle (4), described transverse axis (2), first joint shaft (3) and second joint axle (4) form robot arm, and described transverse axis (2), first joint shaft (3), second joint axle (4) is all connected with control device (6) by circuit with welding gun (5),
Described control device (6) comprises welder (7), sensory-control system (8), actuating unit (9) and automatic control system (10), wherein, described sensory-control system (8) is made up of position sensor (11) and sensor controller, described automatic control system (10) is made up of employing single-chip computer control system and controller, described welder (7) is connected with second joint axle (4), described position sensor (11) is located on second joint axle (4), and it is connected with sensor controller, described actuating unit (9) simultaneously with transverse axis (2), first joint shaft (3) is connected with second joint axle (4), described single-chip computer control system is connected with controller, described welder (7), sensory-control system (8) is all connected with the controller in automatic control system (10) with actuating unit (9).
2. a kind of steel grating plate special purpose robot automatic soldering device according to claim 1, it is characterized in that: also comprise display screen, operation keyboard and warning device, described display screen is connected with holder (1) by mechanical arm, described operation keyboard is located on holder (1), and one end of transverse axis (2) is located at by described warning device.
3. a kind of steel grating plate special purpose robot automatic soldering device according to claim 1, it is characterized in that: described welder (7) comprises welding tool setup, positioner, manipulator and welding work pieces conveying device, described positioner is connected with position sensor (11) and welding gun (5), described welding tool setup, manipulator and welding work pieces conveying device are all connected with automatic control system (10), and they all match with welding gun (5).
4. a kind of steel grating plate special purpose robot automatic soldering device according to claim 1, it is characterized in that: described actuating unit (9) is made up of servomotor and pneumatic circuit, described pneumatic circuit is made up of source of the gas, control valve and cylinder, and described servomotor and pneumatic circuit are all connected with automatic control system (10).
5. a kind of steel grating plate special purpose robot automatic soldering device according to claim 1, it is characterized in that: described single-chip computer control system is by central processor CPU, program memory ROM, data storage RAM, I/O mouth, data converter, timer conter, external interrupt and serial communication are formed, described program memory ROM, data storage RAM, I/O mouth, data converter, timer conter, external interrupt is all connected with central processor CPU with serial communication, described position sensor (11) is connected with the input of data storage RAM, the output of described data storage RAM is connected with data converter.
6. a kind of steel grating plate special purpose robot automatic soldering device according to claim 1, it is characterized in that: described transverse axis (2) is fixed on holder (1) by steady pin, and its fixing position can regulate, the adjustable range of its height is-50mm ~+50mm, horizontal direction has third gear and regulates, it is respectively-25 °, 0 ° ,+25 °, and rotation angle range is-90 ° ~+90 °.
7. a kind of steel grating plate special purpose robot automatic soldering device according to claim 1, it is characterized in that: the rotating range of described the first joint shaft (3) and the horizontal direction of second joint axle (4) is-180 ° ~+180 °, the rotating range of vertical direction is-60 ° ~+60 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520585705.4U CN204867745U (en) | 2015-08-06 | 2015-08-06 | Steel grating board special purpose machinery people automatic welder |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520585705.4U CN204867745U (en) | 2015-08-06 | 2015-08-06 | Steel grating board special purpose machinery people automatic welder |
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| CN204867745U true CN204867745U (en) | 2015-12-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104985301A (en) * | 2015-08-06 | 2015-10-21 | 苏州五圣通机器人自动化有限公司 | Robot-based automatic welding apparatus especially for steel grating plate and working method thereof |
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- 2015-08-06 CN CN201520585705.4U patent/CN204867745U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104985301A (en) * | 2015-08-06 | 2015-10-21 | 苏州五圣通机器人自动化有限公司 | Robot-based automatic welding apparatus especially for steel grating plate and working method thereof |
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