CN209550940U - A kind of crane lateral support robot automatic welding system - Google Patents
A kind of crane lateral support robot automatic welding system Download PDFInfo
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- CN209550940U CN209550940U CN201821723407.7U CN201821723407U CN209550940U CN 209550940 U CN209550940 U CN 209550940U CN 201821723407 U CN201821723407 U CN 201821723407U CN 209550940 U CN209550940 U CN 209550940U
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- positioner
- cylinder
- type clamp
- mtc750
- support
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Abstract
The utility model discloses a kind of crane lateral support robot automatic welding systems, it is supported including driven positioner, IRB1410 robot, MTC750 positioner, TPS4000 welding machine, welding tooling, C-type clamp cylinder, positioner rack, support cylinder, turn round lock cylinder, propulsion cylinder, workpiece positioning sensors, electrical control station, alarming device, remote-control apparatus, the front end of IRB1410 robot is arranged in the MTC750 positioner, the side of the MTC750 positioner is provided with C-type clamp, the C-type clamp cylinder is arranged in C-type clamp, the bottom of MTC750 positioner is arranged in the support cylinder.The utility model technology maturation is reliable, easy to operate, and the robot automatic welding program and electrical system suitable for the various horizontal support legs of crane are provided with perfect sensor and detection program, guarantees that welding is stablized and continues.
Description
Technical field
The utility model relates to construction machinery production technical field more particularly to a kind of crane lateral support robots certainly
Dynamic welding system.
Background technique
Currently, middle-size and small-size crane manufacturing enterprise horizontal support legs structural member is all made of human weld's production, or have simple
The welding manner of automatic vehicle, to personnel requirement height, quality control is unstable, and production environment is quite badly worked hard.In order to mention
High working efficiency reduces the labor intensity of personnel, hence it is evident that improves product quality, avoids the debugging of later period vehicle from bringing hidden danger, meet
Future development needs to research and develop a kind of crane lateral support robot automatic welding system for meeting and needing.
Utility model content
Purpose of the utility model is to solve existing minor crane manufacturing enterprise horizontal support legs structural members to be all made of
Human weld's production, or the welding manner with simple automatic vehicle, to personnel requirement height, quality control is unstable, production
The disadvantage that environment is quite badly worked hard, and a kind of crane lateral support robot automatic welding system proposed.
To achieve the goals above, the utility model adopts the technical scheme that
Crane lateral support robot automatic welding system, including the support of driven positioner, IRB1410 robot,
MTC750 positioner, welding tooling, C-type clamp cylinder, positioner rack, support cylinder, revolution lock cylinder, pushes away TPS4000 welding machine
Inlet casing, workpiece positioning sensors, electrical control station, alarming device, remote-control apparatus, the MTC750 positioner setting exist
The front end of IRB1410 robot, the side of the MTC750 positioner are provided with C-type clamp, and the C-type clamp cylinder is arranged in c-type
On folder, the bottom of MTC750 positioner is arranged in the support cylinder, and revolution lock cylinder is fixedly installed in driven positioner support
In the following, propulsion cylinder is fixedly installed in the side of MTC750 positioner.
Preferably, the remote-control apparatus includes remote control reception controller, is fixedly installed with C on remote control reception controller
Type presss from both sides solenoid valve, slave clip solenoid valve, lower support solenoid valve, promotes solenoid valve, revolution latching solenoid valve, the reflux of all valve group devices
On row, time-delay relay, power switch, shutdown switch, emergency stop/pause switch, clamping switch, second level warning combined aural and visual alarm,
System starts alarm and backup functionality button composition.
Preferably, the electrical control station includes IRC5 control cabinet, is configured with 16 DI16 roads DO2 on IRC5 control cabinet
The I O board of simulation input road simulation output mouth DSQC327A, outside IRB1410 robot control input and output with standard IO
Plate is electrically connected.
Preferably, the alarming device includes three color warning lamp of lathe, and there are two the positioner racks, MTC750 displacement
Machine is fixedly mounted on the top of one of positioner rack, and revolution lock cylinder is fixedly mounted on the top of another positioner rack
The side in portion, the driven positioner support is equipped with terminal pad, and the side of the terminal pad is fixedly installed with slave clip, described
Slave clip is equipped with switch block, and the side of the switch block is equipped with slave clip cylinder, and the piston rod of slave clip cylinder is fixedly mounted
There is cylinder pin, be fixedly installed with guide rail between the side and C-type clamp of switch block, one end of the guide rail is equipped with adjustment block and driven
Sensor is pressed from both sides, the slave clip cylinder includes cylinder head pin and cylinder head.
Preferably, the guide rail is equipped with propulsion pedestal, and the propulsion cylinder is installed on the side for promoting pedestal, described to push away
Advance frame is installed into pedestal, the C-type clamp is equipped with C-type clamp sensor, and the MTC750 positioner is equipped with 180 ° of sensings
Device and 90 ° of sensors.
Preferably, the side of the revolution lock cylinder is fixedly installed with locking pin, and the locking pin and terminal pad are installed, institute
It states and is fixedly installed with positioner crossbeam between positioner rack, the top side of the positioner crossbeam is fixedly installed under supporting leg
Portion's support, the support cylinder is installed on the top of supporting leg lower support, and the piston rod of cylinder is supported to be fixedly installed with support
Frame.
Preferably, the top other side of the guide rail is fixedly installed with upper holder block, and the top of the upper holder block and C-type clamp connect
It connects, teaching machine is installed at the top of IRC5 control cabinet, TPS4000 welding machine is installed on the side of IRC5 control cabinet.
The beneficial effects of the utility model are:
1, technology maturation is reliable, easy to operate, the robot automatic welding suitable for the various horizontal support legs of crane；
2, program and electrical system are provided with perfect sensor and detection program, guarantee that welding is stablized and continue；
3, the place required manual intervention is provided with remote-control apparatus, facilitates an operator to complete all clampings dynamic
Make；
4, dedicated welding workstation is devised, the welding production operation suitable for medium-sized batches.
Detailed description of the invention
Fig. 1 is the utility model structure diagram；
Fig. 2 is the top view of Fig. 1；
Fig. 3 program function block diagram；
Fig. 4 pneumatic system diagram；
Fig. 5 electrical control functional block diagram.
In figure: 1, driven positioner support, 2, terminal pad, 3, slave clip, 4, supporting leg lower support, 5, IRB1410 machine
People, 6, upper holder block, 7, C-type clamp cylinder；8, C-type clamp, 9, MTC750 positioner, 10, IRC5 control cabinet, 11, teaching machine, 12,
TPS4000 welding machine, 13, positioner rack, 14, positioner crossbeam, 15, support frame, 16, support cylinder, 17, locking pin, 18, return
Twist lock cylinder, 19, switch block, 20, slave clip cylinder；21, cylinder head pin, 22, cylinder head, 23, cylinder pin, 24, adjustment block, 25,
Slave clip sensor, 26, advance frame, 27, propulsion pedestal, 28, propulsion cylinder, 29, C-type clamp sensor, 30,90 ° of sensors,
31, remote control reception controller, 32, three color warning lamp of lathe, 33,180 ° of sensors.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
Referring to Fig.1-5, crane lateral support robot automatic welding system, including driven positioner support 1,
IRB1410 robot 5, MTC750 positioner 9, TPS4000 welding machine 12, welding tooling, C-type clamp cylinder 7, positioner rack 13,
Support cylinder 16, revolution lock cylinder 18, propulsion cylinder 28, workpiece positioning sensors, electrical control station, alarming device, remote control behaviour
Make device, the front end of IRB1410 robot 5 is arranged in MTC750 positioner 9, and the side of MTC750 positioner 9 is provided with C-type clamp
8, C-type clamp cylinder 7 is arranged in C-type clamp 8, and the bottom of MTC750 positioner 9 is arranged in support cylinder 16, and revolution lock cylinder 18 is solid
Dingan County is loaded on the support 1 of driven positioner in the following, propulsion cylinder 28 is fixedly installed in the side of MTC750 positioner 9.
In the present embodiment, remote-control apparatus includes remote control reception controller 31, fixed peace on remote control reception controller 31
Equipped with C-type clamp solenoid valve, slave clip solenoid valve, lower support solenoid valve, promote solenoid valve, revolution latching solenoid valve, all valve groups dress
Put back into upper stream row, time-delay relay, power switch, shutdown switch, emergency stop/pause switch, clamping switch, second level warning acousto-optic report
Alert device, system starting alarm and backup functionality button composition.
Electrical control station includes IRC5 control cabinet 10, is simulated on IRC5 control cabinet 10 configured with 16 DI16 roads DO2 defeated
Enter the I O board of 2 tunnel simulation output mouth DSQC327A, control input and output are electric with standard I O board outside IRB1410 robot 5
Property connection.
Alarming device includes three color warning lamp 32 of lathe, and there are two positioner racks 13, and MTC750 positioner 9 is fixedly mounted
At the top of a wherein positioner rack 13, the top that lock cylinder 18 is fixedly mounted on another positioner rack 13 is turned round,
The side of driven positioner support 1 is equipped with terminal pad 2, and the side of terminal pad 2 is fixedly installed with slave clip 3, and slave clip 3 is installed
There is switch block 19, the side of switch block 19 is equipped with slave clip cylinder 20, and the piston rod of slave clip cylinder 20 is fixedly installed with cylinder
Pin 23 is fixedly installed with guide rail between the side and C-type clamp 8 of switch block 19, and one end of guide rail is equipped with adjustment block 24 and slave clip
Sensor 25, slave clip cylinder 20 include cylinder head pin 21 and cylinder head 22.
Guide rail, which is equipped with, promotes pedestal 27, and propulsion cylinder 28 is installed on the side for promoting pedestal 27, and pedestal 27 is promoted to install
There is advance frame 26, C-type clamp 8 is equipped with C-type clamp sensor 29, and MTC750 positioner 9 is equipped with 180 ° of sensor 33 and 90 ° sensings
Device 30.
The side of revolution lock cylinder 18 is fixedly installed with locking pin 17, and locking pin 17 and terminal pad 2 are installed, positioner rack
Positioner crossbeam 14 is fixedly installed between 13, the top side of positioner crossbeam 14 is fixedly installed with supporting leg lower support 4, branch
Support cylinder 16 is installed on the top of supporting leg lower support 4, and the piston rod of cylinder 16 is supported to be fixedly installed with support frame 15.
The top other side of guide rail is fixedly installed with upper holder block 6, and the top of upper holder block 6 is connect with C-type clamp 8, IRC5 control
The top of cabinet 10 is equipped with teaching machine 11, and TPS4000 welding machine 12 is installed on the side of IRC5 control cabinet 10.
Working principle is as follows, and the middle part of entire MTC750 positioner 9 is provided with propulsion cylinder 5, is used to accurate propulsion zero
Part triggers relevant position sensor to latched position at this time, after system receives position sensor signal, completes pinching action.So
Program starts that MTC750 positioner 9 is made to rotate to the first welding position afterwards, and 90 ° of sensor 30 and 180 ° sensors 33 provide in place
After signal, the welding expert library that program starts to start setting in the TPS4000 welding machine 12 of IRC5 control cabinet 10 is welded.It completes
After the welding procedure of first welding position, the position that MTC750 positioner 9 rotates to 180 ° carries out the weld seam that the second welding is set
Welding.After the completion of welding, program is completed in routine call welding.System prompt welding is completed.Operator replaces workpiece, to complete
Work, simultaneity factor carry the clear gun apparatus of ABB and automatic TCP function, need to only be correspondingly arranged the clear each interface in rifle station by ABB requirement
In DSQC327A on corresponding I/O port, and the corresponding program module for calling it to provide in a program, it can be as required
Complete the correction work of clear rifle movement and automatic TCP.
After pressing power button, contactor coil obtain it is electric, contactor be attracted, by following air switch, air is opened
It closes and powers respectively to IRC5 control cabinet 10 and TPS4000 bonding machine 12, while time-delay relay starts timing in control cabinet, at this time
System starting alarm starts sound-light alarm, informs that operator's system is in starting state, after having arrived delay time, system is opened
Dynamic alarm stop alarm informs that operator can carry out subsequent operation, and remote control system begins to power with system boot, when
After detecting relevant sensor signals, remote control system can star the welding of IRB1410 robot 5, suspend IRB1410 robot 5
Welding, automated exchanged cutter workpiece operate clamping action tank, can achieve people in this way and complete clamping, automatic welding it is entire
Work.
When press start switch or remote controler on start switch, remote control reception controller set DSQC327A address bit 8
The DI (numeral input mouth) for being named as DI09START, robot system will start to execute according to the program of program MAIN entrance
Program, first program are by quick self-checking, and whether the various warning messages for detecting each sensor and output are normal, and set is each
The initial position of cylinder.Then clamping program is executed, process is that operator hangs the horizontal support legs part that pendulum is put up as required
It is filled in C-type clamp, is then shelved in lower support, operator presses the clamping button on remote control reception controller 31 or remote controler
Afterwards, solenoid valve is promoted to stretch out by horizontal support legs part advance value clamping position, at this time at the sensor and slave clip 3 at C-type clamp 8
Sensor 31 simultaneously export high level, corresponding signal is BWO, BW1, i.e. DSQC327A address bit 0,1 DI mouth, program
It incites somebody to action condition accordingly and is provided with the successive set C-type clamp cylinder 7 of corresponding timing, slave clip cylinder 20, propulsion cylinder 28 supports gas
16, revolution lock cylinder 14 is high level, and part is clamped, and correlation locking and set cylinder exit.Then MTC750 positioner 9 exists
It is rotated by 90 ° under the control of program instruction, so that workpiece is in the first welding position, turns round the sensor of 90 ° of positions setting at this time
BW2 exports high level, and program executes the welding procedure of establishment accordingly, and IRB1410 robot 5 starts to weld the first welding position
All weld seams.When the welding is completed, positioner rotates 180 °, so that workpiece is in the second welding position, turns round 180 ° of positions at this time
The sensor BW3 output high level installed, program execute all weld seams of the second welding position accordingly.It is soft after the completion of welding
Setting executes its internal positioner and is turned back to 0 ° by caller ending module in part, under horizontally-supported cylinder stretch out, return
Twist lock cylinder 18 stretches out locking revolution, the program that then C-type clamp 8 and slave clip cylinder 20 are retracted.The workpiece unlock welded, welding
Work terminates.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (7)
1. crane lateral support robot automatic welding system, including driven positioner support (1), IRB1410 robot
(5), MTC750 positioner (9), TPS4000 welding machine (12), welding tooling, C-type clamp cylinder (7), positioner rack (13), support
Cylinder (16), revolution lock cylinder (18), propulsion cylinder (28), workpiece positioning sensors, electrical control station, alarming device, remote control
Operating device, which is characterized in that the MTC750 positioner (9) setting is described in the front end of IRB1410 robot (5)
The side of MTC750 positioner (9) is provided with C-type clamp (8), and the C-type clamp cylinder (7) is arranged on C-type clamp (8), the support
Cylinder (16) setting turns round lock cylinder (18) and is fixedly installed in driven positioner support (1) in the bottom of MTC750 positioner (9)
In the following, propulsion cylinder (28) is fixedly installed in the side of MTC750 positioner (9).
2. crane lateral support robot automatic welding system according to claim 1, which is characterized in that the remote control
Operating device includes remote control reception controller (31), and C-type clamp solenoid valve, driven is fixedly installed on remote control reception controller (31)
It presss from both sides solenoid valve, lower support solenoid valve, solenoid valve, revolution latching solenoid valve, the reflux of all valve group devices is promoted to arrange upper, delay relay
Device, power switch, shutdown switch, emergency stop/pause switch, clamping switch, second level warning combined aural and visual alarm, system start alarm
It is formed with backup functionality button.
3. crane lateral support robot automatic welding system according to claim 1, which is characterized in that described electrical
Control station includes IRC5 control cabinet (10), is simulated on IRC5 control cabinet (10) configured with 16 DI16 2 tunnels of the road DO2 simulation input
The I O board of delivery outlet DSQC327A, the external control input of IRB1410 robot (5) and output are electrically connected with standard I O board.
4. crane lateral support robot automatic welding system according to claim 1, which is characterized in that the warning
Device includes three color warning lamp (32) of lathe, and there are two the positioner racks (13), and MTC750 positioner (9) is fixedly mounted on
The top of one of positioner rack (13), revolution lock cylinder (18) are fixedly mounted on the top of another positioner rack (13)
The side in portion, the driven positioner support (1) is equipped with terminal pad (2), the side of the terminal pad (2) be fixedly installed with from
Dynamic folder (3), the slave clip (3) are equipped with switch block (19), and the side of the switch block (19) is equipped with slave clip cylinder (20), and
The piston rod of slave clip cylinder (20) is fixedly installed with cylinder pin (23), fixed peace between the side and C-type clamp (8) of switch block (19)
Equipped with guide rail, one end of the guide rail is equipped with adjustment block (24) and slave clip sensor (25), the slave clip cylinder (20)
Including cylinder head pin (21) and cylinder head (22).
5. crane lateral support robot automatic welding system according to claim 4, which is characterized in that the guide rail
It is equipped with and promotes pedestal (27), the propulsion cylinder (28) is installed on the side for promoting pedestal (27), the propulsion pedestal (27)
It is equipped with advance frame (26), the C-type clamp (8) is equipped with C-type clamp sensor (29), and the MTC750 positioner (9) is equipped with
180 ° of sensors (33) and 90 ° of sensors (30).
6. crane lateral support robot automatic welding system according to claim 4, which is characterized in that the revolution
The side of lock cylinder (18) is fixedly installed with locking pin (17), and the locking pin (17) and terminal pad (2) are installed, the positioner
It is fixedly installed between rack (13) positioner crossbeam (14), the top side of the positioner crossbeam (14) is fixedly installed with branch
Leg lower support (4), support cylinder (16) is installed on the top of supporting leg lower support (4), and supports the work of cylinder (16)
Stopper rod is fixedly installed with support frame (15).
7. crane lateral support robot automatic welding system according to claim 4, which is characterized in that the guide rail
The top other side be fixedly installed with upper holder block (6), the top of the upper holder block (6) is connect with C-type clamp (8), IRC5 control cabinet
(10) it is equipped at the top of teaching machine (11), TPS4000 welding machine (12) is installed on the side of IRC5 control cabinet (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821723407.7U CN209550940U (en) | 2018-10-23 | 2018-10-23 | A kind of crane lateral support robot automatic welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821723407.7U CN209550940U (en) | 2018-10-23 | 2018-10-23 | A kind of crane lateral support robot automatic welding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209550940U true CN209550940U (en) | 2019-10-29 |
Family
ID=68298129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821723407.7U Expired - Fee Related CN209550940U (en) | 2018-10-23 | 2018-10-23 | A kind of crane lateral support robot automatic welding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209550940U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109396690A (en) * | 2018-10-23 | 2019-03-01 | 郑华 | A kind of crane lateral support robot automatic welding system |
-
2018
- 2018-10-23 CN CN201821723407.7U patent/CN209550940U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109396690A (en) * | 2018-10-23 | 2019-03-01 | 郑华 | A kind of crane lateral support robot automatic welding system |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191029 Termination date: 20201023 |