CN205914905U - Intelligence welding robot device - Google Patents
Intelligence welding robot device Download PDFInfo
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- CN205914905U CN205914905U CN201620560664.8U CN201620560664U CN205914905U CN 205914905 U CN205914905 U CN 205914905U CN 201620560664 U CN201620560664 U CN 201620560664U CN 205914905 U CN205914905 U CN 205914905U
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- welding
- robot device
- work rest
- slide block
- control unit
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Abstract
The utility model discloses an intelligence welding robot device, including the welding machines hand, universal work rest, CCD camera and the control unit, the welding machines hand, universal work rest, the CCD camera all is connected with the the control unit electricity, the control unit is located the side of welding machines hand, universal work rest is located the welding machines hand under, the CCD camera is located the upper portion of welding machines hand, the control unit includes host computer and PLC controller, the welding machines hand is controlled often to the PLC controller, the action of universal work rest, in a welding process, the work piece by fixed mounting on universal work rest, the welding machines hand carries out welding operation to the work piece, the CCD camera is shot to the work piece among the welding process often, and transmit the photo of shooing for the host computer, the host computer carries out analytical judgement to the photographic intelligence. This intelligence welding robot device cost is lower, simple structure, welding quality stable and can realize being greater than 360 angle scope welding jobs.
Description
Technical field:
This utility model is related to technical field of welding equipment and in particular to a kind of Intelligent welding robot device.
Background technology:
A lot of welding operation processes can be run into, mostly current welding operation is complete by welding manipulator in industrial processes
Become, the end of welding manipulator is equipped with fixing welding gun, it is possible to achieve the function of automatic welding.Welding manipulator have stable and
Improve welding quality it is ensured that its uniformity；Welding manipulator has raises labour productivity, one day can continuous production in 24 hours；
Welding manipulator can improve workman's labor condition, can work under hostile environment；Welding manipulator reduces to operative's skill
The requirement of art；Welding manipulator shortens the preparatory period that product reshaping is regenerated, and reduces corresponding equipment investment；Welding manipulator can
Realize the Automation of Welding of be pilot.
But, its welding manner of existing product typically all weldment does spinning movement and welding gun is in and maintains static shape
State, this mode exists and clamps shakiness due to weldment, easily leads to welding product welding deviation, and then leads to product quality
Unstable；Additionally due to its power transmission shaft of existing mechanical hand is multiple, drive mechanism is complicated, and during welding easily
Occur shake, simultaneously existing welding gun its due to there is rotating fulcrum, thus its welding when its welding scope not can exceed that
360 °, and then lead to limited by weld job scope, Product jointing quality nor be effectively ensured, for this reason, for how seeking
Find that a kind of structure is simple, welding quality stable while can achieve welding manipulator more than 360 ° of angular range weld jobs
Structure is just particularly important.
Utility model content:
The purpose of this utility model is aiming at the deficiencies in the prior art, provides a kind of Intelligent welding robot device, should
Intelligent welding robot device's cost is relatively low, structure is simple, welding quality stable and can achieve more than 360 ° of angular ranges welding
Operation.
Technology solution of the present utility model is as follows:
A kind of Intelligent welding robot device, including welding manipulator, universal work rest, ccd camera and control unit,
Welding manipulator, universal work rest, ccd camera are all electrically connected with control unit, and control unit is located at the side of welding manipulator,
Universal work rest is located at the underface of welding manipulator, and ccd camera is located at the top of welding manipulator, and control unit includes upper
Machine and plc controller, plc controller constantly controls welding manipulator, the action of universal work rest, in welding process, workpiece quilt
It is fixedly mounted on universal work rest, welding manipulator is subjected to workpiece, ccd camera is constantly in welding process
Workpiece is taken pictures, and the photo of shooting is passed to host computer, and host computer is analyzed to photographic intelligence judging, if analysis
Judge that welding quality is qualified, qualifying signal is passed to plc controller by host computer, plc controller control welding manipulator and
Universal work rest stopping action, completes the welding of workpiece, enters the welding process of next workpiece；If analysis judges welding quality
Unqualified, by unqualified signal transmission to plc controller, plc controller controls welding manipulator and universal work rest to host computer
Continuation action.
Preferred as technique scheme, welding manipulator includes walk moving assembly, multiple degrees of freedom welding manipulator
Assembly and welding gun, walking moving assembly includes two groups of walking tracks being arranged on universal work rest both sides, every group of walking track
Slide and be provided with gripper shoe in top, gripper shoe bottom corner is connected with four groups of road wheel groups by bearing, and every group of road wheel group is equal
Including two road wheels side by side, two road wheels side by side pass through a rotating shaft and connect.
Preferred as technique scheme, walking track be the type of falling t track, include vertical portion be distributed in vertical portion
Divide the supporting part of both sides, two road wheels of every group of road wheel group ride on two supporting parts of the type of falling t track, rotating seat is in rotation
Turn and can rotate around own axes under the driving of motor.
Preferred as technique scheme, multiple degrees of freedom welding manipulator assembly includes being arranged on the rotation on gripper shoe top
Swivel base, rotating seat top is fixed with lift beam, slidably connects first crossbeam, the two ends weldering of first crossbeam between two groups of lift beams
It is connected to lifting sliding sleeve, lifting sliding sleeve and lift beam are socketed, and lifting sliding sleeve passes through lifter wheel along lift beam oscilaltion process
Tooth bar pair completes, and first crossbeam slidably connects the first slide block, and the first slide block moves left and right along first crossbeam, the first slide block
The process that moves left and right along first crossbeam is completed by moving left and right gear teeth vertically hung scroll.
Preferred as technique scheme, the bottom of the first slide block is fixedly connected with second cross beam, sliding on second cross beam
Being dynamically connected has the second slide block, and the second slide block moves forward and backward along second cross beam, and the second slide block is movable along second cross beam
Completed by movable gear teeth vertically hung scroll, the second slide block lower rotational is connected with rotary shaft, rotary shaft rotates and connects
There is swing arm, swing arm can achieve circuit oscillation under the driving of swing arm actuator, and swing arm is hinged with welding gun.
Preferred as technique scheme, welding gun one end is hinged with swing arm, the other end with fixing on a swing arm
Telescopic cylinder connects.
Preferred as technique scheme, universal work rest includes base, and base is fixed with spherical fixture, spherical
The outside universal rotational of fixture is socketed with spherical set, and spherical set 22 top is fixedly connected with support grillage.
The beneficial effects of the utility model are: this Intelligent welding robot device can 360 ° of levels using rotary support
Rotary motion adds the weld job to welding workpiece for the common cooperation realization that slides with welding manipulator along rotary support, from
And so that its its structure while ensureing welding function of mechanical hand welding structure in this programme can also become more
Simply, welding quality is also more reliable and more stable.
Brief description:
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the side view of welding manipulator；
Fig. 3 is the front view of welding manipulator；
Fig. 4 is the structural representation of universal work rest.
Specific embodiment:
In order that above-mentioned purpose of the present utility model, feature and advantage can become apparent from understandable, right below in conjunction with the accompanying drawings
Specific embodiment of the present utility model is described in detail.
As shown in figure 1, Intelligent welding robot device include welding manipulator 1, universal work rest 2, ccd camera 18 and
Control unit 3, welding manipulator 1, universal work rest 2, ccd camera 18 are all electrically connected with control unit 3, and control unit 3 is located at
The side of welding manipulator 1, universal work rest 2 is located at the underface of welding manipulator 1, and ccd camera 18 is located at welding manipulator 1
Top, control unit 3 includes host computer and plc controller, and plc controller constantly controls welding manipulator 1, universal work rest
2 action, in welding process, workpiece is fixedly installed on universal work rest 2, and welding manipulator 1 carries out welding behaviour to workpiece
Make, ccd camera 18 is constantly taken pictures to the workpiece in welding process, and the photo of shooting is passed to host computer, host computer
Photographic intelligence is analyzed judge, if analysis judges that welding quality is qualified, qualifying signal is passed to plc control by host computer
Device processed, plc controller controls welding manipulator 1 and universal work rest 2 stopping action, completes the welding of workpiece, enters next work
The welding process of part；If analysis judges that welding quality is unqualified, host computer is by unqualified signal transmission to plc controller, plc
Controller controls welding manipulator 1 and universal work rest 2 continuation action.
As Figure 2-3, welding manipulator 1 includes walk moving assembly, multiple degrees of freedom welding manipulator assembly and weldering
Rifle 17, walking moving assembly includes two groups of walking tracks 113 being arranged on universal work rest 2 both sides, on every group of walking track 113
Slide and be provided with gripper shoe 11 in portion, gripper shoe 11 bottom corner is connected with four groups of road wheel groups, every group of road wheel by bearing 111
Group all includes two road wheels 112 side by side, and two road wheels 112 side by side pass through a rotating shaft and connect.
Walking track 113 is the type of falling t track, includes vertical portion and the supporting part being distributed in vertical portion both sides, every group
Two road wheels 112 of road wheel group ride on two supporting parts of the type of falling t track, and rotating seat is in the driving of rotary drive motor
Under can rotate around own axes.
Multiple degrees of freedom welding manipulator assembly includes being arranged on the rotating seat on gripper shoe 11 top, and rotating seat top is fixed with
Lift beam 12, slidably connects first crossbeam 13 between two groups of lift beams 12, the two ends of first crossbeam 13 are welded with lifting sliding sleeve
131, lifting sliding sleeve 131 is socketed with lift beam 12, and lifting sliding sleeve 131 passes through lifter wheel along lift beam 12 oscilaltion process
Tooth bar pair completes, and first crossbeam 13 slidably connects the first slide block 14, and the first slide block 14 moves left and right along first crossbeam 13,
First slide block 14 is completed along the process that moves left and right of first crossbeam 13 by moving left and right gear teeth vertically hung scroll.
The bottom of the first slide block 14 is fixedly connected with second cross beam, and second cross beam slidably connects the second slide block 15, the
Two slide blocks 15 move forward and backward along second cross beam, and the second slide block 15 is by fore-and-aft movement tooth-like part along the movable of second cross beam
Gear teeth vertically hung scroll completes, and the second slide block 15 lower rotational is connected with rotary shaft, and rotary shaft is rotatably connected to swing arm 16, swings
Arm 16 can achieve circuit oscillation under the driving of swing arm actuator, and swing arm 16 is hinged with welding gun 17.
Welding gun 17 one end is hinged with swing arm 16, and the other end is connected with the telescopic cylinder 167 being fixed on swing arm 16.
As shown in figure 4, universal work rest 2 includes base 24, base 24 is fixed with spherical fixture 23, spherical fixture
23 outside universal rotationals are socketed with spherical set 22, and spherical set 22 tops are fixedly connected with support grillage 21.
Described embodiment in order to illustrative this utility model, not for limiting this utility model.Any this area
Technical staff all can modify to described embodiment without prejudice under spirit and the scope of the present utility model, therefore this practicality
New rights protection scope, should be as listed by claim of the present utility model.
Claims (7)
1. a kind of Intelligent welding robot device it is characterised in that: include welding manipulator (1), universal work rest (2), ccd phase
Machine (18) and control unit (3), welding manipulator (1), universal work rest (2), ccd camera (18) all with control unit (3)
Electrical connection, control unit (3) is located at the side of welding manipulator (1), and universal work rest (2) is just being located at welding manipulator (1)
Lower section, ccd camera (18) is located at the top of welding manipulator (1), and control unit (3) includes host computer and plc controller, plc
Controller constantly controls welding manipulator (1), the action of universal work rest (2).
2. a kind of Intelligent welding robot device according to claim 1 it is characterised in that: welding manipulator (1) include
Walking moving assembly, multiple degrees of freedom welding manipulator assembly and welding gun (17), walking moving assembly includes being arranged on universal work
Two groups of walkings track (113) of part frame (2) both sides, sliding and be provided with gripper shoe (11) in every group of walking track (113) top, supports
Plate (11) bottom corner is connected with four groups of road wheel groups by bearing (111), and every group of road wheel group all includes two row side by side
Walk wheel (112), two road wheels (112) side by side pass through a rotating shaft and connect.
3. a kind of Intelligent welding robot device according to claim 2 it is characterised in that: walking track (113) is t
Type track, including vertical portion and the supporting part being distributed in vertical portion both sides, two road wheels (112) of every group of road wheel group
On two supporting parts of the type of falling t of riding over track, rotating seat can rotate around own axes under the driving of rotary drive motor.
4. a kind of Intelligent welding robot device according to claim 2 it is characterised in that: multiple degrees of freedom welding manipulator
Assembly includes being arranged on the rotating seat on gripper shoe (11) top, and rotating seat top is fixed with lift beam (12), two groups of lift beams
(12) slidably connect first crossbeam (13) between, the two ends of first crossbeam (13) are welded with lifting sliding sleeve (131), lift sliding sleeve
(131) it is socketed with lift beam (12), lifting sliding sleeve (131) passes through lifter wheel tooth bar along lift beam (12) oscilaltion process
Pair completes, and first crossbeam (13) slidably connects the first slide block (14), and the first slide block (14) is along about first crossbeam (13)
Mobile, the first slide block (14) is to be completed by moving left and right gear teeth vertically hung scroll along the process that moves left and right of first crossbeam (13)
's.
5. a kind of Intelligent welding robot device according to claim 4 it is characterised in that: the bottom of the first slide block (14)
It is fixedly connected with second cross beam, second cross beam slidably connects the second slide block (15), the second slide block (15) is along second cross beam
Movable, the second slide block (15) is completed along the movable of second cross beam by movable gear teeth vertically hung scroll, the
Two slide blocks (15) lower rotational is connected with rotary shaft, and rotary shaft is rotatably connected to swing arm (16), and swing arm (16) is swinging
Achievable circuit oscillation under the driving of arm actuator, swing arm (16) is hinged with welding gun (17).
6. a kind of Intelligent welding robot device according to claim 5 it is characterised in that: welding gun (17) one end and swing
Arm (16) is hinged, and the other end is connected with the telescopic cylinder (167) being fixed on swing arm (16).
7. a kind of Intelligent welding robot device according to claim 1 it is characterised in that: universal work rest (2) includes
Base (24), base (24) is fixed with spherical fixture (23), and the outside universal rotational of spherical fixture (23) is socketed with spherical
Set (22), spherical set (22) top is fixedly connected with support grillage (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620560664.8U CN205914905U (en) | 2016-06-08 | 2016-06-08 | Intelligence welding robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620560664.8U CN205914905U (en) | 2016-06-08 | 2016-06-08 | Intelligence welding robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205914905U true CN205914905U (en) | 2017-02-01 |
Family
ID=57876718
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620560664.8U Expired - Fee Related CN205914905U (en) | 2016-06-08 | 2016-06-08 | Intelligence welding robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205914905U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105880881A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Intelligent welding robot device |
| CN110216489A (en) * | 2019-07-04 | 2019-09-10 | 盐城工学院 | A kind of welding spraying detection all-in-one machine |
-
2016
- 2016-06-08 CN CN201620560664.8U patent/CN205914905U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105880881A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Intelligent welding robot device |
| CN110216489A (en) * | 2019-07-04 | 2019-09-10 | 盐城工学院 | A kind of welding spraying detection all-in-one machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Hulin Inventor after: Li Jun Inventor after: Li Chunpu Inventor after: Yuan Zhongping Inventor before: Fu Shuzhen |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170413 Address after: 519000 room A620, building, Material Building, No. 44 Chaoyang Road, Zhuhai, Guangdong, China Patentee after: Zhuhai flying Intelligent Technology Co., Ltd. Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Patentee before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170201 Termination date: 20180608 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |