CN204867859U - Automatic welder of high accuracy robot - Google Patents
Automatic welder of high accuracy robot Download PDFInfo
- Publication number
- CN204867859U CN204867859U CN201520586492.7U CN201520586492U CN204867859U CN 204867859 U CN204867859 U CN 204867859U CN 201520586492 U CN201520586492 U CN 201520586492U CN 204867859 U CN204867859 U CN 204867859U
- Authority
- CN
- China
- Prior art keywords
- welding
- sensor
- transverse axis
- control system
- joint
- 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.)
- Active
Links
Landscapes
- Numerical Control (AREA)
- Resistance Welding (AREA)
Abstract
The utility model discloses an automatic welder of high accuracy robot, include: fixing base, cross axle, a joint axis, the 2nd joint axis, a position sensor, the 2nd position sensor, welder and controlling means, wherein, controlling means include welding set, sensor control module, final controlling element, alarm system and automatic control system, a position sensor and the 2nd position sensor all locate the 2nd joint axis on, and they all are connected with sensor control module, cross axle, a joint axis and the 2nd joint axis constitute robot arm, an automatic welder of high accuracy robot, a position sensor and the 2nd position sensor are installed to it on robot arm, the detected value through two sensors calculates the position of the welding point of wanting, realizes welding position's self -calibration, has effectively guaranteed the accuracy of welder with welding mouthful position to great improvement welding position's precision, and guaranteed welding quality's stability.
Description
Technical field
The utility model relates to a kind of welder, specifically a kind of high precision machines people 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, 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, thus the solder technology of existing steel grating plate needs to improve, meanwhile, existing robot welding, it must carry out teaching before the use, because the process of its teaching is too very long, the several times of some teaching processes or even whole welding process, in the production process of small lot, weld in many workpiece of counting and often occur, thus existing robotic welding technology 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 high precision machines people automatic soldering device.
Technical scheme: in order to realize above object, a kind of high precision machines people automatic soldering device described in the utility model, comprise: holder, transverse axis, first joint shaft, second joint axle, primary importance sensor, second place sensor, welding gun and control device, wherein, described control device comprises welder, sensor control block, actuating unit, warning system and automatic control system, 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 flexibly connected with the first joint shaft, described primary importance sensor and second place sensor are all located on second joint axle, and they are all connected with sensor control block, described welding gun is fixed on second joint axle, described transverse axis, the first joint shaft and second joint axle form robot arm, and described transverse axis, the first joint shaft, second joint axle are all connected with control device by circuit with welding gun, described transverse axis, the first joint shaft are all also connected with actuating unit with second joint axle, described automatic control system adopts single-chip computer control system and controller to form, described single-chip computer control system is connected with controller, and described welder, sensor control block, actuating unit, warning system are all connected with the controller in automatic control system.A kind of high precision machines people automatic soldering device described in the utility model, it installs primary importance sensor and second place sensor on robot arm, the position of wanted pad is calculated by the detected value of two sensors, realize the automatic calibration of welding position, effectively ensure that the accuracy of welding gun and soldering opening position, thus improve the precision of welding position greatly, and while ensure that welding quality stable, also improve the efficiency of its welding, thus the teaching process that instead of very well in robot welding process, and then better met the demand of client.
The utility model also comprises display screen, operation keyboard and warning device, described warning device is by alarm, loudspeaker and alarm lamp are formed, described display screen is connected with holder by mechanical arm, described operation keyboard is located on holder, described loudspeaker, alarm lamp is all connected with alarm, described alarm lamp is located at one end of transverse axis, described loudspeaker, alarm lamp is all connected with warning system with alarm, once there is any problem in the course of the work in robot arm, warning system will notify staff by loudspeaker and alarm lamp immediately, them are allowed to process timely fault, thus effectively avoid because fault is to the generation causing solder skip and rosin joint and even heavy losses, thus substantially increase the safety and stability of welding, further ensure the quality of welding.
Welder described in the utility model comprises welding tool setup, positioner, manipulator and welding work pieces conveying device, described positioner is connected with primary importance sensor, second place 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 connected with the equal automatic control system of pneumatic circuit.
Single-chip computer control system described in the utility model is by central processor CPU, program memory ROM, data storage RAM, I/O mouth, data converter, data calculator, timer conter, external interrupt and serial communication are formed, described primary importance sensor, second place sensor is connected with the input of warning device with data storage RAM, the output of described data storage RAM is connected with data converter, described data converter is connected with data calculator, described program memory ROM, data storage RAM, I/O mouth, data converter, data calculator, timer conter, external interrupt is all connected with central processor CPU with serial communication.
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: high precision machines people automatic soldering device described in the utility model, has the following advantages:
1, a kind of high precision machines people automatic soldering device described in the utility model, it installs primary importance sensor and second place sensor on robot arm, the position of wanted pad is calculated by the detected value of two sensors, realize the automatic calibration of welding position, effectively ensure that the accuracy of welding gun and soldering opening position, thus improve the precision of welding position greatly, and while ensure that welding quality stable, also improve the efficiency of its welding, thus the teaching process that instead of very well in robot welding process, and then better met the demand of client.
1, the high precision machines people automatic soldering device described in the utility model is also provided with warning device, once there is any problem in the course of the work in robot arm, warning system will notify staff by loudspeaker and alarm lamp immediately, them are allowed to process timely fault, thus effectively avoid because fault is to the generation causing solder skip and rosin joint and even heavy losses, thus substantially increase the safety and stability of welding, further ensure the quality of welding.
2, the high precision machines people automatic soldering device described in the utility model, it instead of human weld by robot arm, operating efficiency is high, personnel are effectively avoided closely to contact with pernicious gas, simultaneously robot arm can continuous operation, and resetting is accurate, the uniformity that effectively ensure that welding quality in whole welding process, thus substantially increase the yields of product, effectively raise the quality of product.
3, the high precision machines people automatic soldering device described in the utility model, data and the welding route of the concrete welding of its device are all in the automatic automatic system of prior typing, it allows the more convenient, fast of whole plant running, simple to operate, the operation of handled easily personnel, thus effectively reduce the error rate of operation, ensure the preparatory of Product jointing, thus further increase the quality of Product jointing.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is electrical connection schematic diagram described in the utility model;
In figure: holder-1, transverse axis-2, the first joint shaft-3, second joint axle-4, primary importance sensor-5, second place sensor-6, welding gun-7, control device-8, welder-9, sensor control block-10, actuating unit-11, warning system-12, automatic control system-13.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, illustrate the utility model further.
Embodiment
A kind of high precision machines people automatic soldering device as shown in the figure, comprise: holder 1, transverse axis 2, first joint shaft 3, second joint axle 4, primary importance sensor 5, second place sensor 6, welding gun 7 and control device 8, wherein, described control device 8 comprises welder 9, sensor control block 10, actuating unit 11, warning system 12 and automatic control system 13, described automatic control system 13 adopts single-chip computer control system and controller to form.
The relation of above-mentioned each parts is as follows:
Described holder 1 is fixed on ground by fot screw, described transverse axis 2 is fixed on holder 1 by alignment pin, the first described joint shaft 3 is located at one end of transverse axis 2 by alignment pin, described second joint axle 4 is flexibly connected with the first joint shaft 3, described primary importance sensor 5 and second place sensor 6 are all located on second joint axle 4, and they are all connected with sensor control block 10; Described welding gun 7 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 8 by circuit with welding gun 7, described transverse axis 2, first joint shaft 3 is all also connected with actuating unit 11 with second joint axle 4; Described single-chip computer control system is connected with controller, and described welder 9, sensor control block 10, actuating unit 11, warning system 12 are all connected with the controller in automatic control system 13.
High precision machines people automatic soldering device described in the present embodiment also comprises display screen, operation keyboard and warning device, described warning device is made up of alarm, loudspeaker and alarm lamp, described display screen is connected with holder 1 by mechanical arm, described operation keyboard is located on holder 1, described loudspeaker, alarm lamp are all connected with alarm, described alarm lamp is located at one end of transverse axis 2, and described loudspeaker, alarm lamp and alarm are all connected with warning system 12.
Welder 9 described in the present embodiment comprises welding tool setup, positioner, manipulator and welding work pieces conveying device, described actuating unit 11 is made up of servomotor and pneumatic circuit, described pneumatic circuit is by source of the gas, control valve and cylinder are formed, described positioner and primary importance sensor 5, second place sensor 6 is connected with welding gun 7, described welding tool setup, manipulator is all connected with automatic control system 13 with welding work pieces conveying device, and they all match with welding gun 7, described servomotor is connected with the equal automatic control system 13 of pneumatic circuit.
Single-chip computer control system described in the present embodiment is by central processor CPU, program memory ROM, data storage RAM, I/O mouth, data converter, data calculator, timer conter, external interrupt and serial communication are formed, described primary importance sensor 5, second place sensor 6 is connected with the input of warning device with data storage RAM, the output of described data storage RAM is connected with data converter, described data converter is connected with data calculator, described program memory ROM, data storage RAM, I/O mouth, data converter, data calculator, timer conter, external interrupt is all connected with central processor CPU with serial communication.
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 high precision machines people automatic soldering device described in the present embodiment, the specific works method of this welder is as follows:
(1): first by press welder, steel plate is suppressed, then need size divides steel plate according to what weld;
(2): after steel plate has divided, will to weld in route and weld locations computing formula typing automatic control system 13 in single-chip computer control system;
(3): after pending data typing is good, start to start this automatic welding device, the various piece then in whole equipment all enters duty;
(4): then welding work pieces is delivered to the station of specifying by welding work pieces conveying device;
(5): be sent to after the station of specifying until workpiece, be located at the primary importance sensor 5 of second joint axle 4 and second place sensor 6 to detect the pad on horizontal and vertical on workpiece weld seam;
(6): after primary importance sensor 5 and second place sensor 6 detect data, by the data storage the RAM immediately data detected sent in single-chip computer control system, data are stored;
(7): then convert data signal by data converter to the analog signal stored, then send data to data calculator, it is allowed to calculate according to the position of the weld locations computing formula butt welding contact set;
(8): pending data calculator will send central processor CPU to the data calculated after weld locations computing formula being calculated and terminating immediately;
(9): 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;
(10): 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 rotation to adjust to the above-mentioned weld locations calculated by order servomotor;
(11): after transverse axis 2, first joint shaft 3 and second joint axle 4 adjust, order welding gun 5 butt welding contact welds by controller;
(12): in the process of above-mentioned welding, primary importance sensor 5 and second place sensor 6 constantly butt welding contact are tested, then constantly data to be sent in automatic control system 13, constantly to calculate the position of each pad according to the weld locations computing formula set;
(13): after first weldering node weld completes, control order transverse axis 2 will move to the position of next pad, then the first joint shaft 3 and second joint axle 4 are also made and are rotated adjustment accordingly, again carry out the welding of next pad with above-mentioned welding step;
(14): 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, and shown by alarm display lamp, until handling failure releasing can simultaneously;
(15): after having welded, quit work by control order servomotor finally by operation keyboard, then allow other equipment shut down, finally by operation keyboard by device shutdown successively.
Weld locations computing formula described in this enforcement following (z is the position of pad, and x is that weld seam transversely gets point value, and weld seam longitudinal direction gets point value to y):
z2=x2+y2。
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 high precision machines people automatic soldering device, it is characterized in that: comprising: holder (1), transverse axis (2), first joint shaft (3), second joint axle (4), primary importance sensor (5), second place sensor (6), welding gun (7) and control device (8), wherein, described control device (8) comprises welder (9), sensor control block (10), actuating unit (11), warning system (12) and automatic control system (13), 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 flexibly connected with the first joint shaft (3), described primary importance sensor (5) and second place sensor (6) are all located on second joint axle (4), and they are all connected with sensor control block (10), described welding gun (7) is fixed on second joint axle (4), described transverse axis (2), the first joint shaft (3) and second joint axle (4) form robot arm, and described transverse axis (2), the first joint shaft (3), second joint axle (4) are all connected with control device (8) by circuit with welding gun (7), described transverse axis (2), the first joint shaft (3) are all also connected with actuating unit (11) with second joint axle (4),
Described automatic control system (13) adopts single-chip computer control system and controller to form, described single-chip computer control system is connected with controller, and described welder (9), sensor control block (10), actuating unit (11), warning system (12) are all connected with the controller in automatic control system (13).
2. a kind of high precision machines people automatic soldering device according to claim 1, it is characterized in that: also comprise display screen, operation keyboard and warning device, described warning device is by alarm, loudspeaker and alarm lamp are formed, described display screen is connected with holder (1) by mechanical arm, described operation keyboard is located on holder (1), described loudspeaker, alarm lamp is all connected with alarm, described alarm lamp is located at one end of transverse axis (2), described loudspeaker, alarm lamp and alarm are all connected with warning system (12).
3. a kind of high precision machines people automatic soldering device according to claim 1, it is characterized in that: described welder (9) comprises welding tool setup, positioner, manipulator and welding work pieces conveying device, described positioner is connected with primary importance sensor (5), second place sensor (6) and welding gun (7), described welding tool setup, manipulator and welding work pieces conveying device are all connected with automatic control system (13), and they all match with welding gun (7).
4. a kind of high precision machines people automatic soldering device according to claim 1, it is characterized in that: described actuating unit (11) 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 is connected with the equal automatic control system of pneumatic circuit (13).
5. a kind of high precision machines people 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, data calculator, timer conter, external interrupt and serial communication are formed, described primary importance sensor (5), second place sensor (6) is connected with the input of warning device with data storage RAM, the output of described data storage RAM is connected with data converter, described data converter is connected with data calculator, described program memory ROM, data storage RAM, I/O mouth, data converter, data calculator, timer conter, external interrupt is all connected with central processor CPU with serial communication.
6. a kind of high precision machines people 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 high precision machines people 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 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520586492.7U CN204867859U (en) | 2015-08-06 | 2015-08-06 | Automatic welder of high accuracy robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520586492.7U CN204867859U (en) | 2015-08-06 | 2015-08-06 | Automatic welder of high accuracy robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204867859U true CN204867859U (en) | 2015-12-16 |
Family
ID=54812283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520586492.7U Active CN204867859U (en) | 2015-08-06 | 2015-08-06 | Automatic welder of high accuracy robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204867859U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999202A (en) * | 2015-08-06 | 2015-10-28 | 苏州五圣通机器人自动化有限公司 | High-precision automatic robot welding device and working method thereof |
| CN106112216A (en) * | 2016-08-18 | 2016-11-16 | 四川希思特智能科技有限公司 | A kind of weld seam automatic recognition and tracking device applying two-dimensional laser displacement transducer |
| CN106239514A (en) * | 2016-09-08 | 2016-12-21 | 肇庆市小凡人科技有限公司 | A kind of vibrational feedback system of electric welding robot |
| CN106695203A (en) * | 2016-11-28 | 2017-05-24 | 北京科慧通智慧科技有限公司 | High-precision moving device of welding robot |
-
2015
- 2015-08-06 CN CN201520586492.7U patent/CN204867859U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999202A (en) * | 2015-08-06 | 2015-10-28 | 苏州五圣通机器人自动化有限公司 | High-precision automatic robot welding device and working method thereof |
| CN104999202B (en) * | 2015-08-06 | 2016-09-07 | 苏州五圣通机器人自动化有限公司 | A kind of high precision machines people's automatic soldering device and method of work thereof |
| CN106112216A (en) * | 2016-08-18 | 2016-11-16 | 四川希思特智能科技有限公司 | A kind of weld seam automatic recognition and tracking device applying two-dimensional laser displacement transducer |
| CN106239514A (en) * | 2016-09-08 | 2016-12-21 | 肇庆市小凡人科技有限公司 | A kind of vibrational feedback system of electric welding robot |
| CN106239514B (en) * | 2016-09-08 | 2019-06-07 | 肇庆市小凡人科技有限公司 | A kind of vibrational feedback system being welded robot |
| CN106695203A (en) * | 2016-11-28 | 2017-05-24 | 北京科慧通智慧科技有限公司 | High-precision moving device of welding robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104999202B (en) | A kind of high precision machines people's automatic soldering device and method of work thereof | |
| CN204867859U (en) | Automatic welder of high accuracy robot | |
| CN205437563U (en) | Portable welding robot | |
| CN203541925U (en) | Steel pipe assembly welding equipment | |
| CN105171742A (en) | 3D printing welding method using multi-degree-of-freedom robot | |
| CN204262620U (en) | Robot welding system | |
| CN204277229U (en) | A kind of collecting fitting welding production line | |
| CN106695202B (en) | A kind of intelligent automatic welding system and its working method for Turbogrid plates welding | |
| CN104191117B (en) | A kind of fixture system of automatic welding pressure vessel chuck | |
| CN104985301A (en) | Robot-based automatic welding apparatus especially for steel grating plate and working method thereof | |
| CN204262610U (en) | Welding robot rotary table | |
| CN205703028U (en) | The flange bending weld jig of adjustable positioning | |
| CN106624509A (en) | High-precision automatic robot welding device and working method thereof | |
| CN206883068U (en) | A kind of Turbogrid plates special high-accuracy robot automatic soldering device | |
| CN204867745U (en) | Steel grating board special purpose machinery people automatic welder | |
| CN205200786U (en) | Full -automatic spot welding instrument of industrial robot suitable for in between machinery vehicle | |
| CN205342283U (en) | Manipulator automation of welding device | |
| CN106514203A (en) | Dust preventing cover press-fitting device | |
| CN206425721U (en) | Semi-automatic frock and welder for derrick crane pull bar | |
| CN104999205A (en) | Industrial automatic welding robot | |
| CN203484833U (en) | Electric hoist coiling block blank assembling and welding tool | |
| CN206732415U (en) | A kind of intelligent robot's automatic soldering device for grid plate weld | |
| CN206500795U (en) | A kind of intelligent automatic welding system for grid plate weld | |
| CN203495384U (en) | Welding clamping mechanical arm device for automatically carrying out argonaut welding | |
| CN203592760U (en) | All-in-one machine for degating, film-pasting and dispensing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |