CN208304233U - A kind of robotic laser scanning welding system - Google Patents
A kind of robotic laser scanning welding system Download PDFInfo
- Publication number
- CN208304233U CN208304233U CN201820829797.XU CN201820829797U CN208304233U CN 208304233 U CN208304233 U CN 208304233U CN 201820829797 U CN201820829797 U CN 201820829797U CN 208304233 U CN208304233 U CN 208304233U
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- gear
- manipulator
- pedestal
- protective shell
- rack gear
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Abstract
The utility model discloses a kind of robotic lasers to scan welding system, belong to robot welding field, it is characterized in that: including industrial personal computer, the industrial personal computer is connected with manipulator, plumb joint is connected on the manipulator, lifting device is equipped with below the manipulator, the lifting device includes pedestal, there are two slave gears side by side for the pedestal vertical direction rotation connection, it is rotatably connected on the pedestal positioned at two from the master gear between gear, the master gear is engaged with described in two from gear respectively, the master gear axle center is fixedly connected with drive shaft, the driving shaft end connection position is in the motor at pedestal back, it is described to be fixedly connected with rotation axis from gear axis, the rotation shaft end is fixedly connected with the sector gear positioned at pedestal side, two sector gears are arranged in the same direction, two are provided between the sector gear The rack gear that side is engaged with sector gear clearly, the rack gear are fixed with manipulator, are improved manipulator short transverse and are adjusted sensitivity.
Description
Technical field
The utility model belongs to robot welding field, more specifically, it relates to a kind of scanning welding of robotic laser
System.
Background technique
The laser scanning welding device of current robot compiles welding workpiece teaching using teaching machine by operator
Then welding procedure is transferred to robot control by journey.Robot control cabinet control robot (is equipped with the machine of welding equipment
People), according to the Antiinterference workpiece of teaching.Since program is preparatory teaching, when workpiece size or installation site change
After change, robot will be partially welded still according to original teaching Antiinterference.Welding defect is caused, it is serious to will cause workpiece damage
Bad and equipment damage.
Notification number be CN106180965A Chinese patent in disclose one kind can visual identity tack weld automatically track
Intelligent welding robot, including moving trolley, lifting device, manipulator, welding gun, computer control system.Lifting device peace
Loaded in moving trolley, manipulator is installed on lifting device, and welding gun is installed on manipulator；Welding gun is fixed equipped with visual identity
Position welding seam automatic tracking device, visual identity tack weld autotracking unit include sequentially connected visual sensor, controller and
Executing agency, executing agency connect with welding gun；Computer control system is used for moving trolley, lifting device, manipulator and weldering
Rifle is controlled.
Above scheme uses set of system and can accurately be scanned to weld and control progress essence by computer
Quasi- welding, but above scheme is more suitable for being soldered the difference in height of object in the telescopic extensions of manipulator, and actual machine hand
General horizontal moving ranges are significantly larger than vertical shift range, i.e., soldered object biggish for height fall, above scheme
Operability it is inflexible, though propose the concept of lifting device, its undisclosed concrete outcome, flexibility ratio non-availability
Know.
Utility model content
In view of the deficiencies of the prior art, the purpose of this utility model is to provide a kind of robotic lasers to scan welding system
System has the advantages that increase manipulator and welding gun height adjustment range.
To realize the above-mentioned technical purpose, the utility model provides following technical solution: a kind of robotic laser scanning weldering
Welding system, including industrial personal computer, the industrial personal computer are connected with manipulator, and plumb joint, the manipulator are connected on the manipulator
Lower section is equipped with lifting device, and the lifting device includes pedestal, pedestal vertical direction rotation connection there are two side by side from
Gear is rotatably connected on the pedestal positioned at two from the master gear between gear, the master gear respectively with described in two from
Gear engagement, the master gear axle center are fixedly connected with drive shaft, the driving shaft end connection position in the motor at pedestal back,
Described to be fixedly connected with rotation axis from gear axis, the rotation shaft end is fixedly connected with the sector gear positioned at pedestal side,
Two sector gears are arranged in the same direction, and the rack gear that two sides are engaged with sector gear clearly is provided between the sector gear, institute
Rack gear is stated to fix with manipulator.
By using above-mentioned technical proposal, the rotation of motor driven master gear, master gear drives the slave gear rotation of two sides, from
Gear drives the sector gear rotation being firmly connected with it, the sector gear of two sides moving up and down with carry-over bar respectively, rack gear
On manipulator move up and down with rack gear realization, blind area is small, at the uniform velocity and automatically, it is high to remove artificial promotion robot or manipulator from
The lesser problem of moving distance is spent, it is more convenient to operate, and structure is simple, and it is low in cost, facilitate maintenance.
Preferably, the pedestal side is equipped with the limitting casing of fitting rack gear lateral surface, the limitting casing length is equal to tooth
Movement routine length.
By using above-mentioned technical proposal, sector gear is limited to the snap action of rack gear, to prevent rack gear from making because of gravity
With sector gear is detached from, supporting plate is provided with the limitting casing for holding rack gear along rack movement direction, and limitting casing is located at rack gear
Two sides play the beneficial effect for improving structural stability.
Preferably, the rack gear bottom is equipped with range sensor.
By using above-mentioned technical proposal, to prevent rack gear during rise and fall, high-precision lifting is realized,
The range sensor added can monitor height of the rack gear apart from ground the moment, so that the height for being precisely controlled manipulator on rack gear is fixed
Site achieves the beneficial effect of optimization structure.
Preferably, being equipped with protective shell at the top of the rack gear, laser vision sensor, the guarantor are equipped in the protective shell
Threading hole is equipped at the top of protective case, the protective shell inner wall is equipped with the pulling thread base being fixed in the middle part of protective shell, the protective shell inner wall
Equipped with the plug socket for being located at protective shell bottom side.
By using above-mentioned technical proposal, because robot welding process is to first pass through laser vision sensor to carry out image
Scanning, then welded, the protective shell added can prevent the waste material to splash in welding from directly contacting laser vision sensor, thus
Laser vision sensor is protected, threading hole is routed through for connection laser vision sensor, and by pulling thread base into
The secondary fixation of row, then by plug socket fixed laser visual sensor, to improve the company of laser vision sensor and protective shell
Connect tautness.
Preferably, the plug socket side offers sliding slot, the sliding slot is bonded for the tail portion of laser vision sensor
Sliding.
By using above-mentioned technical proposal, sliding slot carries out grafting convenient for laser vision sensor, to improve laser video
Feel the grafting convenient degree of sensor.
Preferably, the protective shell offers the searchlighting mouth inside connective protection shell close to one end of plug socket, it is described
Searchlighting opening's edge protective shell length direction is extended with arc protective cover.
By using above-mentioned technical proposal, for the observation visual angle for improving laser vision sensor, arc protective cover is by surrounding
The angular image for being not required to detection is blocked, so that laser vision sensor only receives the image for being soldered one side of object, is improved
Acquire the precision of image.
Described in synthesis, the utility model is had the advantage that
1, motor driven master gear rotates, and master gear drives the slave gear rotation of two sides, drives the company of being secured to from gear
The sector gear rotation connect, the sector gear of two sides moving up and down with carry-over bar respectively, the manipulator on rack gear is with rack gear
Realization moves up and down, and blind area is small, and at the uniform velocity and automatically, it is more convenient to operate；
2, laser vision sensor carries out image scanning, and the protective shell added can prevent the waste material to splash in welding from directly connecing
Laser vision sensor is touched, to protect to laser vision sensor, line of the threading hole for connection laser vision sensor
Road passes through, and carries out secondary fixation by pulling thread base, then by plug socket fixed laser visual sensor, to improve laser video
Feel the connection tautness of sensor and protective shell.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the present embodiment；
Fig. 2 is in the present embodiment for showing the structural schematic diagram of sector gear；
Fig. 3 is in the present embodiment for showing the structural schematic diagram of lifting device；
Fig. 4 is in the present embodiment for showing the structural schematic diagram of limitting casing；
Fig. 5 is in the present embodiment for showing the structural schematic diagram of protection block.
In figure, 1, industrial personal computer；2, manipulator；21, plumb joint；3, lifting device；31, pedestal；32, from gear；33, main tooth
Wheel；34, drive shaft；35, motor；36, rotation axis；37, sector gear；38, rack gear；39, limitting casing；4, range sensor；5,
Protective shell；52, threading hole；53, pulling thread base；54, plug socket；55, sliding slot；56, searchlighting mouth；57, arc protective cover.
Specific embodiment
The utility model is described in further detail below in conjunction with attached drawing.
Embodiment: a kind of robotic laser scanning welding system, as shown in Figure 1, including industrial personal computer 1, industrial personal computer 1 is connected with
Manipulator 2 is connected with plumb joint 21 on manipulator 2, and lifting device 3 is equipped with below manipulator 2, and lifting device 3 includes pedestal 31.
As shown in Figure 2 and Figure 3, the rotation connection of 31 vertical direction of pedestal is rotated on pedestal 31 there are two slave gear 32 side by side
Be connected be located at two from the master gear 33 between gear 32, master gear 33 is engaged with two from gear 32 respectively, 33 axis of master gear
The heart is fixedly connected with drive shaft 34, and the connection of 34 end of drive shaft is located at the motor 35 at 31 back of pedestal, fixes from 32 axle center of gear
It is connected with rotation axis 36,36 end of rotation axis is fixedly connected with the sector gear 37 positioned at 31 side of pedestal, two sector gears 37
Setting in the same direction, is provided with the rack gear 38 (with reference to Fig. 1) engage clearly with sector gear 37 two sides between sector gear 37, rack gear 38 and
Manipulator 2 (referring to Fig. 1) is fixed.Motor 35 drives master gear 33 to rotate, and master gear 33 drives the slave gear 32 of two sides to rotate, from
Gear 32 drives the sector gear 37 that is firmly connected with it to rotate, and the sector gear 37 of two sides on carry-over bar 38 respectively with moving down
Dynamic, the manipulator 2 on rack gear 38 is realized with rack gear 38 to be moved up and down, and blind area is small, at the uniform velocity and automatically, it is mechanical to remove artificial promotion from
Hand 2 or manipulator 2 are highly mobile apart from lesser problem, and it is more convenient to operate, and structure is simple, low in cost, facilitate maintenance.
As Figure 1 and Figure 4, sector gear 37 is limited to the snap action of rack gear 38, to prevent rack gear 38 due to gravity
It is detached from sector gear 37,31 side of pedestal is equipped with the limitting casing 39 of fitting 38 lateral surface of rack gear, and 39 length of limitting casing is equal to rack gear
38 movement routine length.Supporting plate is provided with the limitting casing 39 for holding rack gear 38, limitting casing 39 along 38 direction of motion of rack gear
Positioned at 38 two sides of rack gear, structural stability is improved.
As shown in Figure 1, realizing high-precision lifting, 38 bottom of rack gear to prevent rack gear 38 during rise and fall
Portion is equipped with range sensor 4, and range sensor 4 can monitor height of the rack gear 38 apart from ground the moment, to be precisely controlled rack gear
The altitude location point of manipulator 2 on 38.
As shown in Figure 4, Figure 5, because robot welding process be first pass through laser vision sensor carry out image scanning, then
It is welded, protective shell 5 is equipped at the top of rack gear 38, laser vision sensor is equipped in protective shell 5, is equipped with and wears at the top of protective shell 5
String holes 52,5 inner wall of protective shell are equipped with the pulling thread base 53 for being fixed on 5 middle part of protective shell, and 5 inner wall of protective shell, which is equipped with, is located at protective shell 5
The plug socket 54 of bottom side.Protective shell 5 can prevent the waste material to splash in welding from directly contacting laser vision sensor, thus to swashing
Light vision sensor is protected, and threading hole 52 is routed through for connection laser vision sensor, and by pulling thread base 53 into
The secondary fixation of row, then by 54 fixed laser visual sensor of plug socket, to improve laser vision sensor and protective shell 5
Connect tautness.
As shown in figure 5,54 side of plug socket offers sliding slot 55, sliding slot 55 is bonded for the tail portion of laser vision sensor and slides
It moves.Sliding slot 55 carries out grafting convenient for laser vision sensor, to improve the grafting convenient degree of laser vision sensor.Protection
Shell 5 offers the searchlighting mouth 56 inside connective protection shell 5 close to one end of plug socket 54, and searchlighting mouth 56 is along protective shell 5 from height
Degree direction is extended with arc protective cover 57.
For improve laser vision sensor observation visual angle, arc protective cover 57 by surrounding be not required to detection angular image into
Row blocks, so that laser vision sensor only receives the image for being soldered one side of object, improves the precision of acquisition image.
This specific embodiment is only the explanation to the utility model, is not limitations of the present invention, ability
Field technique personnel can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but
As long as all by the protection of Patent Law in the scope of the claims of the utility model.
Claims (6)
1. a kind of robotic laser scans welding system, it is characterised in that: including industrial personal computer (1), the industrial personal computer (1) is connected with
Manipulator (2) is connected with plumb joint (21) on the manipulator (2), is equipped with lifting device (3) below the manipulator (2), institute
Stating lifting device (3) includes pedestal (31), the slave gear (32) that there are two pedestal (31) the vertical direction rotation connections side by side,
Be rotatably connected on the pedestal (31) positioned at two from the master gear (33) between gear (32), the master gear (33) respectively with
It is engaged described in two from gear (32), master gear (33) axle center is fixedly connected with drive shaft (34), the drive shaft (34)
End connection is located at the motor (35) at pedestal (31) back, described to be fixedly connected with rotation axis (36), institute from gear (32) axle center
It states rotation axis (36) end and is fixedly connected with the sector gear (37) positioned at pedestal (31) side, two sector gears (37) are same
To setting, the rack gear (38) engaged clearly with sector gear (37) two sides, the rack gear are provided between the sector gear (37)
(38) fixed with manipulator (2).
2. a kind of robotic laser according to claim 1 scans welding system, it is characterised in that: the pedestal (31) one
Side is equipped with the limitting casing (39) of fitting rack gear (38) lateral surface, and it is long that limitting casing (39) length is equal to rack gear (38) movement routine
Degree.
3. a kind of robotic laser according to claim 2 scans welding system, it is characterised in that: rack gear (38) bottom
Portion is equipped with range sensor (4).
4. a kind of robotic laser according to claim 3 scans welding system, it is characterised in that: rack gear (38) top
Portion is equipped with protective shell (5), and laser vision sensor is equipped in the protective shell (5), is equipped with threading hole at the top of the protective shell (5)
(52), protective shell (5) inner wall is equipped with the pulling thread base (53) being fixed in the middle part of protective shell (5), and protective shell (5) inner wall is set
There is the plug socket (54) positioned at protective shell (5) bottom side.
5. a kind of robotic laser according to claim 4 scans welding system, it is characterised in that: the plug socket (54)
Side offers sliding slot (55), and the sliding slot (55) is bonded sliding for the tail portion of laser vision sensor.
6. a kind of robotic laser according to claim 5 scans welding system, it is characterised in that: the protective shell (5)
The internal searchlighting mouth (56) of connective protection shell (5) is offered close to the one end of plug socket (54), the searchlighting mouth (56) is along protection
Shell (5) length direction is extended with arc protective cover (57).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820829797.XU CN208304233U (en) | 2018-05-30 | 2018-05-30 | A kind of robotic laser scanning welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820829797.XU CN208304233U (en) | 2018-05-30 | 2018-05-30 | A kind of robotic laser scanning welding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208304233U true CN208304233U (en) | 2019-01-01 |
Family
ID=64715799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820829797.XU Expired - Fee Related CN208304233U (en) | 2018-05-30 | 2018-05-30 | A kind of robotic laser scanning welding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208304233U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109622388A (en) * | 2019-01-11 | 2019-04-16 | 合肥飞企互联科技有限公司 | A kind of intelligent sorting equipment |
-
2018
- 2018-05-30 CN CN201820829797.XU patent/CN208304233U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109622388A (en) * | 2019-01-11 | 2019-04-16 | 合肥飞企互联科技有限公司 | A kind of intelligent sorting equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190101 Termination date: 20200530 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |