CN205799500U - A kind of have the welding robot that weld image is followed the tracks of - Google Patents
A kind of have the welding robot that weld image is followed the tracks of Download PDFInfo
- Publication number
- CN205799500U CN205799500U CN201620482975.7U CN201620482975U CN205799500U CN 205799500 U CN205799500 U CN 205799500U CN 201620482975 U CN201620482975 U CN 201620482975U CN 205799500 U CN205799500 U CN 205799500U
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- CN
- China
- Prior art keywords
- welding
- control system
- guide rail
- welding robot
- screw rod
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- 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.)
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Abstract
The utility model discloses a kind of welding robot with weld image tracking, described welding robot includes frame, control system cabinet, seam tracking system, displacement control system；The upper surface of described frame is provided with shaft coupling；On described shaft coupling, electric rotating machine is installed；Described electric rotating machine is connected by the rotating shaft of shaft coupling and welding handgrip；The side of described frame is provided with control system cabinet；Described displacement control system includes horizontal gird and longitudinal crossbeam；The tail end of described horizontal gird is provided with motor mount；Horizontal displacement motor is installed on described motor mount.The utility model has the advantages that: rational in infrastructure, it is achieved the linkage of four degree of freedom, such that it is able to carry out the automatic welding of difformity adapter, welding quality is good, efficiency is high and reduces labor strength；Practical, the structure design of moving guide rail, make robot mobile steady in moving process, precision is high, its surface graphite abrasion resistant particles, can improve anti-wear performance, improves robot whole service life.
Description
Technical field
This utility model relates to a kind of welding robot, in particular, relates to a kind of have what weld image was followed the tracks of
Welding robot.
Background technology
The weld job of pipeline can be related in weld job；The most traditional pipeline welding is to weld after pipeline setting
Meet workman to weld around pipeline；Or pipeline is prevented in frock, rotating welding another side after welding one side, cause
Welding efficiency is low and welding quality cannot ensure, current welding robot does not have visual spatial attention function, it is impossible to enough according to weldering
The welding process of the real-time condition butt welding machine device people in termination process is adjusted, and makes when occurring some fortuitous event in environment
Obtaining path of welding and deviate presetting position, welding robot can not intelligence be adjusted, it will causes the workpiece quality of welding
Defective, production is affected；Automatic welding machine automaticity is the highest, and then welding fabrication can be caused of low quality.
Utility model content
This utility model for the deficiency of existing product, and provide a kind of rational in infrastructure, practical, weld job is high
Effect, mobile steady precision are high, welding target is identified, extract and a kind of of image procossing has the welding that weld image is followed the tracks of
Robot.
Of the present utility model a kind of have weld image follow the tracks of welding robot, described welding robot include frame,
Control system cabinet, seam tracking system, displacement control system；The upper surface of described frame is provided with shaft coupling；Described shaft coupling
On electric rotating machine is installed；Described electric rotating machine is connected by the rotating shaft of shaft coupling and welding handgrip；The side peace of described frame
Equipped with control system cabinet；Described displacement control system includes horizontal gird and longitudinal crossbeam；The tail end of described horizontal gird is installed
There is motor mount；Horizontal displacement motor is installed on described motor mount；The rotary shaft of described horizontal displacement motor and water
Prosposition moves screw rod and connects；Described horizontal displacement screw rod one end is arranged on motor mount；The described horizontal displacement screw rod other end
Connect with the tail end rolling bearing of horizontal gird；The both sides of described horizontal gird side are provided with moving guide rail；Described movement is led
Rail and connection crane span structure connect；Described connection crane span structure and horizontal displacement screw rod are connected；It is installed with on described connection crane span structure
Longitudinal crossbeam；The upper end of described longitudinal crossbeam is provided with motor mount；Length travel electricity is installed on described motor mount
Machine；The rotating shaft of described length travel motor and one end of length travel screw rod connect；The described length travel screw rod other end is installed
On the rolling bearing of longitudinal beam base；Described length travel screw rod and welding arm are connected；Described welding arm and longitudinal direction
The moving guide rail of crossbeam both sides is connected；The front end of described welding arm is provided with connection seat, and described connection seat is provided with weldering
Rifle；The side of described welding gun is provided with image acquisition photographic head；Described image acquisition camera through signal wire and weld joint tracking
System connects；Described seam tracking system includes image acquisition and processing module, control module and liquid crystal control panels；Described control
Module control system with described image acquisition and processing module, liquid crystal control panels and control system cabinet respectively is connected.
Further, being provided with vision sensor in described image acquisition photographic head, described vision sensor is believed by numeral
Number processing means is connected with Programmable；Described programming device is connected with described control module by serial line interface.
Further, described control module includes programmable logic controller (PLC), during described programmable logic controller (PLC) includes
Central Processing Unit and storage have the memorizer of coiling temperature setup program；The input of described CPU passes through serial line interface
Being connected with described programming device, the outfan of described CPU is connected with described control system cabinet.
Further, described control system cabinet outer surface is provided with liquid crystal control panels；Described liquid crystal control panels is used for
Monitoring in real time is followed the tracks of welding effect and arranges welding parameter.
Further, described moving guide rail is arranged on the surface of horizontal gird by bolt；Described connection crane span structure passes through guide rail
Matching seat and moving guide rail are connected；Described guide rail matching seat both sides are by having clamp and connecting the fixing connection of crane span structure；Described
It is provided with wiper between bottom and the moving guide rail of clamp.
Further, the surface of described moving guide rail is evenly distributed with graphite abrasion resistant particles.The material of described wiper is stone
Ink copper alloy.
The beneficial effects of the utility model are: 1, rational in infrastructure, it is achieved the linkage of four degree of freedom, such that it is able to carry out not
The automatic welding of similar shape adapter, welding quality is good, efficiency is high and reduces labor strength；2, practical, moving guide rail
Structure design, making robot, mobile in moving process steadily precision is high, and its surface graphite abrasion resistant particles can improve wear-resisting
Performance, improves robot whole service life；3, image acquisition and processing module and display module are used, it is possible to Butt welding gun is worked
Movement locus in journey carries out implementing monitoring, and processes the movement locus image collected and enter with default seam track
Row contrast, and comparative information is transferred to control module, it is possible to improve the operability in welding gun work process greatly.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the installation sectional view of moving guide rail of the present utility model.
In figure: frame 1, control system cabinet 2, electric rotating machine 3, shaft coupling 4, horizontal displacement motor 5, connection crane span structure 6, clamp
6-1, guide rail matching seat 6-2, wiper 6-3, length travel motor 7, horizontal displacement screw rod 8, horizontal gird 9, longitudinal crossbeam 10,
Welding gun 11, welding arm 12, welding handgrip 13, moving guide rail 14, image acquisition photographic head 15.
Detailed description of the invention
Below in conjunction with embodiment, the utility model will be further described.
In the drawings, of the present utility model a kind of have weld image follow the tracks of welding robot mainly by frame 1, control system
System cabinet 2, electric rotating machine 3, shaft coupling 4, horizontal displacement motor 5, connection crane span structure 6, clamp 6-1, guide rail matching seat 6-2, wiper
6-3, length travel motor 7, horizontal displacement screw rod 8, horizontal gird 9, longitudinal crossbeam 10, welding gun 11, welding arm 12, welding handgrip
13, moving guide rail 14, image acquisition photographic head 15 form.
Described welding robot includes frame 1, control system cabinet 2, seam tracking system, displacement control system；Described machine
The upper surface of frame 1 is provided with shaft coupling 4；On described shaft coupling 4, electric rotating machine 3 is installed；Described electric rotating machine 3 passes through shaft coupling
4 connect with the rotating shaft welding handgrip 13；The side of described frame 1 is provided with control system cabinet 2；Described displacement control system includes
Horizontal gird 9 and longitudinal crossbeam 10；The tail end of described horizontal gird 9 is provided with motor mount；Pacify on described motor mount
Equipped with horizontal displacement motor 5；Rotary shaft and the horizontal displacement screw rod 8 of described horizontal displacement motor 5 connect；Described horizontal displacement spiral shell
Bar 8 one end is arranged on motor mount；The tail end rolling bearing of described horizontal displacement screw rod 8 other end and horizontal gird 9 is even
Connect；The both sides of described horizontal gird 9 side are provided with moving guide rail 14；Described moving guide rail 14 and connection crane span structure 6 connect；Described
Connect crane span structure 6 and horizontal displacement screw rod 8 is connected；Longitudinal crossbeam 10 it is installed with on described connection crane span structure 6；Described longitudinal direction
The upper end of crossbeam 10 is provided with motor mount；Length travel motor 7 is installed on described motor mount；Described length travel
The rotating shaft of motor 7 and one end of length travel screw rod connect；The described length travel screw rod other end is arranged on longitudinal crossbeam 10 end
On the rolling bearing of seat；Described length travel screw rod and welding arm 12 are connected；Described welding arm 12 and longitudinal 10 liang of crossbeam
The moving guide rail 14 of side is connected；The front end of described welding arm 12 is provided with connection seat, and described connection seat is provided with welding gun
11；The side of described welding gun 11 is provided with image acquisition photographic head 15；Described image acquisition photographic head 15 is by holding wire and weldering
Seam tracking system connects；Described seam tracking system includes image acquisition and processing module, control module and liquid crystal control panels；Institute
State the control module control system respectively with described image acquisition and processing module, liquid crystal control panels and control system cabinet 2 to be connected
Connect.
Being provided with vision sensor in described image acquisition photographic head 15, described vision sensor passes through Digital Signal Processing
Device is connected with Programmable；Described programming device is connected with described control module by serial line interface.
Image acquisition and processing module and display module, it is possible to the movement locus in Butt welding gun work process carries out implementing prison
Control, and the movement locus image collected is processed and contrasts with default seam track, and comparative information is transmitted
To control module, it is possible to improve the operability in welding gun work process greatly.
It is single that described control module includes that programmable logic controller (PLC), described programmable logic controller (PLC) include that central authorities process
Unit and storage have the memorizer of coiling temperature setup program；The input of described CPU by serial line interface with described can
Programming device is connected, and the outfan of described CPU is connected with described control system cabinet 2.
By arranging control module, the information that image acquisition and processing module passes over is processed, adjust weldering in good time
The telemechanical track of rifle so that skew is preset the welding gun of seam track and is gradually returned to desired guiding trajectory, it is ensured that the welding quality of workpiece
With the stability in welding process.
It is provided with liquid crystal control panels on described control system cabinet 2 outer surface；Described liquid crystal control panels is for prison in real time
Control is followed the tracks of welding effect and arranges welding parameter.
Described moving guide rail 14 is arranged on the surface of horizontal gird 9 by bolt；Described connection crane span structure 6 is coordinated by guide rail
Seat 6-2 and moving guide rail 14 are connected；Described guide rail matching seat 6-2 both sides are by having clamp 6-1 and connecting crane span structure 6 company of fixing
Connect；It is provided with wiper 6-3 between bottom and the moving guide rail 14 of described clamp 6-1.
The surface of described moving guide rail 14 is evenly distributed with graphite abrasion resistant particles.The material of described wiper 6-3 is graphite
Copper alloy.The structure design of moving guide rail, makes robot mobile steady in moving process, and precision is high, and its surface graphite is wear-resisting
Granule, can improve anti-wear performance, improves robot whole service life.
A kind of welding robot with weld image tracking of the present utility model, rational in infrastructure, it is achieved four degree of freedom
Linkage, such that it is able to carry out the automatic welding of difformity adapter, welding quality is good, efficiency is high and reduce workman works by force
Degree；Practical, the structure design of moving guide rail, make robot mobile steady in moving process, precision is high, its surface graphite
Abrasion resistant particles, can improve anti-wear performance, improves robot whole service life.
The foregoing is only embodiment of the present utility model, not thereby limit the scope of the claims of the present utility model, every
Utilize equivalent structure or equivalence flow process conversion that this utility model description made, or be directly or indirectly used in other phases
The technical field closed, is the most in like manner included in scope of patent protection of the present utility model.
Claims (7)
1. having the welding robot that weld image is followed the tracks of, it is characterized in that, described welding robot includes frame (1), control
System cabinet processed (2), seam tracking system, displacement control system；The upper surface of described frame (1) is provided with shaft coupling (4)；Described
Electric rotating machine (3) is installed on shaft coupling (4)；Described electric rotating machine (3) is by shaft coupling (4) and the rotating shaft of welding handgrip (13)
Connect；The side of described frame (1) is provided with control system cabinet (2)；Described displacement control system includes horizontal gird (9) and indulges
To crossbeam (10)；The tail end of described horizontal gird (9) is provided with motor mount；On described motor mount, horizontal position is installed
Move motor (5)；The rotary shaft of described horizontal displacement motor (5) and horizontal displacement screw rod (8) connect；Described horizontal displacement screw rod
(8) one end is arranged on motor mount；Described horizontal displacement screw rod (8) other end and the tail end rotary shaft of horizontal gird (9)
Hold connection；The both sides of described horizontal gird (9) side are provided with moving guide rail (14)；Described moving guide rail (14) and connection crane span structure
(6) connect；Described connection crane span structure (6) and horizontal displacement screw rod (8) are connected；It is installed with on described connection crane span structure (6)
Longitudinal crossbeam (10)；The upper end of described longitudinal crossbeam (10) is provided with motor mount；It is provided with vertical on described motor mount
To displacement motor (7)；The rotating shaft of described length travel motor (7) and one end of length travel screw rod connect；Described length travel
The screw rod other end is arranged on the rolling bearing of longitudinal crossbeam (10) base；Described length travel screw rod and welding arm (12) coordinate
Connect；The moving guide rail (14) of described welding arm (12) and longitudinal crossbeam (10) both sides is connected；Described welding arm (12)
Front end is provided with connection seat, and described connection seat is provided with welding gun (11)；The side of described welding gun (11) is provided with image acquisition
Photographic head (15)；Described image acquisition photographic head (15) is connected by holding wire and seam tracking system；Described weld joint tracking system
System includes image acquisition and processing module, control module and liquid crystal control panels；Described control module respectively with described image acquisition
Processing module, liquid crystal control panels are connected with the control system of control system cabinet (2).
A kind of welding robot with weld image tracking the most according to claim 1, is characterized in that, described image is adopted
Being provided with vision sensor in collection photographic head (15), described vision sensor passes through digital signal processing device and Programmable phase
Connect；Described programming device is connected with described control module by serial line interface.
A kind of welding robot with weld image tracking the most according to claim 1, is characterized in that, described control mould
Block includes that programmable logic controller (PLC), described programmable logic controller (PLC) include that CPU and storage have presetting control
The memorizer of processing procedure sequence；The input of described CPU is connected with described programming device by serial line interface, institute
The outfan stating CPU is connected with described control system cabinet (2).
A kind of welding robot with weld image tracking the most according to claim 1, is characterized in that, described control is
It is provided with liquid crystal control panels on system cabinet (2) outer surface；Described liquid crystal control panels in real time monitoring follow the tracks of welding effect and
Welding parameter is set.
A kind of welding robot with weld image tracking the most according to claim 1, is characterized in that, described movement is led
Rail (14) is arranged on the surface of horizontal gird (9) by bolt；Described connection crane span structure (6) is by guide rail matching seat (6-2) and moves
Dynamic guide rail (14) is connected；Described guide rail matching seat (6-2) both sides are by having clamp (6-1) and connection crane span structure (6) fixing even
Connect；It is provided with wiper (6-3) between bottom and the moving guide rail (14) of described clamp (6-1).
A kind of have the welding robot that weld image is followed the tracks of, and it is characterized in that, described shifting
The surface of dynamic guide rail (14) is evenly distributed with graphite abrasion resistant particles.
A kind of welding robot with weld image tracking the most according to claim 5, is characterized in that, described wiper
(6-3) material is graphite copper alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620482975.7U CN205799500U (en) | 2016-05-20 | 2016-05-20 | A kind of have the welding robot that weld image is followed the tracks of |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620482975.7U CN205799500U (en) | 2016-05-20 | 2016-05-20 | A kind of have the welding robot that weld image is followed the tracks of |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799500U true CN205799500U (en) | 2016-12-14 |
Family
ID=57500383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620482975.7U Expired - Fee Related CN205799500U (en) | 2016-05-20 | 2016-05-20 | A kind of have the welding robot that weld image is followed the tracks of |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205799500U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106736180A (en) * | 2017-01-09 | 2017-05-31 | 上海工程技术大学 | A kind of retinue weld jig for welding gun and sensor |
| CN107901048A (en) * | 2017-11-15 | 2018-04-13 | 中广核工程有限公司 | Nuclear power station pipeline weld grinding machine people |
-
2016
- 2016-05-20 CN CN201620482975.7U patent/CN205799500U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106736180A (en) * | 2017-01-09 | 2017-05-31 | 上海工程技术大学 | A kind of retinue weld jig for welding gun and sensor |
| CN106736180B (en) * | 2017-01-09 | 2018-06-26 | 上海工程技术大学 | A kind of retinue welding fixture for being used for welding gun and sensor |
| CN107901048A (en) * | 2017-11-15 | 2018-04-13 | 中广核工程有限公司 | Nuclear power station pipeline weld grinding machine people |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161214 Termination date: 20180520 |