CN206732415U - A kind of intelligent robot's automatic soldering device for grid plate weld - Google Patents

A kind of intelligent robot's automatic soldering device for grid plate weld Download PDF

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Publication number
CN206732415U
CN206732415U CN201621283640.9U CN201621283640U CN206732415U CN 206732415 U CN206732415 U CN 206732415U CN 201621283640 U CN201621283640 U CN 201621283640U CN 206732415 U CN206732415 U CN 206732415U
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upper arm
underarm
welding
intelligent robot
automatic soldering
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CN201621283640.9U
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张敏强
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Suzhou Wst Robot Automation Co Ltd
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Suzhou Wst Robot Automation Co Ltd
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Abstract

The utility model discloses a kind of intelligent robot's automatic soldering device for grid plate weld, including:Fixed seat, rotary shaft, underarm, upper arm, wrist joint, grid controller and electric cabinet, rotary shaft in the fixed seat, underarm passes through alignment pin and rotation axis connection, upper arm is connected by alignment pin with underarm, wrist joint is connected by alignment pin with upper arm, and, carpal one end is provided with welding gun and smart camera, on workbench, rotary shaft, underarm, upper arm, wrist joint, grid controller and smart camera are connected grid controller with electric cabinet.The utility model in robot by being provided with smart camera, high accurancy and precision and intelligentized characteristic using smart camera, grid controller is also provided with the table, height of Turbogrid plates is detected by it, welding gun is allowed highly to judge that it falls height of weldering etc. according to the time of Turbogrid plates, the stability of its welding is further improved, effectively improves the quality of its welding.

Description

A kind of intelligent robot's automatic soldering device for grid plate weld
Technical field
The utility model belongs to Turbogrid plates welding field, more particularly to a kind of intelligent robot for grid plate weld Automatic soldering device.
Background technology
Steel grating plate carbon dioxide is mainly used in the edge sealing work of steel grating plate, welds most enterprise all still Welded by the way of human weld, the workload of work is very big, simultaneously as people is most of during welding All it is to be welded by naked eyes, its quality welded is not sufficiently stable, and because the controllability of people is poor, thus the quality welded is very It is hard to keep consistent, higher for the technical requirements of welder because its pad is more intensive, welding position and parameter matching It is not easy to keep optimal, rosin joint, solder skip usually occur during welding the problem of, and gas meeting caused by welding process There is certain injury to human body, thus human weld will turn into inevitable by replacement.
With the fast development of social economy, the either life of people or the rhythm of work is all constantly being accelerated, The production of enterprise is also in this way, most enterprise all progressively replaces manual operation using the automation of machinery.Led in Turbogrid plates Many enterprise can all be welded using robot at present in domain, and its cost is higher, and the operation welded due to steel grating plate is excessively It is cumbersome, and, it is not to strive the product custom-made to welding, and some techniques are difficult to complete or can not realized, and, current For automatic welding device because its technology is not perfect enough, it, will wrong weldering, solder skip usually occur during welding the problems such as The production of influence product that can be serious, causes yields to decline.
At the same time, existing welding equipment, it is required for manually confirming the type of Turbogrid plates mostly, even if some It is to be detected by detection device, but the problems such as sensitivity due to its detection device itself or precision, it can be caused The result of detection is not accurate enough, and it can thus cause error in judgement because of artificial origin, and waste the substantial amounts of time, so as to tight Its production efficiency of the influence of weight.
And it can not be detected in the process of detection to the height of Turbogrid plates, thus no matter its accuracy of detection such as What, welding gun is all consistent falling weldering height, so may result in the too big of some welding spot weldings, some do not weld real appearance also The phenomenon that situations such as rosin joint differs, thus existing welding equipment can not really meet the needs of enterprise's production.
Utility model content
Purpose of utility model:In order to overcome the above insufficient, the purpose of this utility model is to provide a kind of Turbogrid plates that are used for and welded The intelligent robot's automatic soldering device connect, its is simple in construction, reasonable in design, is readily produced, and automaticity is high, reduces people The work amount of labour, improves operating efficiency, also substantially increases the precision of its welding.
Technical scheme:To achieve these goals, the utility model provides a kind of intellectuality for grid plate weld Robot automatic soldering device, including:Fixed seat, rotary shaft, underarm, upper arm, wrist joint, grid controller and electric cabinet, its In, described rotary shaft is in fixed seat, and by alignment pin and rotation axis connection, it is fixed that described upper arm passes through described underarm Position pin is connected with underarm, and described wrist joint is connected by alignment pin with upper arm, and, described carpal one end is provided with welding gun And smart camera, described grid controller is on workbench, described rotary shaft, underarm, upper arm, wrist joint, grating control Device and smart camera processed are connected with electric cabinet.
A kind of intelligent robot's automatic soldering device for grid plate weld described in the utility model, it passes through Smart camera is provided with robot, high accurancy and precision and intelligentized characteristic using smart camera, improves its essence detected Parasexuality, meanwhile, grid controller is also provided with the table, height of Turbogrid plates is detected by it, allows welding gun energy Enough highly judge that it falls height of weldering etc. according to the time of Turbogrid plates, further improve the stability of its welding, effectively carry The quality of its high welding, allows it to better meet the demand of production.
Control device is provided with electric cabinet described in the utility model, described control device includes welder, phase Machine control module, performs device, warning system grating control module and control system, described welding gun are connected with welder, Described camera device is connected with shooting control module, and described rotary shaft, underarm, upper arm and wrist joint are and performs device Connection, described welder, camera control module, performs device and warning system connect with the controller in control system Connect.
Image acquisition units, graphics processing unit and network communication device are provided with smart camera described in the utility model, Described image acquisition units, graphics processing unit and network communication device connects with the camera control module in control device Connect, there is multi-functional, modularization, high reliability, the machine vision solution being easily achieved using smart camera in the utility model The characteristic of scheme, allow it to realize Turbogrid plates and shoot, greatly improve the precision of its shooting, also improve it to picture number According to the speed of processing, so as to greatly improve the precision and production efficiency of automatic soldering device welding.
Workbench described in the utility model is provided with Turbogrid plates, and the Turbogrid plates are provided with distinguishing mark, the identification The setting of mark, it is allowed during shooting, terminate once photographing the mark and represent the welding of this side, filled by controlling After putting analysis, welder will be allowed to stop welding job, allow it really to realize intellectuality.
Distinguishing mark described in the utility model is made up of the first distinguishing mark and the second distinguishing mark, and described first knows Do not indicate L-shaped or inverted L shape, by the setting of the first distinguishing mark and the second distinguishing mark, allow it to realize dual identification Effect, so as to further improve the accuracy of its detection, avoid the occurrence of and weld by mistake.
Welder described in the utility model includes welding tool setup, positioner, manipulator and weldering Work transfer device is connect, described positioner is connected with welding gun and camera device, described welding tool setup, welding behaviour Make machine and welding workpiece conveying device is connected with control system, and they are engaged with welding gun, and Turbogrid plates can be realized It is mobile well, realize preferably welding.
Performs device described in the utility model is made up of servomotor and pneumatic circuit, and the pneumatic circuit is by gas Source, control valve and cylinder are formed, and described servomotor and pneumatic circuit are connected with control system.
Underarm, upper arm described in the utility model use streamlined arm, and, described upper arm inner hollow diameter is 42 ~50mm, mechanical arm is allowed to be actually needed realization rotation according to welding, so as to allow it to better meet the need of welding job Will.
Above-mentioned technical proposal can be seen that the utility model and have the advantages that:
1st, a kind of intelligent robot's automatic soldering device for grid plate weld described in the utility model, it is logical Cross and smart camera is provided with robot, high accurancy and precision and intelligentized characteristic using smart camera, improve its detection Accuracy, the step of decreasing its processing, the efficiency of its production is effectively raised, allows it improving the same of crudy When, the progress of its production is improved, and then allow it to better meet the demand of enterprise's production.
2nd, grid controller is provided with the utility model on the table, height of Turbogrid plates is examined by it Survey, allow welding gun highly to judge that it falls height of weldering etc. according to the time of Turbogrid plates, further improve the stabilization of its welding Property, the quality of its welding is effectively improved, allows it to better meet the demand of production.
Brief description of the drawings
Fig. 1 is that the structure of intelligent robot's automatic soldering device described in the utility model for grid plate weld is shown It is intended to;
Fig. 2 is to be electrically connected schematic diagram in the utility model;
In figure:Fixed seat -1, rotary shaft -2, underarm -3, upper arm -4, wrist joint -5, grid controller -6, electric cabinet -7, Welding gun -8, smart camera -9, welder -10, camera control module -11, performs device 12, the grating of warning system 13 control mould Block 14 and control system 15.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the utility model is furtherd elucidate.
Embodiment 1
A kind of intelligent robot's automatic soldering device for grid plate weld as depicted in figs. 1 and 2, including:Gu Reservation 1, rotary shaft 2, underarm 3, upper arm 4, wrist joint 5, grid controller 6 and electric cabinet 7, control is provided with described electric cabinet 7 Device processed, described control device include welder 10, camera control module 11, performs device 12, the grating of warning system 13 Control module 14 and control system 15,
The relation of above-mentioned each part is as follows:
Wherein, described rotary shaft 2 is in fixed seat 1, and described underarm 3 is connected by alignment pin with rotary shaft 2, institute The upper arm 4 stated is connected by alignment pin with underarm 3, and described wrist joint 5 is connected by alignment pin with upper arm 4, and, described wrist The one end in joint 5 is provided with welding gun 8 and smart camera 9, and described grid controller 6 is located on workbench, described rotary shaft 2, Underarm 3, upper arm 4, wrist joint 5, grid controller 6 and smart camera 9 are connected with electric cabinet 7, described welding gun 8 and welding Device 10 connects, described camera device 8 with shooting control module 11 be connected, described rotary shaft 2, underarm 3, upper arm 4 and Wrist joint 5 is connected with performs device 12, described welder 10, camera control module 11, performs device 12 and alarm system System 13 is connected with the controller in control system.
Image acquisition units, graphics processing unit and network communication device are provided with smart camera 9 described in the present embodiment, Described image acquisition units, graphics processing unit and network communication device connects with the camera control module 11 in control device Connect.
Workbench described in the present embodiment is provided with Turbogrid plates, and the Turbogrid plates are provided with distinguishing mark.
Distinguishing mark described in the present embodiment is made up of the first distinguishing mark and the second distinguishing mark, the described first identification Indicate L-shaped or inverted L shape.
Welder 10 described in the present embodiment includes welding tool setup, positioner, manipulator and weldering Work transfer device is connect, described positioner is connected with welding gun 8 and camera device 8, described welding tool setup, welding Operation machine and welding workpiece conveying device are connected with control system 14, and they are engaged with welding gun 8.
Performs device 12 described in the present embodiment is made up of servomotor and pneumatic circuit, and the pneumatic circuit is by gas Source, control valve and cylinder are formed, and described servomotor and pneumatic circuit are connected with control system 14.
Underarm 3, upper arm 4 described in the present embodiment use streamlined arm, and, the described inner hollow diameter of upper arm 4 is 42~50mm.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art For art personnel, on the premise of the utility model principle is not departed from, some improvement can also be made, these improvement also should be regarded as The scope of protection of the utility model.

Claims (8)

  1. A kind of 1. intelligent robot's automatic soldering device for grid plate weld, it is characterised in that:Including:Fixed seat(1)、 Rotary shaft(2), underarm(3), upper arm(4), wrist joint(5), grid controller(6)And electric cabinet(7), wherein, described rotation Axle(2)Located at fixed seat(1)On, described underarm(3)Pass through alignment pin and rotary shaft(2)Connection, described upper arm(4)Pass through Alignment pin and underarm(3)Connection, described wrist joint(5)Pass through alignment pin and upper arm(4)Connection, and, described wrist joint(5) One end be provided with welding gun(8)And smart camera(9), described grid controller(6)On workbench, described rotary shaft (2), underarm(3), upper arm(4), wrist joint(5), grid controller(6)And smart camera(9)And electric cabinet(7)Connection.
  2. 2. intelligent robot's automatic soldering device according to claim 1 for grid plate weld, it is characterised in that: Described electric cabinet(7)In be provided with control device, described control device includes welder(10), camera control module (11), performs device(12), warning system(13)Grating control module(14)And control system(15), described welding gun(8)With Welder(10)Connection, described smart camera(9)With imaging control module(11)Connection, described rotary shaft(2), underarm (3), upper arm(4)And wrist joint(5)And performs device(12)Connection, described welder(10), camera control module (11), performs device(12)And warning system(13)And control system(15)In controller connection.
  3. 3. intelligent robot's automatic soldering device according to claim 1 for grid plate weld, it is characterised in that: The smart camera(9)In be provided with image acquisition units, graphics processing unit and network communication device, described IMAQ list Member, graphics processing unit and network communication device with the camera control module in control device(11)Connection.
  4. 4. intelligent robot's automatic soldering device according to claim 1 for grid plate weld, it is characterised in that: The workbench is provided with Turbogrid plates, and the Turbogrid plates are provided with distinguishing mark.
  5. 5. intelligent robot's automatic soldering device according to claim 4 for grid plate weld, it is characterised in that: The distinguishing mark is made up of the first distinguishing mark and the second distinguishing mark, and the first described distinguishing mark is L-shaped or inverted L Type.
  6. 6. intelligent robot's automatic soldering device according to claim 2 for grid plate weld, it is characterised in that: Described welder(10)Including welding tool setup, positioner, manipulator and welding workpiece conveying device, institute The positioner and welding gun stated(8)And smart camera(9)Connection, described welding tool setup, manipulator and welding Work transfer device is connected with control system, and they are and welding gun(8)It is engaged.
  7. 7. intelligent robot's automatic soldering device according to claim 2 for grid plate weld, it is characterised in that: Described performs device(12)It is made up of servomotor and pneumatic circuit, the pneumatic circuit is by source of the gas, control valve and cylinder structure Into described servomotor and pneumatic circuit are connected with control system.
  8. 8. intelligent robot's automatic soldering device according to claim 1 for grid plate weld, it is characterised in that: Described underarm(3), upper arm(4)Streamlined arm is used, and, described upper arm inner hollow diameter is 42~50mm.
CN201621283640.9U 2016-11-28 2016-11-28 A kind of intelligent robot's automatic soldering device for grid plate weld Active CN206732415U (en)

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Application Number Priority Date Filing Date Title
CN201621283640.9U CN206732415U (en) 2016-11-28 2016-11-28 A kind of intelligent robot's automatic soldering device for grid plate weld

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Application Number Priority Date Filing Date Title
CN201621283640.9U CN206732415U (en) 2016-11-28 2016-11-28 A kind of intelligent robot's automatic soldering device for grid plate weld

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108941984A (en) * 2018-05-29 2018-12-07 苏州五圣通机器人自动化有限公司 A kind of highly-efficient processing mechanism and its working method for Turbogrid plates processing
CN111230883A (en) * 2020-02-20 2020-06-05 北京博清科技有限公司 Return method and device for crawling welding robot, robot and storage medium

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108941984A (en) * 2018-05-29 2018-12-07 苏州五圣通机器人自动化有限公司 A kind of highly-efficient processing mechanism and its working method for Turbogrid plates processing
CN108941984B (en) * 2018-05-29 2024-03-15 苏州五圣通机器人自动化有限公司 Efficient machining mechanism for grid plate machining and working method thereof
CN111230883A (en) * 2020-02-20 2020-06-05 北京博清科技有限公司 Return method and device for crawling welding robot, robot and storage medium

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