CN205702938U - A kind of can the intelligent robot of automatic welding - Google Patents
A kind of can the intelligent robot of automatic welding Download PDFInfo
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- CN205702938U CN205702938U CN201620387992.2U CN201620387992U CN205702938U CN 205702938 U CN205702938 U CN 205702938U CN 201620387992 U CN201620387992 U CN 201620387992U CN 205702938 U CN205702938 U CN 205702938U
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- rotating mechanism
- servomotor
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- welding gun
- support arm
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Abstract
nullThe utility model discloses a kind of can the intelligent robot of automatic welding，Including one is provided with the cabinet of lifting pedestal，Welding gun clamping part and welding gun，It is upwards extended with one for the mechanism in rotary moving driving welding gun to rotate in the horizontal direction and to vertically move in described cabinet，It is connected with one with mechanism in rotary moving for the first rotating mechanism driving welding gun to rotate in the horizontal direction，It is connected with one with the first rotating mechanism for the second rotating mechanism driving welding gun to rotate in the horizontal direction，With mechanism in rotary moving、First rotating mechanism and the second rotating mechanism have been sequentially connected with the first support arm、Second support arm and the 3rd support arm，Described 3rd support arm is provided with one for driving longitudinal rotating mechanism of welding gun vertical rotary，Described welding gun clamping part rotates with longitudinal rotating mechanism and is connected，Also include a control system，The utility model simple in construction、Easy to operate、Even weld、Convenient and swift、Operating efficiency and automaticity are high、The course of work can voice broadcast.
Description
Technical field
The utility model relates to Technology of Welding Robot field, particularly relate to a kind of can the intelligent robot of automatic welding.
Background technology
With social development, welding has become a kind of indispensable in modern industry, and the technological method for processing becoming more and more important, welding product is lighter than riveting parts, foundry goods and forge weight, deadweight can be mitigated for transport facility, save energy, the good airproof performance of welding, be suitable to manufacture all kinds of container, development associating processing technology, making welding combine with forging, casting, can making large-scale, the cast-weld construction of economical rationality and forge welding structure, economic benefit is very high.But welding also brings danger to operator, such as burn, electric shock, inpairment of vision, suction toxic gas, ultraviolet overexposure etc., use human weld, also can run into many troubles, workman is in long labout process, easily produce fatigue so that under production efficiency, and welding effect is bad, and when needing angle to weld, needing long-term this angle of holding, manual operation cannot realize, generally existing that it welds out is of low quality.
Content of the invention
For solving the problem of above-mentioned existence, the utility model provides that a kind of simple in construction, easy to operate, even weld, convenient and swift, operating efficiency and automaticity be high, the course of work can voice broadcast can the intelligent robot of automatic welding.
nullThe technical scheme in the invention for solving the above technical problem is: a kind of can the intelligent robot of automatic welding，Including one is provided with the cabinet of lifting pedestal，For clamping welding gun clamping part and the welding gun of welding gun，Described welding gun is connected with welding gun clamping part，It is upwards extended with one for the mechanism in rotary moving driving welding gun to rotate in the horizontal direction and to vertically move in described cabinet，It is connected with one with mechanism in rotary moving for the first rotating mechanism driving welding gun to rotate in the horizontal direction，It is connected with one with the first rotating mechanism for the second rotating mechanism driving welding gun to rotate in the horizontal direction，With mechanism in rotary moving、First rotating mechanism and the second rotating mechanism have been sequentially connected with the first support arm、Second support arm and the 3rd support arm，Described 3rd support arm is provided with one for driving longitudinal rotating mechanism of welding gun vertical rotary，Described welding gun clamping part rotates with longitudinal rotating mechanism and is connected，Also include that one vertically moves for controlling mechanism in rotary moving and horizontally rotates、First rotating mechanism horizontally rotates、Second rotating mechanism horizontally rotates and the control system of longitudinal rotating mechanism vertical rotation，Described control system includes CPU，Gather for manual、Record analysis mechanism in rotary moving、First rotating mechanism、Second rotating mechanism and longitudinal rotating mechanism motion process the hand-held teaching track acquisition module generating movement locus，For the memory module that the movement locus of hand-held teaching track acquisition module collection is stored，Vertically move for controlling mechanism in rotary moving and horizontally rotate、First rotating mechanism horizontally rotates、Second rotating mechanism horizontally rotate and longitudinal rotating mechanism vertical rotation ECU and to mechanism in rotary moving、First rotating mechanism、The movement locus of the second rotating mechanism and longitudinal rotating mechanism carries out the voice broadcast unit of real-time broadcasting and fault alarm，Described hand-held teaching track acquisition module、Memory module、ECU and voice broadcast unit all electrically connect with CPU.
Above-mentioned can the intelligent robot of automatic welding, described ECU includes recording mechanism in rotary moving, the first rotating mechanism, the second rotating mechanism and longitudinal rotating mechanism movement locus the detection module that movement locus is sent to voice broadcast unit by CPU, the interpolation algorithm module of the location data signal generating function manually collecting in will be located in memory module, and driving the motor drive module of mechanism in rotary moving, the first rotating mechanism, the second rotating mechanism and longitudinal rotating mechanism, described motor drive module is electrically connected with CPU by interpolation algorithm module.
Above-mentioned can the intelligent robot of automatic welding, described detection module includes first detection module, the second detection module, the 3rd detection module, the 4th detection module and the 5th detection module, described interpolation algorithm module includes the first interpolation algorithm module, the second interpolation algorithm module, the 3rd interpolation algorithm module, the 4th interpolation algorithm module and the 5th interpolation algorithm module, and described motor drive module includes the first motor drive module, the second motor drive module, the 3rd motor drive module, the 4th motor drive module and the 5th motor drive module.
Above-mentioned can the intelligent robot of automatic welding, described voice broadcast unit includes voice generation module and the loudspeaker that the rotation in detection module, movable signal and AIS are converted into voice signal by CPU.
Above-mentioned can the intelligent robot of automatic welding, described mechanism in rotary moving includes the mobile device being located in cabinet and the whirligig being connected with mobile device, described whirligig and the first support arm are connected, described mobile device includes the first servomotor, the leading screw being connected with the first servomotor, also include the movable block being connected with threads of lead screw, described first servomotor is by the first motor drive module control, whirligig includes the second servomotor being connected with movable block, second servomotor is by the second motor drive module control, described second servomotor is connected with the first support arm by the first rotating shaft and does the arbitrary rotation of horizontal direction along the first shaft axis.
Above-mentioned can the intelligent robot of automatic welding, described first rotating mechanism includes the 3rd servomotor being located on the first support arm, the second rotating shaft being connected with the 3rd servomotor, described 3rd servomotor and the 3rd motor drive module signal connect, and described second support arm is connected with the 3rd servomotor by the second rotating shaft and does the arbitrary rotation of horizontal direction along the second shaft axis.
Above-mentioned can the intelligent robot of automatic welding, described second rotating mechanism includes the 4th servomotor being located on the second support arm, the 3rd rotating shaft being connected with the 4th servomotor, described 4th servomotor and the 4th motor drive module signal connect, and described 3rd support arm is connected with the 4th servomotor by the 3rd rotating shaft and does the arbitrary rotation of horizontal direction along the 3rd shaft axis.
Above-mentioned can the intelligent robot of automatic welding, described longitudinal rotating mechanism includes the 5th servomotor being located on the 3rd support arm, described 5th servomotor and the 5th motor drive module signal connect, the 4th rotating shaft being connected with the 5th servomotor, also includes a support doing vertical rotation when the 5th servomotor rotates along the 4th shaft axis being connected with the 4th rotating shaft.
Above-mentioned can the intelligent robot of automatic welding, described welding gun clamping part is connected with holder pivots, and described welding gun clamping part includes a clamp standoff arm, is provided with one in clamp standoff arm end for placing the buckle with opening of welding gun.
Above-mentioned can the intelligent robot of automatic welding, also include that one for opening and closing the touch controller of robot, described touch controller electrically connects with control system.
What the utility model solution technical problem was brought has the beneficial effects that: use mechanism in rotary moving, the first rotating mechanism, the second rotating mechanism and longitudinal rotating mechanism to realize the rotation of welding-torch horizontal direction omnibearing angel and the movement of longitudinal direction, simple in construction, convenient and swift, flexibly and easily, it is easy to welding, welding gun clamping part rotates with longitudinal rotating mechanism and is connected, it is simple to the regulation of angle of welding gun, is beneficial to welding；Using control system to be controlled mechanism in rotary moving, the first rotating mechanism, the second rotating mechanism and longitudinal rotating mechanism, automaticity is high, safe and reliable, improves operating efficiency, even weld；The data of collection to path information by the hand-held teaching track acquisition module in control system and are carried out storing by memory module and send CPU by the path simulation walking that hand torch will weld, the program that is eventually converted into is for driving mechanism in rotary moving, the first rotating mechanism, the second rotating mechanism and longitudinal rotating mechanism, simple to operate, not needing professional individually to program, operating efficiency is high；Motion process carries out real-time broadcasting and fault alarm by voice broadcast unit, it is simple to grasping moving situation, security is good, it is simple to produce.
Brief description
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of mechanism in rotary moving in the utility model；
Fig. 3 is circuit theory diagrams of the present utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the utility model is described in further details by specific embodiment.
As shown in Figure 1, 2, 3, a kind of can the intelligent robot of automatic welding, including one is provided with the cabinet 1 of lifting pedestal, for clamping welding gun clamping part 3 and the welding gun 2 of welding gun 2, described welding gun 2 is connected with welding gun clamping part 3, specifically for removably connecting, it is detachably connected as prior art, repeating no more, described welding gun clamping part 3 includes a clamp standoff arm 4, is provided with one in clamp standoff arm 4 end for placing the buckle with opening of welding gun 2；nullIt is upwards extended with one for the mechanism in rotary moving 5 driving welding gun 2 to rotate in the horizontal direction and to vertically move in described cabinet 1，It is connected with one with mechanism 5 in rotary moving for the first rotating mechanism 6 driving welding gun 2 to rotate in the horizontal direction，It is connected with one with the first rotating mechanism 6 for the second rotating mechanism 7 driving welding gun 2 to rotate in the horizontal direction，With mechanism 5 in rotary moving、First rotating mechanism 6 and the second rotating mechanism 7 have been sequentially connected with the first support arm 8、Second support arm 9 and the 3rd support arm 10，Described 3rd support arm 10 is provided with one for driving longitudinal rotating mechanism 11 of welding gun 2 vertical rotary，Described welding gun clamping part 3 rotates with longitudinal rotating mechanism 11 and is connected，It is specially welding gun clamping part 3 to be connected with support 12 rotation in longitudinal rotating mechanism 11，Rotation is connected as prior art，It can be multiple for rotating the mode connecting，Such as rotating shaft or pin joint；Also include one vertically moving for controlling mechanism 5 in rotary moving and horizontally rotate, the first rotating mechanism 6 horizontally rotates, the second rotating mechanism 7 horizontally rotates and the control system 13 of longitudinal rotating mechanism 11 vertical rotation and for opening and closing the touch controller 14 of robot, and described touch controller 14 electrically connects with control system 13.
nullDescribed control system 13 includes CPU，Gather for manual、Record analysis mechanism in rotary moving 5、First rotating mechanism 6、Second rotating mechanism 7 and longitudinal rotating mechanism 11 motion process the hand-held teaching track acquisition module generating movement locus，For the memory module that the movement locus of hand-held teaching track acquisition module collection is stored，Vertically move for controlling mechanism 5 in rotary moving and horizontally rotate、First rotating mechanism 6 horizontally rotates、Second rotating mechanism 7 horizontally rotate and longitudinal rotating mechanism 11 vertical rotation ECU and to mechanism 5 in rotary moving、First rotating mechanism 6、The movement locus of the second rotating mechanism 7 and longitudinal rotating mechanism 11 carries out the voice broadcast unit of real-time broadcasting and fault alarm，Described hand-held teaching track acquisition module、Memory module、ECU and voice broadcast unit all electrically connect with CPU.
Described voice broadcast unit includes voice generation module and the loudspeaker that the rotation in detection module, movable signal and AIS are converted into voice signal by CPU.
Described ECU includes recording mechanism in rotary moving 5th, the first rotating mechanism the 6th, the second rotating mechanism 7 and longitudinal rotating mechanism 11 movement locus the detection module that movement locus is sent to voice broadcast unit by CPU, and described detection module includes first detection module, the second detection module, the 3rd detection module, the 4th detection module and the 5th detection module；The interpolation algorithm module of the location data signal generating function manually collecting in will be located in memory module, described interpolation algorithm module includes the first interpolation algorithm module, the second interpolation algorithm module, the 3rd interpolation algorithm module, the 4th interpolation algorithm module and the 5th interpolation algorithm module；And drive mechanism in rotary moving 5th, the first rotating mechanism the 6th, the second rotating mechanism 7 and the motor drive module of longitudinal rotating mechanism 11, described motor drive module is electrically connected with CPU by interpolation algorithm module, and described motor drive module includes the first motor drive module, the second motor drive module, the 3rd motor drive module, the 4th motor drive module and the 5th motor drive module.
Described mechanism in rotary moving 5 includes the mobile device 15 being located in cabinet and the whirligig 16 being connected with mobile device 15, described whirligig 16 is connected with the first support arm 8, described mobile device 15 includes the first servomotor 17, the leading screw 18 being connected with the first servomotor 17, also include the movable block 19 threadeded with leading screw 18, described first servomotor 17 is by the first motor drive module control, whirligig 16 includes the second servomotor 20 being connected with movable block 19, second servomotor 20 is by the second motor drive module control, described second servomotor 20 is connected with the first support arm 8 by the first rotating shaft and does the arbitrary rotation of horizontal direction along the first shaft axis；Described first rotating mechanism 6 includes the 3rd servomotor 21 being located on the first support arm 8, the second rotating shaft being connected with the 3rd servomotor 21, described 3rd servomotor 21 is connected with the 3rd motor drive module signal, and described second support arm 9 is connected with the 3rd servomotor 21 by the second rotating shaft and does the arbitrary rotation of horizontal direction along the second shaft axis；Described second rotating mechanism 7 includes the 4th servomotor 22 being located on the second support arm 9, the 3rd rotating shaft being connected with the 4th servomotor 22, described 4th servomotor 22 is connected with the 4th motor drive module signal, and described 3rd support arm 10 is connected with the 4th servomotor 22 by the 3rd rotating shaft and does the arbitrary rotation of horizontal direction along the 3rd shaft axis；Described longitudinal rotating mechanism 11 includes the 5th servomotor 23 being located on the 3rd support arm 10, described 5th servomotor 23 is connected with the 5th motor drive module signal, the 4th rotating shaft being connected with the 5th servomotor 23, also includes a support 12 doing vertical rotation when the 5th servomotor 23 rotates along the 4th shaft axis being connected with the 4th rotating shaft.
Although detailed description of the invention of the present utility model is described by the above-mentioned accompanying drawing that combines; but the not restriction 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 the various modification that creative work can make or deformation still within protection domain of the present utility model.
Claims (10)
- null1. one kind can the intelligent robot of automatic welding，Including one is provided with the cabinet of lifting pedestal，For clamping welding gun clamping part and the welding gun of welding gun，Described welding gun is connected with welding gun clamping part，It is characterized in that: be upwards extended with one in described cabinet for the mechanism in rotary moving driving welding gun to rotate in the horizontal direction and to vertically move，It is connected with one with mechanism in rotary moving for the first rotating mechanism driving welding gun to rotate in the horizontal direction，It is connected with one with the first rotating mechanism for the second rotating mechanism driving welding gun to rotate in the horizontal direction，With mechanism in rotary moving、First rotating mechanism and the second rotating mechanism have been sequentially connected with the first support arm、Second support arm and the 3rd support arm，Described 3rd support arm is provided with one for driving longitudinal rotating mechanism of welding gun vertical rotary，Described welding gun clamping part rotates with longitudinal rotating mechanism and is connected，Also include that one vertically moves for controlling mechanism in rotary moving and horizontally rotates、First rotating mechanism horizontally rotates、Second rotating mechanism horizontally rotates and the control system of longitudinal rotating mechanism vertical rotation，Described control system includes CPU，Gather for manual、Record analysis mechanism in rotary moving、First rotating mechanism、Second rotating mechanism and longitudinal rotating mechanism motion process the hand-held teaching track acquisition module generating movement locus，For the memory module that the movement locus of hand-held teaching track acquisition module collection is stored，Vertically move for controlling mechanism in rotary moving and horizontally rotate、First rotating mechanism horizontally rotates、Second rotating mechanism horizontally rotate and longitudinal rotating mechanism vertical rotation ECU and to mechanism in rotary moving、First rotating mechanism、The movement locus of the second rotating mechanism and longitudinal rotating mechanism carries out the voice broadcast unit of real-time broadcasting and fault alarm，Described hand-held teaching track acquisition module、Memory module、ECU and voice broadcast unit all electrically connect with CPU.
- 2. according to claim 1 can the intelligent robot of automatic welding, it is characterized in that: described ECU includes recording mechanism in rotary moving, first rotating mechanism, second rotating mechanism and longitudinal rotating mechanism movement locus the detection module that movement locus is sent to by CPU voice broadcast unit, the interpolation algorithm module of the location data signal generating function manually collecting in will be located in memory module, and drive mechanism in rotary moving, first rotating mechanism, second rotating mechanism and the motor drive module of longitudinal rotating mechanism, described motor drive module is electrically connected with CPU by interpolation algorithm module.
- 3. according to claim 2 can the intelligent robot of automatic welding, it is characterized in that: described detection module includes first detection module, second detection module, 3rd detection module, 4th detection module and the 5th detection module, described interpolation algorithm module includes the first interpolation algorithm module, second interpolation algorithm module, 3rd interpolation algorithm module, 4th interpolation algorithm module and the 5th interpolation algorithm module, described motor drive module includes the first motor drive module, second motor drive module, 3rd motor drive module, 4th motor drive module and the 5th motor drive module.
- 4. according to claim 1 can the intelligent robot of automatic welding, it is characterised in that: described voice broadcast unit includes voice generation module and the loudspeaker that the rotation in detection module, movable signal and AIS are converted into voice signal by CPU.
- 5. according to claim 3 can the intelligent robot of automatic welding, it is characterized in that: described mechanism in rotary moving includes the mobile device being located in cabinet and the whirligig being connected with mobile device, described whirligig and the first support arm are connected, described mobile device includes the first servomotor, the leading screw being connected with the first servomotor, also include the movable block being connected with threads of lead screw, described first servomotor is by the first motor drive module control, whirligig includes the second servomotor being connected with movable block, second servomotor is by the second motor drive module control, described second servomotor is connected with the first support arm by the first rotating shaft and does the arbitrary rotation of horizontal direction along the first shaft axis.
- 6. according to claim 3 can the intelligent robot of automatic welding, it is characterized in that: described first rotating mechanism includes the 3rd servomotor being located on the first support arm, the second rotating shaft being connected with the 3rd servomotor, described 3rd servomotor and the 3rd motor drive module signal connect, and described second support arm is connected with the 3rd servomotor by the second rotating shaft and does the arbitrary rotation of horizontal direction along the second shaft axis.
- 7. according to claim 3 can the intelligent robot of automatic welding, it is characterized in that: described second rotating mechanism includes the 4th servomotor being located on the second support arm, the 3rd rotating shaft being connected with the 4th servomotor, described 4th servomotor and the 4th motor drive module signal connect, and described 3rd support arm is connected with the 4th servomotor by the 3rd rotating shaft and does the arbitrary rotation of horizontal direction along the 3rd shaft axis.
- 8. according to claim 3 can the intelligent robot of automatic welding, it is characterized in that: described longitudinal rotating mechanism includes the 5th servomotor being located on the 3rd support arm, described 5th servomotor and the 5th motor drive module signal connect, the 4th rotating shaft being connected with the 5th servomotor, also includes a support doing vertical rotation when the 5th servomotor rotates along the 4th shaft axis being connected with the 4th rotating shaft.
- 9. according to claim 8 can the intelligent robot of automatic welding, it is characterized in that: described welding gun clamping part is connected with holder pivots, described welding gun clamping part includes a clamp standoff arm, is provided with one in clamp standoff arm end for placing the buckle with opening of welding gun.
- 10. according to claim 1 can the intelligent robot of automatic welding, it is characterised in that: also include that one for opening and closing the touch controller of robot, described touch controller electrically connects with control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620387992.2U CN205702938U (en) | 2016-05-04 | 2016-05-04 | A kind of can the intelligent robot of automatic welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620387992.2U CN205702938U (en) | 2016-05-04 | 2016-05-04 | A kind of can the intelligent robot of automatic welding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205702938U true CN205702938U (en) | 2016-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620387992.2U Expired - Fee Related CN205702938U (en) | 2016-05-04 | 2016-05-04 | A kind of can the intelligent robot of automatic welding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205702938U (en) |
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2016
- 2016-05-04 CN CN201620387992.2U patent/CN205702938U/en not_active Expired - Fee Related
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161123 |
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| CF01 | Termination of patent right due to non-payment of annual fee |