CN205914906U - A welding system based on robot technology - Google Patents

Abstract

The utility model discloses a welding system based on robot technology, including a welding robot, a welding fixture assembly and a control assembly, wherein the welding fixture assembly is electrically connected to the control assembly, and the control assembly controls the movement of the welding fixture assembly; the welding robot includes a robot part and a welding head, wherein the welding head is located on the robot part and performs multi-degree-of-freedom motion under the drive of the robot part; the robot part includes a robot body and a control box, wherein the control box is installed with hardware for controlling the movement of the robot body and software pre-installed in the hardware; the robot part also includes a camera sensor and a position sensor, wherein the camera sensor and the position sensor are electrically connected to the control box. The welding system combines industrial robot technology with traditional welding technology, and completes complex and cumbersome welding operations through a multi-degree-of-freedom welding robot, which not only greatly improves welding efficiency, but also effectively improves welding quality and improves welding qualification rate.

Description

A welding system based on robot technology

Technical field:

The utility model relates to the technical field of welding equipment, in particular to a welding system based on robot technology.

Background technique:

With the continuous development of my country's economy, domestic heavy machinery, metallurgical machinery, shipbuilding, mining engineering machinery, power station boilers, pressure vessels, petrochemicals, rolling stock, automobiles and other industries have entered the advanced ranks of the same industry in the world. Leading by welding technology, coupled with the increase of domestic investment, provides a good development opportunity for China's electric welding machine industry. High-efficiency and energy-saving welding equipment will grow strongly and be rapidly promoted in petrochemical, shipbuilding, boiler, railway and other industries.

An industrial robot is a multi-functional, multi-degree-of-freedom mechatronic automatic mechanical equipment and system that can complete certain operational tasks in the manufacturing process through repeated programming and automatic control. It can be combined with a manufacturing host or production line to form a single or multiple The machine automation system can realize various production operations such as handling, welding, assembly and spraying without human participation. How to combine industrial robot technology with traditional welding technology to achieve efficient and high-quality welding operation process is a technical problem that needs to be solved urgently in the field of welding technology.

Utility model content:

The purpose of this utility model is to provide a welding system based on robot technology for the deficiencies of the existing technology. The welding system combines industrial robot technology and traditional welding technology, and completes complex and cumbersome welding through multi-degree-of-freedom welding robots. The operation not only greatly improves the welding efficiency, but also effectively improves the welding quality and the welding qualification rate.

The technical solutions of the present utility model are as follows:

A welding system based on robot technology includes a welding robot, a welding fixture assembly and a control assembly, the welding fixture assembly is electrically connected to the control assembly, and the control assembly controls the movement of the welding fixture assembly; the welding robot includes a robot part and a welding head, and the welding head is located at The robot part is driven by the robot part to perform multi-degree-of-freedom movements; the robot part includes the robot body and the control box, and the control box is equipped with hardware for controlling the movement of the robot body and software pre-installed in the hardware; the robot part also includes The camera sensor and the position sensor are electrically connected to the control box. The camera sensor takes pictures of the workpiece in the welding process and transmits the photos to the control box. The upper computer in the control box analyzes the welding status of the workpiece according to the picture information. Combined with the position information transmitted by the position sensor, the movement of the welding robot is adjusted from time to time until the welding process ends.

As a preference of the above technical solution, the robot body includes a base on which a swivel base is installed for rotation, and two opposite support plates are fixed on the upper part of the swivel base. The two support plates have the same structure, and the opposite sides of the two support plates are arranged There is a vertical lifting chute, and a lifting slider is slid inside the lifting chute, and a fixed arm is fixedly installed on the lifting slider. The fixed arm is a hollow structure. The telescopic rod is movably socketed inside the fixed arm, the end of the telescopic rod is rotatably connected with a rotating part, the bottom of the rotating part is connected with a rotating pin, and the rotating pin is simultaneously connected with a swing arm.

As a preferred technical solution, the robot body also includes a lifting drive unit, the lifting drive unit is a lifting cylinder, the lifting cylinder is fixedly installed on the rotating seat, and the piston rod of the lifting cylinder is fixedly connected to the lifting slider.

As an optimization of the above technical solution, the base is a square structure made of stainless steel plate, and its four corners are fixed to the ground by fixing parts, the fixing parts are hexagonal bolts, and the rotating drive motor is driven and fixed by a cycloidal pinwheel reducer or a harmonic reducer Arm rotates.

As a preference of the above technical solution, the welding head includes a support rod welded at the end of the swing arm, a spherical part is arranged at the end of the support rod, a universal ball joint is rotatably sleeved on the spherical part, and a welding torch is welded on the outer surface of the universal ball joint .

As a preferred technical solution, the welding jig assembly includes a bracket and a welding jig head located on the bracket. The bracket is a gantry-shaped bracket, which includes two vertical beams arranged opposite to each other and a cross beam fixedly connected with the two vertical beams. The vertical beams are respectively fixedly installed on a bracket base, the bracket base is a square structure, made of stainless steel plate, and its four corners are fixed to the ground by fixing parts, and the fixing parts are hexagonal bolts.

As an optimization of the above-mentioned technical solution, a traversing slider is slidably arranged on the beam, and the relative sliding between the traversing slider and the beam is completed by a rack and pinion pair of traversing. The relative sliding with the traversing slider is completed by the lifting rack and gear pair. The end of the lifting rod is fixed with a telescopic rod, which can rotate 360°, and the end of the telescopic rod is hinged with the welding fixture head.

As a preference of the above-mentioned technical solution, the welding jig head includes two oppositely arranged connecting lugs, the connecting lugs are fixed into one body by connecting pieces, the connecting lugs are provided with pin holes, and the first clamp and the second clamp pass through The hinged pin installed in the pin hole is connected. The structure of the first clamp and the second clamp is the same. There is a magnetic strip at the joint between the two and the workpiece. The first clamp and the second clamp are driven by a telescopic cylinder. To achieve opening and closing, one end of the telescopic cylinder is fixed with the connecting piece through the fixing seat, and the other end is hinged with the first clamp or the second clamp through the hinge member.

The beneficial effect of the utility model is that: the welding system combines industrial robot technology and traditional welding technology, and completes complex and cumbersome welding operations through multi-degree-of-freedom welding robots, which not only greatly improves welding efficiency, but also effectively improves welding quality , Improve the welding pass rate.

Description of drawings:

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the structural representation of welding robot;

Fig. 3 is the structural representation of welding head;

Fig. 4 is the structural representation of welding fixture assembly;

Fig. 5 is a structural schematic diagram of a welding jig head.

detailed description:

In order to make the above purpose, features and advantages of the utility model more obvious and easy to understand, the specific implementation of the utility model will be described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1, the welding system based on robotics includes a welding robot 1, a welding fixture assembly 2 and a control assembly, the welding fixture assembly 2 is electrically connected to the control assembly, and the control assembly controls the movement of the welding fixture assembly 2; the welding robot includes a robot part And the welding head, the welding head is located on the robot part, and is driven by the robot part to perform multi-degree-of-freedom movements; the robot part includes the robot body and the control box. software; the robot part also includes a camera sensor and a position sensor, the camera sensor and the position sensor are electrically connected to the control box, the camera sensor takes pictures of the workpiece in the welding process and transmits the photos to the control box, and the upper computer in the control box according to The picture information analyzes the welding status of the workpiece, and adjusts the movement of the welding robot 1 from time to time in combination with the position information transmitted by the position sensor until the welding process ends.

As shown in Figure 2, the robot body includes a base 11, on which a swivel base 12 is mounted for rotation, and two opposite support plates 13 are fixed on the top of the swivel base 12, the structures of the two support plates 13 are the same, and the two support plates The opposite side of 13 is provided with a vertical lifting chute, and a lifting slider is slidably arranged in the lifting chute, and a fixed arm 16 is fixedly installed on the lifting slider. The fixed arm 16 is a hollow structure, and one end is connected with a rotary drive motor 15. The other end is connected with a telescopic rod 17, which is movably socketed inside the fixed arm 16, and the end of the telescopic rod 17 is connected with a rotating part 18, and the lower part of the rotating part 18 is connected with a rotating pin shaft, and the rotating pin shaft Rotate and be connected with swing arm 19 at the same time.

As shown in Figure 2, the robot body also includes a lifting drive unit, the lifting drive unit is a lifting cylinder 14, the lifting cylinder 14 is fixedly installed on the rotating seat 12, and the piston rod of the lifting cylinder 14 is fixedly connected with the lifting slider.

The base 11 is a square structure, made of stainless steel plate, and its four corners are fixed to the ground by fixing parts, the fixing parts are hexagonal bolts, and the rotating drive motor 15 drives the fixed arm 16 to rotate through a cycloidal pinwheel reducer or a harmonic reducer.

As shown in Figure 3, the welding head 3 includes a support rod 31 welded on the end of the swing arm 19, the end of the support rod 31 is provided with a spherical part 32, and the spherical part 32 is rotatably sleeved with a universal ball joint 33, the universal ball joint The outer surface of 33 is welded with torch 34.

As shown in Figure 4, the welding jig assembly 2 includes a bracket 22 and a welding jig head 4 positioned on the bracket 22. The bracket 22 is a gantry-shaped bracket, which includes two vertical beams arranged oppositely and is fixedly connected with the two vertical beams as a whole. The crossbeam, two vertical beams are respectively fixedly installed on a support base 21, the support base 21 is a square structure, made of stainless steel plate, its four corners are fixed with the ground by fixtures, and the fixtures are hexagonal bolts.

The cross beam is slidably provided with a traversing slider 23, and the relative sliding between the traversing slider 23 and the cross beam is accomplished by traversing the rack and pinion pair. The relative sliding of the sliding block 23 is accomplished by the lifting rack and gear pair. The end of the lifting rod 24 is fixed with a telescopic rod 25. The telescopic rod 25 can rotate 360°. The end of the telescopic rod 25 and the welding fixture head 4 hinged.

As shown in FIG. 5 , the welding jig head 4 includes two connecting lugs 41 arranged oppositely, and the connecting lugs 41 are fixed together by connecting pieces. It is connected with the second clamp 43 by a hinge pin installed in the pin hole 44. The structure of the first clamp 42 and the second clamp 43 is the same, and a magnetic strip 46 is provided at the joint between the two and the workpiece. The first clamp 42 and the second clamp 43 are both driven by the telescopic cylinder 45 to realize opening and closing. One end of the telescopic cylinder 45 is fixed to the connector through the fixing seat 411 , and the other end is hinged to the first clamp 42 or the second clamp 43 through the hinge member 431 .

The embodiments are used to illustrate the utility model, but not to limit the utility model. Any person skilled in the art can modify the embodiments without violating the spirit and scope of the utility model, so the protection scope of the utility model should be as listed in the claims of the utility model.

Claims (8)

1. a kind of welding system based on roboticses it is characterised in that: include welding robot (1), weld jig assembly (2) and control assembly, weld jig assembly (2) is electrically connected with control assembly, and control assembly controls weld jig assembly (2) Mobile；Welding robot includes robot part and plumb joint (3), and plumb joint (3) is located on robot part, and in robot Multifreedom motion is done under partial drive；Robot part includes robot body and control chamber；Robot part also includes Image sensor and position sensor, image sensor is electrically connected with control chamber with position sensor, image sensor butt welding Workpiece in termination process carries out photograph taking and photo is passed to control chamber, and the host computer in control chamber divides according to pictorial information Analysis workpiece welding situation, and the positional information of binding site sensor passes constantly adjusts the motion of welding robot (1), until Welding process terminates.

2. a kind of welding system based on roboticses according to claim 1 it is characterised in that: robot body bag Include base (11), base (11) is rotatablely equipped with rotating seat (12), the top of rotating seat (12) is fixed with relative two Fagging (13), the structure of two gripper shoes (13) is identical, and the opposite side of two gripper shoes (13) is provided with vertical lifting and slides Groove, slides in lifting chute and is provided with lifting slider, lifting slider is installed with fixed arm (16), and fixed arm (16) is sky Core structure, its one end is connected with rotary drive motor (15), and the other end is connected with expansion link (17), expansion link (17) pivot bush unit In the inside of fixed arm (16), the end of expansion link (17) is rotatably connected to revolving part (18), the bottom and of revolving part (18) Rotary pin shaft connects, and rotary pin shaft is rotatably connected to swing arm (19) simultaneously.

3. a kind of welding system based on roboticses according to claim 2 it is characterised in that: robot body Also include elevation driving unit, elevation driving unit is hoist cylinder (14), hoist cylinder (14) is fixedly mounted on rotating seat (12), on, the piston rod of hoist cylinder (14) is fixedly connected with lifting slider.

4. a kind of welding system based on roboticses according to claim 2 it is characterised in that: base (11) be side Shape structure, is made up of stainless-steel sheet, and its corner is fixed with ground by fixture, and fixture is hex bolts, rotation driving Motor (15) passes through planet-cycloid reducer or harmonic speed reducer drives fixed arm (16) rotation.

5. a kind of welding system based on roboticses according to claim 2 it is characterised in that: plumb joint (3) bag Include the support bar (31) being welded on swing arm (19) end, the end of support bar (31) is provided with pellet part (32), globular part The upper rotation of part (32) is socketed with universal ball joint (33), and the outer surface of universal ball joint (33) is welded with welding gun (34).

6. a kind of welding system based on roboticses according to claim 1 it is characterised in that: weld jig assembly (2) support (22) and the weld jig head (4) being located on support (22) are included, support (22) is flame support, and it includes Two vertical beams being oppositely arranged and be fixedly connected integral crossbeam with two vertical beams, two vertical beams are respectively and fixedly installed to one On bracket base (21), bracket base (21) is square structure, is made up of stainless-steel sheet, and fixture and ground are passed through in its corner Face is fixed, and fixture is hex bolts.

7. a kind of welding system based on roboticses according to claim 6 it is characterised in that: on crossbeam slide set It is equipped with traversing slide block (23), traversing slide block (23) is completed by traversing rack-pinion with the relative slip of crossbeam, traversing The upper lifting of slide block (23) is connected with elevating lever (24), and elevating lever (24) is by lifting tooth with the relative slip of traversing slide block (23) Bar gear pair completes, and the end of elevating lever (24) is fixed with telescoping rod (25), and telescoping rod (25) can carry out 360 ° of rotations Rotate and make, the end of telescoping rod (25) is hinged with weld jig head (4).

8. a kind of welding system based on roboticses according to claim 7 it is characterised in that: weld jig head (4) two connection otic placodes being oppositely arranged (41) are included, connection otic placode is integrally fixed by connector between (41), engaging lug Pin shaft hole (44) is offered on plate (41), the first fixture (42) and the second fixture (43) are by being arranged on the hinge in pin shaft hole (44) Pin axle connects, and the first fixture (42) is identical with the structure of the second fixture (43), and both are provided with the position of workpiece joint Magnetic strips (46), the first fixture (42) and the second fixture (43) are all to drive by telescopic cylinder (45) to realize opening and closing, flexible gas Cylinder (45) one end is fixed with connector by fixed seat (411), the other end pass through articulated element (431) and the first fixture (42) or Second fixture (43) is hinged.