CN210848738U - Anti-collision welding robot - Google Patents
Anti-collision welding robot Download PDFInfo
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- CN210848738U CN210848738U CN201921976567.7U CN201921976567U CN210848738U CN 210848738 U CN210848738 U CN 210848738U CN 201921976567 U CN201921976567 U CN 201921976567U CN 210848738 U CN210848738 U CN 210848738U
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Abstract
The utility model discloses an anticollision welding robot, concretely relates to robot field, which comprises a controller, the inside of controller is equipped with the IO board, the link electricity of controller is connected with robot anticollision switch, the link difference electricity of controller is connected with demonstrator and drive unit, drive unit's output difference electricity is connected with four-axis motor band-type brake, five-axis motor band-type brake and six-axis motor band-type brake. The utility model discloses a collision signal is through transmitting for the controller to the anticollision switch of robot, the controller removes the servo messenger of all motors of robot through drive unit after enabling to, and loosen the band-type brake of four-axis motor band-type brake, five-axis motor band-type brake and six-axis motor band-type brake, realize loosening the band-type brake of four-axis motor band-type brake, five-axis motor band-type brake and six-axis motor band-type brake through control, it bumps hard being connected not hard with peripheral equipment to guarantee the robot, thereby realize protecting the purpose of welder and robot axle and frock.
Description
Technical Field
The utility model relates to a robot field, more specifically says, the utility model relates to an anticollision welding robot.
Background
The working conditions of the industrial robot are generally severe, the using environment of the arc welding robot is particularly severe in various working conditions, dust, noise, arc light and the like exist at the same time, and meanwhile, due to the complex working conditions, the operating space of the robot is generally narrow, and the tool, the welding machine power supply and the robot are compactly placed; due to the requirement of production takt, a common robot performs welding operation on one tool, and an operator performs feeding and discharging operation on a welding part on the other tool; there is a case where the robot collides with peripheral equipment during the operation of the welding robot.
However, in the prior art, in actual use, generally, a detection switch of a welding gun is turned on after the welding gun collides, and the robot stops working at the collision position; however, this process is very damaging to the welding gun and robot axes and tooling and is difficult to recover.
SUMMERY OF THE UTILITY MODEL
In order to overcome the above-mentioned defect of prior art, the embodiment of the utility model provides an anticollision welding robot, the utility model aims to solve the technical problem that: after the welding gun collides, the welding gun, the robot shaft and the tool are greatly damaged when the operation is stopped at the collision position.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an anticollision welding robot, includes the controller, the inside of controller is equipped with the IO board, the link electricity of controller is connected with robot anticollision switch, the link electricity respectively of controller is connected with demonstrator and drive unit, drive unit's output electricity respectively is connected with four-axis motor band-type brake, five-axis motor band-type brake and six-axis motor band-type brake.
Make when bumping, the robot anticollision switch sends the signal of bumping to the IO board in the controller on, the IO board transmits for the controller through bus communication, after the collision signal is received to the controller, on the one hand convey information to demonstrator display alarm information, simultaneously to IO board and drive unit conveying information, after the servo messenger who removes all motors of robot, the drive unit control loosens the band-type brake of four-axis motor, the band-type brake of five-axis motor band-type brake and six-axis motor band-type brake, in order to guarantee that robot and peripheral equipment are not the hard connection of bumping.
In a preferred embodiment, the connection end of the robot anti-collision switch is electrically connected with the input end of the IO board through an interface of the controller, so that the robot anti-collision switch can transmit collision information to the IO board in the controller, and the IO board is matched with the interface of the controller to perform information exchange with the demonstrator and the driving unit respectively.
In a preferred embodiment, the robot anti-collision switch is fixedly connected to a position where the robot is connected with the welding gun, so that after the welding gun at the tail end of the robot collides with the peripheral equipment, the robot anti-collision switch can sense the collision in time and transmit the collision information to the IO board in the controller.
In a preferred embodiment, the IO board is connected to the connection port of the controller through a data bus, so that information transmission between the controller and the IO board is facilitated.
In a preferred embodiment, the four-axis motor band-type brake, the five-axis motor band-type brake and the six-axis motor band-type brake are all used for tightly holding or releasing control over the robot axis joint, so that when the driving unit controls to release the band-type brakes of the four-axis motor band-type brake, the five-axis motor band-type brake and the six-axis motor band-type brake, the robot is in a movable hinged state, namely, when collision occurs, force can be released through the movable hinge of the robot, and the robot is not in hard-to-hard connection with peripheral equipment.
The utility model discloses a technological effect and advantage:
the collision signal is transmitted to the controller through the robot anti-collision switch, the controller transmits information to the driving unit after receiving the collision signal, after servo enabling of all motors of the robot is released, the driving unit controls and releases the four-axis motor band-type brake, the five-axis motor band-type brake and the six-axis motor band-type brake, so that the robot is in a movable hinged state, the robot is not in hard-to-hard connection with peripheral equipment, great damage to a welding gun, a robot shaft and the tooling is avoided, recovery is facilitated, the purpose of protecting the welding gun, the robot shaft and the tooling is achieved by controlling and releasing the four-axis motor band-type brake, the five-axis motor band-type brake and the six-axis motor band-type brake, compared with the prior art, the band-type brakes of the four-axis motor band-type brake, the five-axis motor band-type brake and the six-axis motor band-type brake can be controlled and released, the robot is not connected with peripheral equipment in a hard-to-hard mode, and therefore welding guns, robot shafts and tools are protected.
Drawings
Fig. 1 is the overall structure topological diagram of the present invention.
Fig. 2 is a block diagram of the overall structure control principle of the present invention.
The reference signs are: 1. a controller; 2. an IO board; 3. a robot collision avoidance switch; 4. a demonstrator; 5. a drive unit; 6. a four-axis motor brake; 7. five-axis motor band-type brakes; 8. six motor band-type brakes.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model provides an anticollision welding robot, including controller 1, the inside of controller 1 is equipped with IO board 2, the link electricity of controller 1 is connected with robot anticollision switch 3, the link difference electricity of controller 1 is connected with demonstrator 4 and drive unit 5, the output difference electricity of drive unit 5 is connected with four-axis motor band-type brake 6, five-axis motor band-type brake 7 and six-axis motor band-type brake 8.
And the connecting end of the robot anti-collision switch 3 is electrically connected with the input end of the IO board 2 through an interface of the controller 1.
And the robot anti-collision switch 3 is fixedly connected at the connecting position of the robot and the welding gun.
The IO board 2 is connected to a connection port of the controller 1 through a data bus.
The four-axis motor band-type brake 6, the five-axis motor band-type brake 7 and the six-axis motor band-type brake 8 are used for tightly holding or loosening the control on the shaft joint of the robot.
As shown in fig. 1-2, the embodiment specifically is: when collision happens, the collision signal is transmitted to an IO board 2 in a controller 1 by a robot anti-collision switch 3, the IO board 2 is transmitted to the controller 1 through bus communication, after the controller 1 receives the collision signal, on one hand, the information is transmitted to a demonstrator 4 to display alarm information, and simultaneously, the information is transmitted to the IO board 2 and a driving unit 5, after servo enabling of all motors of the robot is removed, the driving unit 5 controls and loosens a four-axis motor band-type brake 6, a five-axis motor band-type brake 7 and a six-axis motor band-type brake 8, so that the robot is in a movable hinge state, namely, when collision happens, the robot can be movably hinged to unload force, so that the robot is not in hard-to-touch connection with peripheral equipment, great damage to a welding gun, a robot shaft and a tool is avoided, and recovery is convenient, and the implementation mode particularly solves the problem that damage to the welding gun and the robot shaft and the tool is very large in the collision position after the welding gun collides in the prior art A big problem.
The utility model discloses the theory of operation:
referring to the attached drawings 1-2 of the specification, a collision signal is transmitted to a controller 1 through a robot anti-collision switch 3, the controller 1 transmits information to a driving unit 5 after receiving the collision signal, after servo enabling of all motors of the robot is released, the driving unit 5 controls and releases the four-axis motor brake 6, the five-axis motor brake 7 and the six-axis motor brake 8, so that the robot is in a movable hinged state, the robot is not in hard-to-hard connection with peripheral equipment, great damage to a welding gun, a robot shaft and a tool is avoided, recovery is facilitated, the four-axis motor brake 6, the five-axis motor brake 7 and the six-axis motor brake 8 are released through control, the robot is not in hard-to-hard connection with the peripheral equipment, and the purpose of protecting the welding gun, the robot shaft and the tool is achieved.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are referred to, and other structures can refer to the common design, and under the condition of no conflict, the same embodiment and different embodiments of the present invention can be combined with each other;
and finally: the above description is only for the preferred embodiment of the present invention and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An anticollision welding robot, includes controller (1), its characterized in that: the inside of controller (1) is equipped with IO board (2), the link electricity of controller (1) is connected with robot anti-collision switch (3), the link electricity respectively of controller (1) is connected with demonstrator (4) and drive unit (5), the output electricity respectively of drive unit (5) is connected with four-axis motor band-type brake (6), five-axis motor band-type brake (7) and six-axis motor band-type brake (8).
2. The anti-collision welding robot according to claim 1, characterized in that: and the connecting end of the robot anti-collision switch (3) is electrically connected with the input end of the IO board (2) through an interface of the controller (1).
3. The anti-collision welding robot according to claim 1, characterized in that: and the robot anti-collision switch (3) is fixedly connected at the connecting position of the robot and the welding gun.
4. The anti-collision welding robot according to claim 1, characterized in that: the IO board (2) is connected with a connection port of the controller (1) through a data bus.
5. The anti-collision welding robot according to claim 1, characterized in that: the four-axis motor band-type brake (6), the five-axis motor band-type brake (7) and the six-axis motor band-type brake (8) are used for tightly holding or loosening the control on the shaft joint of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921976567.7U CN210848738U (en) | 2019-11-15 | 2019-11-15 | Anti-collision welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921976567.7U CN210848738U (en) | 2019-11-15 | 2019-11-15 | Anti-collision welding robot |
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| Publication Number | Publication Date |
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| CN210848738U true CN210848738U (en) | 2020-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921976567.7U Active CN210848738U (en) | 2019-11-15 | 2019-11-15 | Anti-collision welding robot |
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| CN (1) | CN210848738U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113848801A (en) * | 2021-09-28 | 2021-12-28 | 浙江钱江机器人有限公司 | Collision processing method and system for welding robot |
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2019
- 2019-11-15 CN CN201921976567.7U patent/CN210848738U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113848801A (en) * | 2021-09-28 | 2021-12-28 | 浙江钱江机器人有限公司 | Collision processing method and system for welding robot |
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