CN206854791U - A kind of robot welding system - Google Patents
A kind of robot welding system Download PDFInfo
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- CN206854791U CN206854791U CN201720439135.7U CN201720439135U CN206854791U CN 206854791 U CN206854791 U CN 206854791U CN 201720439135 U CN201720439135 U CN 201720439135U CN 206854791 U CN206854791 U CN 206854791U
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Abstract
Welding technology field is the utility model is related to, specifically a kind of robot welding system.The welding system includes welding rod delivering mechanism, robots arm, robot controller and welding mechanism, the utility model is coordinated using welding rod delivering mechanism and welding mechanism, complete the automatic welding of common welding rod, solves the difficult point of common welding rod automatic welding in actual production, especially for the welding of box parts, it is with the obvious advantage, it can replace completely manually, improving production efficiency simultaneously reduces manufacturing cost.In the utility model, crawl, holding and the discarding of welding rod are all completed by grabbing assembly physics, it is not necessary to gas, electric control, with the high advantage of reliability, in addition, in welding process, welding rod exposes guide preset length all the time, can eliminate shake, improves welding quality.
Description
Technical field
Welding technology field is the utility model is related to, specifically a kind of robot welding system.
Background technology
In the last few years, the technology by welding robot completion automatic welding is increasingly ripe, and automatic welding is widely applied to respectively
In each industry of row, instead of artificial, efficiency and automatization level are improved.But the welding robot that can be seen now, extreme portions are
Gas shielded arc welding.In general welding robot consists of the following components：The robot body of shaping, control system, welding
Power-supply system, welder etc..Wherein welding power source system existing human weld's power-supply system, welder special secondary school
It is main with the design of welding gun, different manufacturers special welding gun shape is different, but action principle is the same.
Existing welding robot, particularly welder mechanism, it is impossible to complete the welding of common welding rod, reason has as follows
Several aspects：First, the welding wire of gas shielded arc welding can be bent, and common welding rod needs a submitting, and is rigidity
, it is impossible to bend；Second, the welding wire of gas shielded arc welding can effectively be disappeared by leaving 3-4 centimeter lengths during the end of welder
Except the influence that brings of shake, and after common welding rod is crawled, because length is oversize, in welding process caused shake can not disappear
Remove, welding track is difficult to ensure that；Third, the welding wire of gas shielded arc welding can carry out wire feed by wire feeder according to welding requirements,
And common welding rod can only be realized, existing welding robot can not be completed general due to being rigidity by the linear motion of welding rod
The welding of logical welding rod.
Utility model content
The defects of to overcome prior art, the utility model provide a kind of robot welding system, can complete common welding rod
Automatic welding, improve welding quality.
The utility model is as follows using technical scheme：
The utility model provides a kind of robot welding system, including：
Welding rod delivering mechanism, the welding rod delivering mechanism include housing and for the welding rod being placed in housing to be sent one by one
The vibration component gone out outside housing, the vibration component are arranged in housing；
Welding robot, the welding robot include robots arm, robot controller and welding mechanism, the weldering
Connection mechanism is fixed on the robots arm, and the robot controller is used to control the robots arm and welding mechanism
Action；
The robots arm has segmental appendage driver and multiple segmental appendages being sequentially connected, the segmental appendage driver and the machine
Device people's control device is connected；The welding mechanism includes support, the grabbing assembly being arranged on support and for making grabbing assembly
The welding driver of motion, the welding driver are connected with the robot controller；
The robot controller controls the segmental appendage driver by running control program, robots arm is driven weldering
Connection mechanism moves, and the weld assembly is used to capture from the welding rod delivering mechanism and keep welding rod, the robot control dress
Put and also control the welding driver by running control program, make grabbing assembly drive welding rod movement to realize the weldering to workpiece
Connect, and the welding rod for controlling grabbing assembly to be kept in welding process stretches out welding mechanism preset length all the time.
Preferably, the housing includes bottom plate and the first side plate, the second side plate, the 3rd side plate that are connected with the bottom plate
With the 4th side plate, first side plate, the second side plate, the 3rd side plate and the 4th side plate head and the tail are sequentially connected, first side plate
Relative with the 3rd side plate, the second side plate is relative with the 4th side plate, and the inner surface of the bottom plate is provided with welding rod storage tank, the welding rod
Storage tank is close to the 4th side plate, and second side plate is provided with support member, and there is first side plate welding rod to portal, described
Welding rod portals coaxial with the welding rod storage tank；
The vibration component includes oscillating plate, vibrating air cylinder, detection sensor and welding rod and sends out cylinder, the vibrating air cylinder
The inner surface of the bottom plate is installed in detection sensor, the side of the oscillating plate is docked with the support member, opposite side
Docked with the welding rod storage tank, the lower surface of oscillating plate contacts with the vibrating air cylinder；The welding rod is sent out cylinder and is arranged on
On 3rd side plate, welding rod sends out the telescopic direction of the piston rod of cylinder and the major axis of the welding rod storage tank is parallel to each other.
Preferably, the detection sensor includes first sensor and second sensor, and the first sensor is located at institute
State welding rod to portal between welding rod storage tank, the second sensor is between welding rod storage tank and the 3rd side plate.
Preferably, the support includes the first mounting seat, the second mounting seat and connecting plate, the both ends difference of the connecting plate
It is connected with the first mounting seat and the second mounting seat, there is positioning table and guide in second mounting seat；
The welding driver includes leading screw, connecting seat and motor, and the connecting seat is connected with the threads of lead screw,
One end of the leading screw is arranged in the first mounting seat, and the other end of leading screw is arranged in the second mounting seat, the motor
It is arranged in first mounting seat, the output shaft of motor is connected with the leading screw, and the motor is used to drive silk
Thick stick rotates, so as to drive the connecting seat to be moved along leading screw；
The grabbing assembly includes extended seat, positioning seat, ejection welding rod spring, clamping jump ring and clamps welding rod spring, institute
State positioning seat to be fixed on the connecting seat, the positioning seat is hollow structure, and the inner surface of positioning seat has installation step；Institute
It is hollow structure to state extended seat, and extended seat has a guide part, and the guide part stretches into positioning seat and can be relative to described fixed
Position seat stretching motion；The clamping jump ring is hollow structure, and the clamping jump ring is made up of closed section and open section, the closing
One end of section is connected with open section, and the other end of closed section has boss, and the open section has the bulge outwards expanded, institute
State and clamp jump ring in positioning seat, clamp the boss of jump ring and be engaged with the installation step of positioning seat, clamp opening for jump ring
Mouth section part is stretched into the guide part of the extended seat, and the clamping welding rod spring, which is set in, to be clamped on jump ring, described to clamp weldering
One end of bar spring offsets with the installation step, and the end face of the other end and the guide part offsets, the ejection welding rod spring
It is arranged in the closed section for clamping jump ring, one end of ejection welding rod spring is fixed in the closed section for clamping jump ring, and the other end is
Free end；
When extended seat is squeezed, the compression of welding rod spring stress is clamped, the open section for clamping jump ring departs from clamping welding rod
The limitation of spring and be in releasing orientation, clamp welding rod spring when being in non-compressed state, the open section for clamping jump ring is pressed from both sides
The limitation of tight welding rod spring and be in clamped condition.
Preferably, the open section for clamping jump ring is enclosed by multiple flexure strips forms, and has between two neighboring flexure strip
There is gap, each flexure strip has Part I and Part II, and the angle between the Part I and Part II is blunt
Angle, after multiple flexure strips enclose, the Part II of all elastic forms the bulge towards outside.
Preferably, the telescopic direction of the ejection welding rod spring is consistent with the telescopic direction of the clamping welding rod spring,
It is parallel with the major axis of the leading screw and relative with the guide in second mounting seat.
Preferably, the welding mechanism also includes back to zero sensor, and the back to zero sensor is arranged on the connecting plate,
And close to second mounting seat；The back to zero sensor is connected with the robot controller, in welding process
The welding rod that middle detection grasping mechanism is kept, signal is sent when being not detected by the welding rod to the robot controller,
So that robot controller control welding mechanism stops welding and abandoning the welding rod that grabbing assembly is kept.
What technical scheme provided by the utility model was brought has the beneficial effect that：
The utility model provides the robot welding system suitable for welding rod, is matched somebody with somebody using welding rod delivering mechanism and welding mechanism
Close, complete the automatic welding of common welding rod, the difficult point for solving common welding rod automatic welding in actual production, especially for casing
The welding of class part, it is with the obvious advantage, it can replace completely manually, improving production efficiency simultaneously reduces manufacturing cost.
In the utility model, crawl, holding and the discarding of welding rod are all completed by grabbing assembly physics, are pressed from both sides when capturing welding rod
Tight spring unclamps, and grabbing assembly rises along leading screw after capturing welding rod, and grabbing assembly makes fastening spring clamp weldering using theory of mechanics
Bar, when welding rod welding finishes, grabbing assembly continues to decline along leading screw, unclamps fastening spring, and ejection spring ejects welding rod, this
Kind structure design does not need gas, electric control, has the high advantage of reliability.
After grabbing assembly crawl welding rod, welding rod rises or falls along leading screw, protects positive direction, it is ensured that welding rod does not occur curved
It is bent；In addition, in welding process, welding rod exposes guide preset length all the time, can eliminate shake, improves welding quality.
Brief description of the drawings
, below will be to institute in embodiment or description of the prior art in order to illustrate more clearly of the technical solution of the utility model
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only more of the present utility model
Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these
Figure obtains other accompanying drawings.
Fig. 1 is the structural representation for the welding rod delivering mechanism that the utility model embodiment provides；
Fig. 2 is the explosive view for the welding rod delivering mechanism that the utility model embodiment provides；
Fig. 3 is the structural representation for the welding mechanism that the utility model embodiment provides；
Fig. 4 is the partial structural diagram for the welding mechanism that the utility model embodiment provides；
Fig. 5 is the partial structural diagram for the welding mechanism that the utility model embodiment provides.
In figure：1- welding rod delivering mechanisms, 2- welding mechanisms, 3- welding rods,
11- housings, 12- vibration components,
111- bottom plates, the side plates of 112- first, the side plates of 113- second, the side plates of 114- the 3rd, the side plates of 115- the 4th, 116- welderings
Bar portals, 117- welding rod storage tanks, 118- support members,
121- oscillating plates, 122- vibrating air cylinders, the detection sensors of 123- first, the detection sensors of 124- second, 125- welderings
Bar sends out cylinder,
The mounting seats of 211- first, 212- connecting plates, the mounting seats of 213- second, 214- positioning tables, 215- guides,
220- extended seats, 221- positioning seats, 222- ejection welding rod springs, 223- clamp jump ring, and 224- clamps welding rod spring,
225- closed sections, 226- open sections, 227- boss, 228- bulges,
231- leading screws, 232- connecting seats, 233- motors.
Embodiment
In order that those skilled in the art more fully understand the utility model, below will engagement the utility model reality
The accompanying drawing in example is applied, the technical scheme in the embodiment of the utility model is clearly and completely described, it is clear that be described
Embodiment is only the embodiment of the utility model part, rather than whole embodiments.Based on the reality in the utility model
Example is applied, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all should
When the scope for belonging to the utility model protection.
It should be noted that term " first " in specification and claims of the present utility model and above-mentioned accompanying drawing,
" second " etc. is for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so
The data used can exchange in the appropriate case, so that embodiment of the present utility model described herein can be with except at this
In diagram or description those beyond order implement.In addition, term " comprising " and " having " and their any deformation, meaning
Figure be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, apparatus, product or equipment
Be not necessarily limited to those steps or the unit clearly listed, but may include not list clearly or for these processes,
The intrinsic other steps of method, product or equipment or unit.
Embodiment 1
The present embodiment provides a kind of robot welding system, and the system includes welding rod delivering mechanism 1 and welding robot.
Referring to Fig. 1, the welding rod delivering mechanism 1 includes housing 11 and the welding rod 3 for that will be placed in housing 11 one by one
The vibration component 12 outside housing 11 is sent out, the vibration component 12 is arranged in housing 11.The welding robot includes machine
Robot arm, robot controller and welding mechanism 2, the welding mechanism 2 are fixed on the robots arm, the robot control
Device processed is used to control the robots arm and welding mechanism 2 to act.
Specifically, the robots arm has segmental appendage driver and multiple segmental appendages being sequentially connected, the segmental appendage driver
It is connected with the robot controller；The welding mechanism 2 includes support, the grabbing assembly being arranged on support and for making
The welding driver of grabbing assembly motion, the welding driver are connected with the robot controller.The robot control
Device processed controls the segmental appendage driver by running control program, makes robots arm drive welding mechanism 2 to move, the welding
Component is used to capture from the welding rod delivering mechanism 1 and keep welding rod 3, and the robot controller also controls journey by running
Sequence controls the welding driver, makes grabbing assembly drive the movement of welding rod 3 to realize the welding to workpiece, and controlled in welding process
The welding rod 3 that grabbing assembly processed is kept stretches out the preset length of welding mechanism 2 all the time.
Refer to Fig. 2, the housing 11 includes bottom plate 111 and the first side plate 112 being connected with the bottom plate 111, the
Two side plates 113, the 3rd side plate 114 and the 4th side plate 115, first side plate 112, the second side plate 113, the and of the 3rd side plate 114
The head and the tail of 4th side plate 115 are sequentially connected, and the side plate 114 of the first side plate 112 and the 3rd is relative, the second side plate 113 and the 4th side
Plate 115 is relative, and the inner surface of the bottom plate 111 is provided with welding rod storage tank 117, and the welding rod storage tank 117 is close to the described 4th
Side plate 115, second side plate 113 are provided with support member 118, and there is first side plate 112 welding rod to portal 116, the weldering
Bar portals 116 coaxial with the welding rod storage tank 117.The vibration component 12 includes oscillating plate 121, vibrating air cylinder 122, detection
Sensor and welding rod send out cylinder 125, and the vibrating air cylinder 122 and detection sensor are installed in the interior table of the bottom plate 111
Face, the side of the oscillating plate 121 are docked with the support member 118, and opposite side docks with the welding rod storage tank 117, vibration
The lower surface of plate 121 contacts with the vibrating air cylinder 122；The welding rod is sent out cylinder 125 and is arranged on the 3rd side plate 114, weldering
Bar sends out the telescopic direction of the piston rod of cylinder 125 and the major axis of the welding rod storage tank 117 is parallel to each other.
Mode is preferably carried out as one kind, the detection sensor includes first sensor and second sensor, described
First sensor is located at the welding rod and portalled between 116 and welding rod storage tank 117, and the second sensor is located at welding rod storage tank
117 and the 3rd between side plate 114.
Fig. 3 is referred to, the support includes the first mounting seat 211, the second mounting seat 213 and connecting plate 212, the connection
The both ends of plate 212 are connected with the first mounting seat 211 and the second mounting seat 213 respectively, have positioning in second mounting seat 213
Platform 214 and guide 215.The welding driver includes leading screw 231, connecting seat 232 and motor 233, the connecting seat
232 are connected with the threads of lead screw, and one end of the leading screw 231 is arranged in the first mounting seat 211, the other end of leading screw 231
It is arranged in the second mounting seat 213, the motor 233 is arranged in first mounting seat 211, motor 233
Output shaft is connected with the leading screw 231, and the motor 233 is used to drive leading screw to rotate, so as to drive the connecting seat 232
Moved along leading screw 231.
Fig. 3 to Fig. 5 is referred to, the grabbing assembly includes extended seat 220, positioning seat 221, ejection welding rod spring 222, folder
Tight jump ring 223 and clamping welding rod spring 224, the positioning seat 221 is fixed on the connecting seat 232, and the positioning seat 221 is
Hollow structure, the inner surface of positioning seat 221 have installation step；The extended seat 220 is hollow structure, and extended seat 220 has
Guide part, the guide part stretch into positioning seat 221 and can be relative to the stretching motions of positioning seat 221；It is described to clamp card
Spring 223 is hollow structure, and the clamping jump ring 223 is made up of closed section 225 and open section 226, one end of the closed section 225
It is connected with open section 226, the other end of closed section 225 has boss 227, and the open section 226 has the expansion outwards expanded
Portion 228, the clamping jump ring 223 are arranged in positioning seat 221, clamp the boss 227 of jump ring 223 and the installation of positioning seat 221
Step is engaged, and the part of open section 226 for clamping jump ring 223 is stretched into the guide part of the extended seat 220, described to clamp weldering
Bar spring 224, which is set in, to be clamped on jump ring 223, and described one end for clamping welding rod spring 224 offsets with the installation step, separately
One end and the end face of the guide part are offseted, and the ejection welding rod spring 222 is arranged in the closed section 225 for clamping jump ring 223,
One end of ejection welding rod spring 222 is fixed in the closed section 225 for clamping jump ring 223, and the other end is free end.
When extended seat 220 is squeezed, the forced compression of welding rod spring 224 is clamped, clamps the open section 226 of jump ring 223
Depart from the limitation for clamping welding rod spring 224 and be in releasing orientation, when clamping welding rod spring 224 is in non-compressed state, clamp
The open section 226 of jump ring 223 is limited by clamping welding rod spring 224 and is in clamped condition.
Preferably, the open section 226 for clamping jump ring 223 is enclosed by multiple flexure strips forms, two neighboring flexure strip
Between there is gap, each flexure strip has Part I and Part II, the folder between the Part I and Part II
Angle is obtuse angle, and after multiple flexure strips enclose, the Part II of all elastic forms the bulge 228 towards outside.
Preferably, the telescopic direction of the ejection welding rod spring 222 and the telescopic direction one of the clamping welding rod spring 224
Cause, it is parallel with the major axis of the leading screw 231 and relative with the guide 215 in second mounting seat 213.
Mode is preferably carried out as one kind, the welding mechanism 2 also includes back to zero sensor, the back to zero sensor peace
On the connecting plate 212, and close to second mounting seat 213；The back to zero sensor and robot control dress
Put and be connected, the welding rod 3 kept for detecting grasping mechanism in welding process, when being not detected by the welding rod 3 to institute
State robot controller and send signal, so that robot controller control welding mechanism 2 stops welding and abandoning crawl group
The welding rod 3 that part is kept.
The present embodiment has the advantage that as follows：
(1) the utility model provides the robot welding system suitable for welding rod, using welding rod delivering mechanism and welding mechanism
Coordinate, complete the automatic welding of common welding rod, the difficult point for solving common welding rod automatic welding in actual production, especially for case
The welding of body class part, it is with the obvious advantage, it can replace completely manually, improving production efficiency simultaneously reduces manufacturing cost.
(2) in the utility model, crawl, holding and the discarding of welding rod are all completed by grabbing assembly physics, capture welding rod
When fastening spring unclamp, capture welding rod after grabbing assembly rise along leading screw, grabbing assembly presss from both sides fastening spring using theory of mechanics
Tight welding rod, when welding rod welding finishes, grabbing assembly continues to decline along leading screw, unclamps fastening spring, and ejection spring makes welding rod bullet
Go out, this structure design does not need gas, electric control, has the high advantage of reliability.
(3) after grabbing assembly crawl welding rod, welding rod rises or falls along leading screw, protects positive direction, it is ensured that welding rod is not sent out
Raw bending；In addition, in welding process, welding rod exposes guide preset length all the time, can eliminate shake, improves welding quality.
Embodiment 2
The present embodiment provides a kind of welding method, implements the welding side using the robot welding system described in embodiment 1
Method, this method comprise the following steps：
S1, welding rod delivering mechanism 1 deliver to the welding rod 3 being placed in housing 11 outside housing 11；
S2, robot controller control segmental appendage driver, make segmental appendage driver drive robots arm with welding mechanism 2
It is moved to welding rod delivering mechanism 1；
S3, robot controller control welding driver, make welding driver drive grabbing assembly second to support
Mounting seat 213 moves, the front end of welding rod 3 of the crawl outside the housing 11 of welding rod delivering mechanism 1；
S4, robot controller control welding driver, make welding driver drive grabbing assembly first to support
The movement of mounting seat 211 is until reach specified location；When the grabbing assembly reaches specified location, weldering that grabbing assembly is kept
The distance between guide 215 on the rear end of bar 3 and the second mounting seat 213 is preset length；
S5, robot controller control segmental appendage driver and welding driver, make segmental appendage driver drive robots arm
Welding position is moved to welding mechanism 2 to be welded, in welding process, welding driver drives grabbing assembly to the second peace
Dress seat 213 moves, and the welding rod 3 that grabbing assembly is kept stretches out the preset length of welding mechanism 2 all the time；
In S6, welding process, when back to zero sensor does not detect the welding rod 3 that grabbing assembly is kept, back to zero sensing
Device sends signal to robot controller, and robot controller controls welding mechanism 2 to stop welding according to the signal, and
Control machine robot arm is moved to welding mechanism 2 loses welding position and puts；
S7, robot controller control welding driver, make welding driver driving grabbing assembly continue to support
Second mounting seat 213 moves, and grabbing assembly abandons kept welding rod 3.
As a preferred embodiment, the step S1 includes：
S11, welding rod 3 is positioned on oscillating plate 121；
S12, Vibration on Start-up cylinder 122, vibrating air cylinder 122 drive oscillating plate 121 to vibrate, and welding rod 3 is delivered into welding rod houses
In groove 117；
After S13, detection sensor detect the welding rod 3 in welding rod storage tank 117, welding rod sends out cylinder 125 by welding rod 3
Released from welding rod storage tank 117, make the front end of welding rod 3 through welding rod portal 116 and outside housing 11.
Wherein, in the step S3, when extended seat 220 and the phase of positioning table 214 in the second mounting seat 213 of grabbing assembly
To when, clamp the forced compression of welding rod spring 224, the open section 226 for clamping jump ring 223 departs from the limitation for clamping welding rod spring 224
And releasing orientation is in, using the front end for clamping jump ring 223 and encasing the welding rod 3 outside housing 11, so as to capture the weldering
Bar 3, when capturing welding rod 3, the forward ends thereof of welding rod 3 clamps the ejection welding rod spring 222 in jump ring 223.
In the step S4, when grabbing assembly moves along leading screw 231 to the first mounting seat 211, welding rod spring is clamped
224 are in non-compressed state, and the open section 226 for clamping jump ring 223 is limited by clamping welding rod spring 224 and in clamping
State, so as to keep the welding rod 3.
In the step S7, when extended seat 220 and the positioning table 214 in the second mounting seat 213 of grabbing assembly offset
When, clamp the forced compression of welding rod spring 224, the open section 226 for clamping jump ring 223 depart from the limitation that clamps welding rod spring 224 and
In releasing orientation, extruded ejection welding rod spring 222 resets, by welding rod 3 from the ejection clamped in jump ring 223, so as to lose
Abandon the welding rod 3.
The automatic soldering method that the present embodiment provides, coordinated using welding rod delivering mechanism and welding mechanism, complete common weldering
The automatic welding of bar, solve the difficult point of common welding rod automatic welding in actual production, especially for the welding of box parts,
It is with the obvious advantage, it can replace completely manually, improving production efficiency simultaneously reduces manufacturing cost.In the utility model, the crawl of welding rod, protect
Hold and abandon and all completed by grabbing assembly physics, fastening spring unclamps when capturing welding rod, and grabbing assembly is along silk after capturing welding rod
Thick stick rise, grabbing assembly using theory of mechanics make fastening spring clamp welding rod, when welding rod welding finish, grabbing assembly along leading screw after
It is continuous to decline, unclamp fastening spring, ejection spring ejects welding rod, and this structure design does not need gas, electric control, has reliable
The high advantage of property.After grabbing assembly crawl welding rod, welding rod rises or falls along leading screw, protects positive direction, it is ensured that welding rod is not sent out
Raw bending；In addition, in welding process, welding rod exposes guide preset length all the time, can eliminate shake, improves welding quality.
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 improvements and modifications can also be made, these improve and
Retouching also should be regarded as the scope of protection of the utility model.
Claims (7)
- A kind of 1. robot welding system, it is characterised in that including：Welding rod delivering mechanism (1), the welding rod delivering mechanism (1) include housing (11) and for that will be placed in housing (11) Welding rod (3) sends out the vibration component (12) of housing (11) outside one by one, and the vibration component (12) is arranged in housing (11)；Welding robot, the welding robot include robots arm, robot controller and welding mechanism (2), the weldering Connection mechanism (2) is fixed on the robots arm, and the robot controller is used to control the robots arm and welding Mechanism (2) acts；The robots arm has segmental appendage driver and multiple segmental appendages being sequentially connected, the segmental appendage driver and the robot Control device is connected；The welding mechanism (2) includes support, the grabbing assembly being arranged on support and for transporting grabbing assembly Dynamic welding driver, the welding driver are connected with the robot controller；The robot controller controls the segmental appendage driver by running control program, robots arm is driven bonding machine Structure (2) is mobile, and the weld assembly is used to capture from the welding rod delivering mechanism (1) and keeps welding rod (3), the robot control Device processed also controls the welding driver by running control program, makes grabbing assembly drive welding rod (3) is mobile to realize to work The welding of part, and the welding rod (3) for controlling grabbing assembly to be kept in welding process stretches out the default length of welding mechanism (2) all the time Degree.
- 2. robot welding system according to claim 1, it is characterised in that the housing (11) include bottom plate (111) with And the first side plate (112), the second side plate (113), the 3rd side plate (114) and the 4th side plate being connected with the bottom plate (111) (115), first side plate (112), the second side plate (113), the 3rd side plate (114) and the 4th side plate (115) head and the tail sequentially phase Even, relatively, the second side plate (113) and the 4th side plate (115) are relatively, described for first side plate (112) and the 3rd side plate (114) The inner surface of bottom plate (111) is provided with welding rod storage tank (117), and the welding rod storage tank (117) is close to the 4th side plate (115), second side plate (113) is provided with support member (118), and there is first side plate (112) welding rod to portal (116), The welding rod portals (116) and the welding rod storage tank (117) is coaxial；The vibration component (12) includes oscillating plate (121), vibrating air cylinder (122), detection sensor and welding rod and sends out cylinder (125), the vibrating air cylinder (122) and detection sensor are installed in the inner surface of the bottom plate (111), the oscillating plate (121) side is docked with the support member (118), and opposite side docks with the welding rod storage tank (117), oscillating plate (121) Lower surface contacted with the vibrating air cylinder (122)；The welding rod is sent out cylinder (125) and is arranged on the 3rd side plate (114), weldering Bar sends out the telescopic direction of the piston rod of cylinder (125) and the major axis of the welding rod storage tank (117) is parallel to each other.
- 3. robot welding system according to claim 2, it is characterised in that the detection sensor includes first sensor And second sensor, the first sensor are located at the welding rod and portalled (116) between welding rod storage tank (117), described Two sensors are located between welding rod storage tank (117) and the 3rd side plate (114).
- 4. robot welding system according to claim 1, it is characterised in that the support include the first mounting seat (211), Second mounting seat (213) and connecting plate (212), the both ends of the connecting plate (212) respectively with the first mounting seat (211) and second Mounting seat (213) is connected, and has positioning table (214) and guide (215) on second mounting seat (213)；The welding driver includes leading screw (231), connecting seat (232) and motor (233), the connecting seat (232) and The threads of lead screw connection, one end of the leading screw (231) are arranged in the first mounting seat (211), the other end of leading screw (231) It is arranged in the second mounting seat (213), the motor (233) is arranged on first mounting seat (211), motor (233) output shaft is connected with the leading screw (231), and the motor (233) is used to drive leading screw to rotate, so as to drive It is mobile along leading screw (231) to state connecting seat (232)；The grabbing assembly include extended seat (220), positioning seat (221), ejection welding rod spring (222), clamp jump ring (223) and Welding rod spring (224) is clamped, the positioning seat (221) is fixed on the connecting seat (232), during the positioning seat (221) is Hollow structure, the inner surface of positioning seat (221) have installation step；The extended seat (220) is hollow structure, extended seat (220) With guide part, the guide part stretches into positioning seat (221) and can be relative to the positioning seat (221) stretching motion；Institute It is hollow structure to state and clamp jump ring (223), and the clamping jump ring (223) is made up of closed section (225) and open section (226), institute The one end for stating closed section (225) is connected with open section (226), and the other end of closed section (225) has boss (227), described to open Mouth section (226) has the bulge (228) outwards expanded, and the clamping jump ring (223) is arranged in positioning seat (221), clamping The boss (227) of jump ring (223) is engaged with the installation step of positioning seat (221), clamps the open section (226) of jump ring (223) Part is stretched into the guide part of the extended seat (220), and the clamping welding rod spring (224), which is set in, to be clamped on jump ring (223), Described one end for clamping welding rod spring (224) offsets with the installation step, and the end face of the other end and the guide part offsets, institute State ejection welding rod spring (222) to be arranged in the closed section (225) for clamping jump ring (223), one end of ejection welding rod spring (222) It is fixed in the closed section (225) for clamping jump ring (223), the other end is free end；When extended seat (220) is squeezed, welding rod spring (224) forced compression is clamped, clamps the open section of jump ring (223) (226) depart from and clamp the limitation of welding rod spring (224) and be in releasing orientation, clamp welding rod spring (224) and be in uncompressed shape During state, the open section (226) for clamping jump ring (223) is limited by clamping welding rod spring (224) and is in clamped condition.
- 5. robot welding system according to claim 4, it is characterised in that the open section for clamping jump ring (223) (226) enclosed and formed by multiple flexure strips, there is gap between two neighboring flexure strip, each flexure strip have Part I and Part II, the angle between the Part I and Part II is obtuse angle, after multiple flexure strips enclose, all elastic Part II form the bulge (228) towards outside.
- 6. robot welding system according to claim 4, it is characterised in that the ejection welding rod spring (222) is stretched Direction with it is described clamping welding rod spring (224) telescopic direction it is consistent, it is parallel with the major axis of the leading screw (231), and with institute The guide (215) stated in the second mounting seat (213) is relative.
- 7. robot welding system according to claim 4, it is characterised in that the welding mechanism (2) also includes back to zero and passed Sensor, the back to zero sensor are arranged on the connecting plate (212), and close to second mounting seat (213)；The back to zero Sensor is connected with the robot controller, the welding rod (3) kept for detecting grasping mechanism in welding process, Signal is sent to the robot controller when being not detected by the welding rod (3), so that robot controller control weldering Connection mechanism (2) stops welding and abandoning the welding rod (3) that grabbing assembly is kept.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720439135.7U CN206854791U (en) | 2017-04-25 | 2017-04-25 | A kind of robot welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720439135.7U CN206854791U (en) | 2017-04-25 | 2017-04-25 | A kind of robot welding system |
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| Publication Number | Publication Date |
|---|---|
| CN206854791U true CN206854791U (en) | 2018-01-09 |
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|---|---|---|---|
| CN201720439135.7U Active CN206854791U (en) | 2017-04-25 | 2017-04-25 | A kind of robot welding system |
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| CN (1) | CN206854791U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881548A (en) * | 2017-04-25 | 2017-06-23 | 安丘市职业中等专业学校 | A kind of robot welding system and welding method |
| CN114643450A (en) * | 2022-04-22 | 2022-06-21 | 南通科邦机械有限公司 | Tank welding equipment |
| CN115106672A (en) * | 2022-08-29 | 2022-09-27 | 南通市恒瑞精密机械制造有限公司 | Automatic welding equipment for steel plates |
-
2017
- 2017-04-25 CN CN201720439135.7U patent/CN206854791U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881548A (en) * | 2017-04-25 | 2017-06-23 | 安丘市职业中等专业学校 | A kind of robot welding system and welding method |
| CN106881548B (en) * | 2017-04-25 | 2018-07-13 | 安丘市职业中等专业学校 | A kind of robot welding system and welding method |
| CN114643450A (en) * | 2022-04-22 | 2022-06-21 | 南通科邦机械有限公司 | Tank welding equipment |
| CN114643450B (en) * | 2022-04-22 | 2024-06-11 | 南通科邦机械有限公司 | Tank welding equipment |
| CN115106672A (en) * | 2022-08-29 | 2022-09-27 | 南通市恒瑞精密机械制造有限公司 | Automatic welding equipment for steel plates |
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