CN207873397U - Man-machine collaboration robotic laser is welded and detecting system - Google Patents
Man-machine collaboration robotic laser is welded and detecting system Download PDFInfo
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- CN207873397U CN207873397U CN201820186349.2U CN201820186349U CN207873397U CN 207873397 U CN207873397 U CN 207873397U CN 201820186349 U CN201820186349 U CN 201820186349U CN 207873397 U CN207873397 U CN 207873397U
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Abstract
A kind of man-machine collaboration robotic laser welding of the utility model offer and detecting system, system include laser welding unit, cooperating robot cell and optical scanner detection unit；Wherein, centered on robot, laser welding unit is mounted on robot left front, and 3-D scanning detection unit is mounted on robot right front, and each unit is respectively positioned in robot working range；Cooperation robot cell left back is equipped with Workpiece storage platform, and products storage case is placed in optical scanner detection unit right back.The utility model uses man-machine collaboration humanoid robot, operator and robot that can share a laser-beam welding machine, the Scanning Detction of laser welding and workpiece is incorporated in a station, saves equipment, artificial and place input, improves production efficiency.
Description
Technical field
The utility model belongs to automatic welding and detection field more particularly to a kind of welding of man-machine collaboration robotic laser
And detecting system.
Background technology
In Automatic laser welding field, common welding manner is the fit applications of robot and laser-beam welding machine,
Or the fit applications of robot and detection device, and industrial robot is generally used, when use, must be provided with protection isolation
Device, when industrial machine man-hour quiescing person enters its working region.Laser-beam welding machine is just only used for automatically in this way
It is turned into industry, is not used to the occasion that part workpiece needs auxiliary welding by hand.In addition, need to detected when carrying out automatic detection
Another robot is equipped in room, more so as to cause equipment, personnel's input, occupied ground is more.
Utility model content
For the above situation, the purpose of this utility model is to provide a kind of welding of man-machine collaboration robotic laser and detections
System, it is intended to which a laser-beam welding machine can be shared by solving operator and robot, and welding robot can assist to carry out workpiece
The problem of detection.
To achieve the above object, technical solution adopted in the utility model is：It is sharp to provide a kind of man-machine collaboration robot
Photocoagulation and detecting system；System includes laser welding unit, cooperating robot cell and optical scanner detection unit three
Unit；Wherein, centered on robot, laser welding unit is mounted on robot left front, the installation of optical scanner detection unit
In robot right front, each unit is respectively positioned in robot arm impulse stroke；Cooperating robot cell left back is equipped with
Workpiece storage platform, operator by the workpiece after processing be placed on Workpiece storage platform it is first-class wait for robot capture；It is examined in optical scanner
It surveys unit right back and is placed with products storage case, qualified and defective work is placed for distinguishing.
Serial ports connection is carried out using communication cable between the laser welding unit and cooperating robot cell, passes through system
Control module carries out the transmission of operating mode signal, system acting sequence, working state signal, alert detecting signal, thus
Robot cell's cooperation is lower to complete workpiece welding.Optical scanner detection unit and cooperating robot cell are again by communicating electricity
Cable carries out serial ports connection, and system acting sequence, working state signal, alert detecting signal, inspection are carried out by system control module
The transmission for surveying judgement signal, to complete the Scanning Detction of welding position under the cooperation of cooperating robot cell.
The laser welding unit is made of laser cell, cooling unit and electronic control unit；Wherein, laser cell, cooling
Unit is attached with electronic control unit respectively；For cooling unit for maintaining laser temperature constant, electronic control unit is whole equipment
Power supply and electric control system；System is equipped with manually and automatically two kinds of operating modes, can be by being controlled in electronic control unit
Panel carries out pattern switching.
The cooperating robot cell, is made of robot and control unit；Robot uses six axis of man-machine collaboration type
Robot is simultaneously furnished with clamping jaw, configures force sensor and embedded safety system, it is not necessary that safety prevention measure is arranged, operator can
With with robot close friend's work compound.
The optical scanner detection unit, is made of graph scanning module, data processing module and control system；The number
Refer to three-dimensional measurement according to processing module and compares software；The graph scanning module include three-dimensional optical scanner and its for fixing,
The scanning auxiliary device of illumination.
Workflow：Operator adjusts each device parameter of system, state to qualification before operation；System is opened after debugging
Begin to execute weld job, operator sets system operating mode to manual mode, then holds connected components to be welded, operates laser
Connected components to be welded are welded splicing by bonding machine manually；Workpiece is placed into workpiece by operator after splicing manually and visually inspect qualification
Lodging bench designated position；After manual working, system operating mode is switched to automatic mode by operator, passes through laser welding
Button on machine control panel sends instruction to system and starts automatic job；Robot is set after receiving system command according to program
Fixed path grabbing workpiece and the welding position for being moved to laser-beam welding machine station；After robot movement in place, to laser welding
Machine sends welding instruction, and laser-beam welding machine receives instruction issue laser, and robot is moved according to the path of motion of program setting simultaneously
Start building part complete welding.After the completion of welding, laser-beam welding machine stops transmitting laser；Operator can will be after completing weld job
System operating mode is switched to the manual weld job that manual mode carries out next workpiece, and robot is not when system is in manual mode
Can be close to laser welding station, follow up scan, transport operation can be executed, origin position is moved to if subsequent job is completed
Keep standby mode.Such program setting can make operator's job safety coefficient higher.
System starts to execute Scanning Detction operation after weld job, and workpiece is moved to optical scanner and detected by robot
Station simultaneously sends job instruction to optical scanning system；Scanner emits light wave, robot control in optical scanner detection unit
Workpiece movement makes scanner complete the Scanning Detction to workpiece welding position；Optical scanner detection unit is to scanning after the end of scan
Processing is identified in data, and handling result is sent to user computer, and optical scanner detection unit is according to workpiece scanning result
It is qualified or not to robot send instruct, robot according to instruction by workpiece differentiation be positioned in products storage case.
The utility model has the beneficial effects that：Using man-machine collaboration humanoid robot, operator and robot can share one
The Scanning Detction of laser welding and workpiece is incorporated in a station by platform laser-beam welding machine, saves equipment, artificial and place is thrown
Enter, improves production efficiency.
Description of the drawings
Fig. 1 is the system material object schematic diagram of the utility model；
Fig. 2 is the system control schematic diagram of the utility model.
In figure：1, laser welding unit；2, cooperating robot cell；3, optical scanner detection unit；4, Workpiece storage
Platform；5, electronic control unit；6, laser cell；7, laser-beam welding machine control panel；8, man-machine collaboration humanoid robot；9, three-dimensional optical is swept
Retouch instrument；10, products storage case.
Specific implementation mode
It is more clear in detail in order to make the present invention describe, this programme is further described in conjunction with attached drawing.
As shown in Figure 1, 2, the utility model provides a kind of man-machine collaboration manipulator laser welding detecting system, and system includes
Laser welding unit 1, cooperating robot cell 2 and optical scanner detection unit 3；Laser welding unit 1 is mounted on robot 8
Left front, 3-D scanning detection unit are mounted on 8 right front of robot, and each unit is respectively positioned in 8 working range of robot；In people
2 left back of machine cooperating robot cell is equipped with Workpiece storage platform 4, and the workpiece after processing is placed on Workpiece storage by operator
Platform 4 is first-class to wait for that robot 8 captures；It is placed with products storage case 10 in optical scanner detection unit right back, is placed for distinguishing
Qualified and defective work.
Serial ports connection is carried out using communication cable between laser welding unit 1 and cooperating robot cell 2, passes through system control
Molding block carries out the transmission of operating mode signal, system acting sequence, working state signal, alert detecting signal, to assist
Make the lower workpiece of completing of the cooperation of humanoid robot unit 2 to weld.Optical scanner detection unit 3 is equally logical with cooperating robot cell 2
It crosses communication cable and carries out serial ports connection, system acting sequence, working state signal, alert detecting are carried out by system control module
The transmission of signal, detection judgement signal, to complete the Scanning Detction of welding position under the cooperation of cooperating robot cell.
As shown in Fig. 2, laser welding unit 1 is made of laser cell 6, cooling unit, electronic control unit 5；Wherein, laser list
Member 1, cooling unit are attached with electronic control unit 5 respectively；Cooling unit is for maintaining laser temperature constant, electronic control unit 5
It is the power supply and electric control system of whole equipment；System is equipped with manually and automatically two kinds of operating modes, can be by automatically controlled
Control panel 7 carries out pattern switching in unit 5.
As shown in Fig. 2, cooperating robot cell 2 is made of man-machine collaboration humanoid robot 8, control unit；People's cooperating
Robot 8 is using six-joint robot and is furnished with clamping jaw, configures force sensor and embedded safety system, anti-it is not necessary that safety is arranged
Shield measure, operator can be with 8 close friend's work compounds of robot.
As shown in Fig. 2, optical scanner detection unit 3 is made of data processing module, graph scanning module and control system.
Data processing module refers mainly to three-dimensional measurement and compares software, and graph scanning module includes three-dimensional optical scanner 9 and fixed, illumination
Deng scanning auxiliary device.
Claims (3)
1. a kind of man-machine collaboration robotic laser welding and detecting system, it is characterised in that：System includes laser welding unit, association
Make humanoid robot unit and optical scanner detection unit；Wherein, centered on robot, laser welding unit is mounted on robot
Left front, optical scanner detection unit are mounted on robot right front, and each unit is respectively positioned in robot arm impulse stroke；Association
Make humanoid robot unit left back and Workpiece storage platform is installed, products storage is placed in optical scanner detection unit right back
Case；
Between the laser welding unit and robot cell using communication cable carry out serial ports connection, by system control module into
The transmission of row operating mode signal, system acting sequence, working state signal, alert detecting signal；
Shown optical scanner detection unit carries out serial ports by communication cable with cooperating robot cell and connect, and passes through system control
Molding block carries out the transmission of system acting sequence, working state signal, alert detecting signal, detection judgement signal；
The laser welding unit is made of laser cell, cooling unit and electronic control unit；Wherein, laser cell, cooling unit
It is attached respectively with electronic control unit；For cooling unit for maintaining laser temperature constant, electronic control unit is the electricity of whole equipment
Power supplies and electric control system；
The cooperating robot cell, is made of robot and control unit；Robot uses six axis machine of man-machine collaboration type
People is simultaneously furnished with clamping jaw, configures force sensor and embedded safety system, and without being arranged safety prevention measure, operator can be with
Robot close friend's work compound；
The optical scanner detection unit, is made of graph scanning module, data processing module and control system；At the data
Reason module refers to three-dimensional measurement and compares software；The graph scanning module includes three-dimensional optical scanner and its for fixing, illuminating
Scanning auxiliary device.
2. a kind of man-machine collaboration robotic laser welding according to claim 1 and detecting system, it is characterised in that：It is described
Man-machine collaboration robotic laser is welded and detecting system is equipped with manually and automatically both of which, both can with manual hand manipulation,
Robot can be coordinated to execute automated job, it can be by laser-beam welding machine control panel come switch mode.
3. a kind of man-machine collaboration robotic laser welding according to claim 1 and detecting system, it is characterised in that：It is described
Cooperating robot cell is worked using man-machine collaboration humanoid robot, operator and robot in the same area, anti-without setting
Protect isolating device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820186349.2U CN207873397U (en) | 2018-02-02 | 2018-02-02 | Man-machine collaboration robotic laser is welded and detecting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820186349.2U CN207873397U (en) | 2018-02-02 | 2018-02-02 | Man-machine collaboration robotic laser is welded and detecting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207873397U true CN207873397U (en) | 2018-09-18 |
Family
ID=63509633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820186349.2U Active CN207873397U (en) | 2018-02-02 | 2018-02-02 | Man-machine collaboration robotic laser is welded and detecting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207873397U (en) |
-
2018
- 2018-02-02 CN CN201820186349.2U patent/CN207873397U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 030024 North vertical third floor of No. 4 plant in Dazhong machinery factory, 73 Heping South Road, Wanbailin District, Taiyuan City, Shanxi Province Patentee after: Shanxi Tongchuang Intelligent Manufacturing Co.,Ltd. Address before: 030000 No. 13, Yaocun Town, Jinyuan District, Taiyuan City, Shanxi Province Patentee before: SHANXI TONGCHUANG LASER ADVANCED MANUFACTURING Co.,Ltd. |
|
| CP03 | Change of name, title or address |