CN211708453U - Welding robot system for practical training - Google Patents
Welding robot system for practical training Download PDFInfo
- Publication number
- CN211708453U CN211708453U CN201922203691.6U CN201922203691U CN211708453U CN 211708453 U CN211708453 U CN 211708453U CN 201922203691 U CN201922203691 U CN 201922203691U CN 211708453 U CN211708453 U CN 211708453U
- Authority
- CN
- China
- Prior art keywords
- welding
- robot
- workpiece
- positioner
- tool
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a robot system for practical training, in particular to a welding robot system for practical training, which comprises a demonstrator, a robot, a welding gun, a clamping jaw, a male quick-change tool disc and a female quick-change tool disc, wherein the robot is a six-axis industrial robot or a seven-axis industrial robot with an external shaft, the male quick-change tool disc is arranged at the tail end of the robot, and the demonstrator is connected with the robot; the welding fixture also comprises a workpiece to be welded; the welding work piece warehouse is internally provided with work pieces to be welded; the welding fixing table is used for fixing a workpiece to be welded; the welding tool library is internally provided with a welding gun and a clamping jaw, and the welding gun and the clamping jaw are both provided with a female quick-change tool plate; the teach pendant is used for controlling the robot, the welding gun and the clamping jaw. The welding robot system for practical training is closely connected with practical application, and can be used for carrying out automatic programming training aiming at the whole welding process, so that students have independent welding programming skills.
Description
Technical Field
The utility model relates to a real robot system that uses of instructing especially real welding robot system that uses of instructing.
Background
Along with the increase of automation demand, the robot is more and more applied to in the production, especially in the welding field, and automatic weld can guarantee stable welding quality to can increase substantially welding efficiency. However, the equipment using the robot needs a certain professional skill, and the robot can be automatically operated after being programmed. Training of the operator is therefore required in order to quickly master the relevant skills.
Most of the existing robot training is stopped on books, although some training is carried out by using robots, the equipment can only carry out simple welding simulation, namely, the equipment can only simulate the movement of the robots during welding, and is disconnected from practical application, and trainees cannot independently train programming of robot welding.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem, the utility model provides a contact closely with practical application, can carry out automated programming's training to whole welding procedure, make the student possess the real standard of independent welding programming technical ability and use welding robot system, concrete technical scheme is:
the welding robot system for practical training comprises a demonstrator, a robot, a welding gun, a clamping jaw, a male quick-change tool disc and a female quick-change tool disc, wherein the robot is a six-axis industrial robot or a seven-axis industrial robot with an external axis, the male quick-change tool disc is arranged at the tail end of the robot, and the demonstrator is connected with the robot; the welding fixture also comprises a workpiece to be welded; the welding work piece warehouse is internally provided with work pieces to be welded; the welding fixing table is used for fixing a workpiece to be welded; the welding tool library is internally provided with a welding gun and a clamping jaw, and the welding gun and the clamping jaw are both provided with a female quick-change tool plate; the teach pendant is used for controlling the robot, the welding gun and the clamping jaw.
Furthermore, the robot motion monitoring system further comprises a video acquisition system, and the video acquisition system is used for acquiring the motion process of the robot and archiving the motion process.
Further, a welding clamping cylinder and a welding fixed block are arranged on the welding fixed table, a welding movable block is arranged on the welding clamping cylinder, the welding movable block and the welding fixed block are arranged oppositely, V-shaped grooves are formed in the welding movable block and the welding fixed block, and the welding clamping cylinder is connected with a demonstrator; the female quick-change tool plate is arranged on a tool positioning plate, and two ends of the tool positioning plate are provided with first positioning holes; the welding tool library comprises a welding tool rack and a tool pin; the tool pins are fixed at the top of the welding tool rack and correspond to the first positioning holes; the first positioning holes at two ends of the tool positioning plate are movably inserted in two adjacent tool pins, and the tool positioning plate is pressed on the top of the welding tool rack.
The welding positioner comprises a positioner base plate; the two position changing machine supports are fixed on the position changing machine base plate and are oppositely arranged; the positioner bearing seat is fixed on the positioner bracket; the positioner connecting shaft is arranged on a positioner bearing seat; the bottom of the positioner connecting plate is arranged on two sides of the welding fixing table, and a positioner connecting shaft is arranged at the top of the positioner connecting plate; the positioner motor is fixed on the positioner bracket and is connected with the positioner connecting shaft, the positioner motor is a servo motor, and the positioner motor is connected with the demonstrator.
Further, the welding workpiece library comprises a welding workpiece fixing bottom plate; the welding workpiece fixing plate is fixed on a welding workpiece fixing bottom plate and is obliquely arranged, a welding workpiece groove is formed in the welding workpiece fixing plate, and the workpiece to be welded is movably inserted into the welding workpiece groove; and the welding workpiece supporting plates are fixed on two sides of the welding workpiece fixing plate and are connected with the welding workpiece fixing bottom plate.
Further, the welding device further comprises a workpiece adsorption strong magnet, wherein the workpiece adsorption strong magnet is fixed in the welding workpiece groove, and the workpiece adsorption strong magnet is used for detachably fixing the workpiece to be welded in the welding workpiece groove.
The welding fixture further comprises movable clamping plates, the movable clamping plates are symmetrically positioned on the welding workpiece fixing plate, a plurality of fixed grooves and first strong magnets are arranged on the movable clamping plates, a plurality of second strong magnets are arranged on the welding workpiece fixing plate, and the second strong magnets correspond to the first strong magnets one by one;
the bottom of a workpiece to be welded is provided with positioning rings, two sides of the outer circle surface of each positioning ring are symmetrically provided with unhooking grooves, the unhooking grooves are parallel to each other, the positioning rings are clamped in the two fixing grooves, and the unhooking grooves are used for the positioning rings to pull out the two fixing grooves.
Further, the teaching demonstration device further comprises a simulation workstation, wherein the simulation workstation comprises a computer, and the computer is connected with the demonstrator; and the off-line programming and simulation software is installed on the computer and used for generating a robot off-line program and guiding the robot off-line program into the demonstrator to carry out operation debugging on the welding robot system for practical training.
The checking method of the welding robot for the practical training checks through the welding robot system for the practical training, and comprises the following steps:
s110, controlling the robot to move to a welding tool library through a demonstrator, installing a clamping jaw at the tail end of the robot, switching a tool coordinate system to a clamping jaw coordinate system on the demonstrator, controlling the robot and the clamping jaw to move a workpiece to be welded from the welding workpiece library to a welding fixing table through the demonstrator, and controlling a welding clamping cylinder to clamp the workpiece to be welded through the demonstrator;
s120, controlling the robot to move to a welding tool library through a demonstrator, installing a welding gun at the tail end of the robot, switching a tool coordinate system to a welding gun coordinate system on the demonstrator, controlling the robot to move the welding gun to a proper posture through the demonstrator, aligning the welding gun with a welding seam starting point of a workpiece to be welded, recording the current posture of the robot in a program of the demonstrator in a teaching mode, simultaneously inserting an instruction for starting a digital signal state of the welding gun into the program output quantity, and setting parameters such as voltage and current of the welding gun;
s130, dispersing the welding seam into a plurality of welding points along the welding track, controlling the robot through a demonstrator to drive a welding gun to move along the welding track, sequentially coinciding with the welding points, and simultaneously sequentially recording the current pose of the robot in a program of the demonstrator in a teaching mode;
s140, moving the welding gun to a proper posture through a demonstrator, aligning the welding gun with a welding seam end point to be welded, simultaneously recording the current posture of the robot in a demonstrator program in a teaching mode, and inserting an instruction for closing the digital output signal state of the welding gun into the program;
and S150, automatically operating the welding program recorded in the demonstrator, and if the welding robot system for practical training is normally started and closed, a welding gun has no interference with a welding seam, no movement pause, high coincidence degree with the welding seam, or no defects of pores, slag inclusion, arc pit cracks, electric arc abrasion and the like on the welding surface, evaluating that the welding robot system is qualified, or else, evaluating that the welding robot system is unqualified.
The checking method of the welding robot for the practical training checks through the welding robot system for the practical training, and comprises the following steps:
s210, enabling the welding positioner to rotate to a zero position through a demonstrator, controlling the robot to move to a welding tool library through the demonstrator, installing a clamping jaw at the tail end of the robot, switching a tool coordinate system into a clamping jaw coordinate system on the demonstrator, then controlling the robot and the clamping jaw to move a workpiece to be welded from a welding workpiece library to a welding fixing table through the demonstrator, and controlling a welding clamping cylinder to clamp the workpiece to be welded;
s220, controlling the robot to move to a welding tool library through a demonstrator, replacing a clamping jaw with a welding gun, switching a clamping jaw coordinate system to a welding tool coordinate system on the demonstrator, controlling the robot to move the welding gun to a proper posture through the demonstrator so that the welding gun is aligned with a welding seam starting point of a workpiece to be welded, recording the current posture of the robot in a program of the demonstrator in a teaching mode, simultaneously inserting an instruction for starting a digital signal state of the welding gun into the program output quantity, setting parameters such as voltage and current of the welding gun, and setting linkage parameters such as a relative position, a movement speed and a movement range of a welding positioner on the demonstrator;
s230, dispersing the welding seam into a plurality of welding points along the welding track, controlling the robot through a demonstrator to drive the welding gun to move along the welding track and sequentially coincide with the welding points, and simultaneously sequentially recording the current pose of the robot and the pose of the welding positioner in a program of the demonstrator in a teaching mode;
s240, moving the welding gun to a proper posture through a demonstrator, aligning the welding gun with a welding seam end point to be welded, simultaneously recording the current posture of the robot in a demonstrator program in a demonstration mode, and inserting an instruction for closing the digital output signal state of the welding gun into the program;
and S250, automatically operating the welding program recorded in the demonstrator, and if the welding robot system for practical training is normally started and closed, the robot keeps linkage with the welding positioner, a welding gun has no interference with a welding line, no pause in movement, high contact ratio with the welding line or no defects such as pores, slag inclusion, arc pit cracks, electric arc abrasion damage and the like on the welding surface, evaluating as qualified, otherwise, evaluating as unqualified.
The checking method of the welding robot for the practical training checks through the welding robot system for the practical training, and comprises the following steps:
s310, sequentially setting an installation clamping jaw, a clamping jaw coordinate system, a moving track of a workpiece to be welded, which moves from a welding workpiece library to a welding fixed table, a welding clamping cylinder start command, a clamping jaw replacement command for replacing a welding gun and a welding gun coordinate system in an off-line programming and simulation software;
s320, setting the pose parameters of the welding positioner to be zero positions in off-line programming and simulation software, and setting parameters of the welding positioner, such as the rotating speed, the rotating angle and the like linked with a welding gun;
s330, specifying a starting point and an end point of a welding seam in off-line programming and simulation software, setting a command for starting or closing a digital output quantity signal state of the welding gun, and setting parameters such as voltage and current of the welding gun;
s340, dispersing the welding seam into a plurality of welding points along the welding track in the off-line programming and simulation software, and automatically generating corresponding robot poses to enable the tail end of a welding gun installed on the robot to be sequentially aligned with the welding points;
s350, generating a welding program executable by the robot in the off-line programming and simulation software, sending the welding program to a demonstrator, loading and running the welding program on the demonstrator, observing the posture of the robot in the running process, manually modifying the improper posture, and then storing the welding program;
and S360, automatically operating the welding program stored after modification in the step S350, and if the welding robot system for practical training is normally started and closed, the robot keeps linkage with the welding positioner, the welding gun has no interference with the welding seam, no pause in movement, high contact ratio with the welding seam, or the welding surface has no defects of pores, slag inclusion, arc pit cracks, electric arc abrasion and the like, evaluating the welding robot system as qualified, or else, evaluating the welding robot system as unqualified.
Compared with the prior art the utility model discloses following beneficial effect has:
the utility model provides a real standard is closely associated with practical application with welding robot system, can carry out automated programming's training to whole welding procedure, makes the student possess independent welding programming technical ability.
Drawings
Fig. 1 is a perspective view of a welding robot system for practical training;
fig. 2 is a top view of a welding robot system for practical training;
FIG. 3 is a schematic diagram of a welding workpiece library;
FIG. 4 is a schematic structural view of a weld positioner;
FIG. 5 is a schematic diagram of a welding tool library;
fig. 6 is a schematic view of the structure of the welding gun.
Detailed Description
The present invention will now be further described with reference to the accompanying drawings.
Example one
As shown in fig. 1 to 6, the welding robot system for practical training comprises a demonstrator, a robot 1, a welding gun 43, a clamping jaw 46, a male quick-change tool plate and a female quick-change tool plate 44, wherein the robot 1 is a six-axis industrial robot 1 or a seven-axis industrial robot 1 with an external axis, the male quick-change tool plate is mounted at the tail end of the robot 1, and the demonstrator is connected with the robot 1; also comprises a workpiece 5 to be welded; the welding work piece warehouse 2 is internally provided with a work piece 5 to be welded; a welding fixing table 31, wherein the welding fixing table 31 is used for fixing the workpiece 5 to be welded; the welding tool library 4 is provided with a welding gun 43 and a clamping jaw 46, and the welding gun 43 and the clamping jaw 46 are provided with a female quick-change tool disc 44; the teach pendant is used to control robot 1, welding gun 43 and gripping jaws 46.
Specifically, the welding gun 43 is used for simulating a welding track and controlling start and stop of welding, and actual welding or simulated welding can be performed.
A welding clamping cylinder 37 and a welding fixed block 39 are arranged on the welding fixed table 31, a welding movable block 38 is arranged on the welding clamping cylinder 37, the welding movable block 38 is arranged opposite to the welding fixed block 39, V forming grooves are formed in the welding movable block 38 and the welding fixed block 39, the welding clamping cylinder 37 is connected with a demonstrator, and the welding clamping cylinder 37 is a double-shaft cylinder; the female quick-change tool plate 44 is mounted on a tool positioning plate 45, and first positioning holes are formed in two ends of the tool positioning plate 45.
The welding tool magazine 4 includes a welding tool magazine base plate 41; the welding tool library upright columns 42 are fixed on the welding tool library bottom plate 41, and the number of the welding tool library upright columns 42 is not less than two; the tool pin 47, the said tool pin 47 is fixed on the pillar stand 42 of the welding tool storehouse; the first positioning holes at two ends of the tool positioning plate 45 are movably inserted into two adjacent tool pins 47, and the tool positioning plate 45 is pressed on the tops of two adjacent welding tool library columns 42.
The tool pins 47 facilitate positioning and securing of the tool positioning plate 45.
The double-shaft cylinder enables the structure of the clamping device to be simple, the V is formed to be convenient for fixing the workpiece 5 to be welded, and the position is fixed.
The welding positioner 3 comprises a positioner bottom plate 35; the number of the positioner supports 32 is two, and the positioner supports 32 are fixed on the positioner base plate 35 and are arranged oppositely; the positioner bearing seat 33 is fixed on the positioner bracket 32; the positioner connecting shaft 36 is arranged on the positioner bearing seat 33; the bottom of the positioner connecting plate 34 is arranged on two sides of the welding and fixing table 31, and a positioner connecting shaft 36 is arranged at the top of the positioner connecting plate 34; the positioner motor is fixed on the positioner bracket 32 and is connected with the positioner connecting shaft 36, the positioner motor is a servo motor, and the positioner motor is connected with the demonstrator.
The welding positioner 3 is used for realizing complex curved surface welding and can also realize welding without dead angles, namely, the welding positioner is matched with the robot 1 to rotate the back of a workpiece 5 to be welded, which cannot be directly contacted by a welding gun 43 at the tail end of the robot 1, to a welding range, so that continuous welding of complex welding seams is realized.
The servo motor can accurately control the position and the speed, and has feedback to facilitate the control of the demonstrator.
The welding workpiece library 2 comprises a welding workpiece fixing bottom plate 23; the welding workpiece fixing plate 21 is fixed on a welding workpiece fixing bottom plate 23, the welding workpiece fixing plate 21 is obliquely arranged, a welding workpiece groove 24 is formed in the welding workpiece fixing plate 21, and the to-be-welded workpiece 5 is movably inserted into the welding workpiece groove 24; and the welding workpiece supporting plates 22 are fixed on two sides of the welding workpiece fixing plate 21, and are connected with the welding workpiece fixing bottom plate 23.
The tool fixing plate is obliquely arranged, so that the space can be saved, and meanwhile, the tool to be welded can be fixed in the welding workpiece groove 24 under the action of gravity and does not fall off. The welding workpiece groove 24 enables the workpiece 5 to be welded to be fixed simply and to be grabbed conveniently.
The welding device further comprises a workpiece adsorption strong magnet, the workpiece adsorption strong magnet is fixed in the welding workpiece groove 24, and the workpiece adsorption strong magnet is used for detachably fixing the workpiece 5 to be welded in the welding workpiece groove 24.
The workpiece adsorbs strong magnetism to further improve the stability of the workpiece 5 to be welded in the welding workpiece groove 24 and prevent the workpiece 5 to be welded from automatically falling off.
The welding fixture comprises a welding workpiece fixing plate 21 and is characterized by further comprising movable clamping plates 25, wherein the movable clamping plates 25 are symmetrically arranged on the welding workpiece fixing plate 21, a plurality of fixed grooves and first strong magnets are arranged on the movable clamping plates 25, a plurality of second strong magnets are arranged on the welding workpiece fixing plate 21, and the second strong magnets correspond to the first strong magnets one by one; positioning rings 51 are arranged at the bottoms of workpieces 5 to be welded, unhooking grooves 52 are symmetrically arranged on two sides of the outer circular surface of each positioning ring 51, the unhooking grooves 52 are parallel to each other, the positioning rings 51 are used for being clamped in the two fixing grooves, and the unhooking grooves 52 are used for enabling the positioning rings 51 to be pulled out of the two fixing grooves.
The movable clamping plate 25 is used for fixing the workpiece 5 to be welded, the positioning ring 51 of the workpiece 5 to be welded is inserted between the upper fixing groove and the lower fixing groove, the workpiece 5 to be welded is not prone to falling off, after the clamping jaw 46 grabs the workpiece 5 to be welded, the workpiece 5 to be welded needs to be rotated, the unhooking groove 52 is parallel to the fixing grooves, the workpiece 5 to be welded can be pulled out, and the practical training difficulty is improved. The movable clamping plate 25 is fixed on the welding tool fixing plate through strong magnetism, when the process that the student grabs the part is incorrect, the clamping jaw 46, the robot 1 or the welding tool library 4 cannot be damaged, and the movable clamping plate 25 can be separated from the welding workpiece fixing plate 21.
The simulation system also comprises a simulation workstation, wherein the simulation workstation comprises a computer, and the computer is connected with the demonstrator; and the off-line programming and simulation software is installed on the computer and used for generating a robot off-line program and guiding the robot off-line program into the demonstrator to carry out operation debugging on the welding robot system for practical training.
The robot motion monitoring system further comprises a video acquisition system, and the video acquisition system is used for acquiring the motion process of the robot and archiving the motion process. The video acquisition system records the process of the robot operated by the student, so that the evaluation of the operation process in the later period is facilitated. A camera of the video acquisition system is arranged above the robot to shoot the motion process of the robot.
The welding training process of the welding robot system for training comprises the following steps:
1. putting a workpiece 5 to be welded into a welding workpiece library 2 in advance, moving the robot 1 to a welding tool library 4, and mounting a clamping jaw 46 on the robot 1;
2. the welding positioner 3 is located at a horizontal initial position, the robot 1 uses the clamping jaw 46 to grab the workpiece 5 to be welded, the workpiece 5 to be welded is placed on the welding fixing table 31, the clamping jaw 46 releases the workpiece 5 to be welded, the welding clamping cylinder 37 is started, and the welding clamping cylinder 37 fixes the workpiece 5 to be welded on the welding positioner 3;
3. the robot 1 moves to the welding tool magazine 4 to replace the gripper 46 with the welding gun 43;
4. the robot 1 drives the welding gun 43 to move to the starting point of the welding seam of the workpiece 5 to be welded on the welding positioner 3, then the arc starting is simulated, and the robot cooperates with the welding positioner 3 to complete the movement along the welding track;
5. after the simulation welding is finished, the robot 1 moves to the welding tool library 4, and the welding gun 43 is replaced by a clamping jaw 46;
6. the welding clamping cylinder 37 loosens the welded workpiece;
7. the robot 1 moves to a preparation point at the upper end of the welding positioner 3, then a welded workpiece is grabbed and placed back to the welding workpiece library 2;
8. the above procedure is repeated to complete the welding of a plurality of workpieces 5 to be welded.
The trainee can do actual welding training after being skilled. The annular welding, the linear welding, the curved surface welding and the like can be carried out.
Example two
The checking method of the welding robot for the practical training checks through the welding robot system for the practical training, and comprises the following steps:
s110, controlling the robot 1 to move to a welding tool library 4 through a demonstrator, installing a clamping jaw 46 at the tail end of the robot 1, switching a tool coordinate system to a clamping jaw coordinate system on the demonstrator, then controlling the robot 1 and the clamping jaw 46 to move a workpiece 5 to be welded from a welding workpiece library 2 to a welding fixed table 31 through the demonstrator, and controlling a welding clamping cylinder 37 to clamp the workpiece 5 to be welded through the demonstrator;
s120, controlling the robot 1 to move to a welding tool library 4 through a demonstrator, installing the welding gun 43 at the tail end of the robot 1, switching a tool coordinate system to a welding gun coordinate system on the demonstrator, controlling the robot 1 to move the welding gun 43 to a proper posture through the demonstrator, aligning the welding gun 43 with a welding seam starting point of a workpiece 5 to be welded, recording the current posture of the robot 1 in a program of the demonstrator in a teaching mode, simultaneously inserting an instruction for starting a digital output signal state of the welding gun 43 into the program, and setting parameters such as voltage and current of the welding gun 43;
s130, dispersing the welding seam into a plurality of welding points along the welding track, then controlling the robot 1 through the demonstrator to drive the welding gun 43 to move along the welding track and to be sequentially overlapped with the welding points, and simultaneously sequentially recording the current pose of the robot 1 in a program of the demonstrator in a teaching mode;
s140, moving the welding gun 43 to a proper posture through a demonstrator, aligning the welding gun 43 with a welding seam end point to be welded, simultaneously recording the current posture of the robot 1 in the demonstrator program in a teaching mode, and inserting an instruction for closing the digital output signal state of the welding gun 43 into the program;
and S150, automatically operating the welding program recorded in the demonstrator, and if the welding robot system for practical training is normally started and closed, the welding gun 43 has no interference with the welding seam, no pause in motion, high coincidence degree with the welding seam or no defects such as air holes, slag inclusion, arc pit cracks, electric arc abrasion and the like on the welding surface, evaluating as qualified, otherwise, evaluating as unqualified.
The weld is located at the center of the cross section of the weld.
The training content is the same as the examination content, and the examination aims at a primary student, so that the primary student can master the movement, clamping and welding of the workpiece 5 to be welded.
EXAMPLE III
The checking method of the welding robot for the practical training checks through the welding robot system for the practical training, and comprises the following steps:
s210, enabling the welding positioner 3 to rotate to a zero position through a demonstrator, controlling the robot 1 to move to a welding tool library 4 through the demonstrator, installing a clamping jaw 46 at the tail end of the robot 1, switching a tool coordinate system into a clamping jaw coordinate system on the demonstrator, then controlling the robot 1 and the clamping jaw 46 through the demonstrator to move a workpiece 5 to be welded from a welding workpiece library 2 to a welding fixing table 31, and controlling a welding clamping cylinder 37 to clamp the workpiece 5 to be welded;
s220, controlling the robot 1 to move to a welding tool library 4 through a demonstrator, replacing a clamping jaw 46 with a welding gun 43, switching a clamping jaw coordinate system to a welding tool coordinate system on the demonstrator, controlling the robot 1 to move the welding gun 43 to a proper posture through the demonstrator, aligning the welding gun 43 with a welding seam starting point of a workpiece 5 to be welded, recording the current posture of the robot 1 in a program of the demonstrator in a teaching mode, simultaneously inserting an instruction for starting a digital output signal state of the welding gun 43 in the program, setting parameters such as voltage and current of the welding gun 43, and setting linkage parameters such as a relative position, a motion speed and a motion range of a welding positioner 3 on the demonstrator;
s230, dispersing the welding seam into a plurality of welding points along the welding track, controlling the robot 1 through the demonstrator to drive the welding gun 43 to move along the welding track and to be sequentially overlapped with the welding points, and simultaneously sequentially recording the current pose of the robot 1 and the pose of the welding positioner 3 in a program of the demonstrator in a teaching mode;
s240, moving the welding gun 43 to a proper posture through a demonstrator, aligning the welding gun 43 with a welding seam end point to be welded, simultaneously recording the current posture of the robot 1 in the demonstrator program in a teaching mode, and inserting an instruction for closing the digital output signal state of the welding gun 43 into the program;
and S250, automatically operating the welding program recorded in the demonstrator, and if the welding robot system for practical training is normally started and closed, the robot 1 and the welding positioner 3 keep linkage, the welding gun 43 has no interference with the welding seam, no pause in movement, high contact ratio with the welding seam, or the welding surface has no defects of pores, slag inclusion, arc pit cracks, electric arc abrasion and the like, evaluating as qualified, or else, evaluating as unqualified.
The weld is located at the center of the cross section of the weld.
The training content is the same as the examination content, and the examination aims at a middle-level student, so that the middle-level student can master the movement and clamping of the workpiece 5 to be welded and the linkage welding of the welding positioner 3.
Example four
The checking method of the welding robot for the practical training checks through the welding robot system for the practical training, and comprises the following steps:
s310, sequentially setting an installation clamping jaw 46, a clamping jaw coordinate system, a moving track of a workpiece 5 to be welded, which moves from a welding workpiece library 2 to a welding fixing table 31, a welding clamping cylinder 37 starting, an instruction for replacing the clamping jaw 46 with a welding gun 43 and a welding gun coordinate system in an off-line programming and simulation software;
s320, setting the pose parameters of the welding positioner 3 as zero positions in off-line programming and simulation software, and setting parameters of the welding positioner 3, such as the rotating speed, the rotating angle and the like linked with the welding gun 43;
s330, specifying a starting point and an end point of a welding seam in off-line programming and simulation software, setting a command for starting or closing a digital output quantity signal state of the welding gun 43, and setting parameters such as voltage and current of the welding gun 43;
s340, dispersing the welding seam into a plurality of welding points along the welding track in the off-line programming and simulation software, and automatically generating the corresponding pose of the robot 1 to enable the tail end of the welding gun 43 arranged on the robot 1 to be aligned with the welding points in sequence;
s350, generating a welding program executable by the robot 1 in the off-line programming and simulation software, sending the welding program to a demonstrator, loading and running the welding program on the demonstrator, observing the posture of the robot 1 in the running process, manually modifying the improper posture, and then storing the welding program;
and S360, automatically operating the welding program stored after modification in the step S350, and if the welding robot system for practical training is normally started and closed, the robot 1 and the welding positioner 3 are in linkage, the welding gun 43 has no interference with the welding seam, no pause in movement, high contact ratio with the welding seam, or the welding surface has no defects of pores, slag inclusion, arc pit cracks, electric arc friction damage and the like, evaluating as qualified, or else, evaluating as unqualified.
The weld is located at the center of the cross section of the weld.
The training content is the same as the examination content, and the examination aims at the high-level students, so that the high-level students master the use of off-line programming and simulation software, and the programming and debugging efficiency is greatly improved.
Claims (7)
1. The welding robot system for practical training comprises a demonstrator, a robot, a welding gun, a clamping jaw, a male quick-change tool disc and a female quick-change tool disc, wherein the robot is a six-axis industrial robot or a seven-axis industrial robot with an external axis, the male quick-change tool disc is arranged at the tail end of the robot, and the demonstrator is connected with the robot;
it is characterized by also comprising
A workpiece to be welded;
the welding work piece warehouse is internally provided with work pieces to be welded;
the welding fixing table is used for fixing a workpiece to be welded;
the welding tool library is internally provided with a welding gun and a clamping jaw, and the welding gun and the clamping jaw are both provided with a female quick-change tool plate;
the teach pendant is used for controlling the robot, the welding gun and the clamping jaw.
2. The welding robotic system for practical training according to claim 1,
the robot motion monitoring system further comprises a video acquisition system, and the video acquisition system is used for acquiring the motion process of the robot and archiving the motion process.
3. The welding robot system for practical training according to claim 1 or 2,
the welding fixture is characterized in that a welding clamping cylinder and a welding fixed block are arranged on the welding fixture, a welding movable block is arranged on the welding clamping cylinder, the welding movable block and the welding fixed block are arranged oppositely, V-shaped grooves are formed in the welding movable block and the welding fixed block, and the welding clamping cylinder is connected with a demonstrator; the female quick-change tool plate is arranged on a tool positioning plate, and two ends of the tool positioning plate are provided with first positioning holes; the welding tool library comprises a welding tool rack and a tool pin; the tool pins are fixed at the top of the welding tool rack and correspond to the first positioning holes; first positioning holes at two ends of the tool positioning plate are movably inserted in two adjacent tool pins, and the tool positioning plate is pressed on the top of the welding tool rack;
still include positioner, positioner includes
A positioner bottom plate;
the two position changing machine supports are fixed on the position changing machine base plate and are oppositely arranged;
the positioner bearing seat is fixed on the positioner bracket;
the positioner connecting shaft is arranged on a positioner bearing seat;
the bottom of the positioner connecting plate is arranged on two sides of the welding fixing table, and a positioner connecting shaft is arranged at the top of the positioner connecting plate;
the positioner motor is fixed on the positioner bracket and is connected with the positioner connecting shaft, the positioner motor is a servo motor, and the positioner motor is connected with the demonstrator.
4. The welding robotic system for practical training according to claim 1,
the welding workpiece library comprises
Welding a workpiece fixing bottom plate;
the welding workpiece fixing plate is fixed on a welding workpiece fixing bottom plate and is obliquely arranged, a welding workpiece groove is formed in the welding workpiece fixing plate, and the workpiece to be welded is movably inserted into the welding workpiece groove;
and the welding workpiece supporting plates are fixed on two sides of the welding workpiece fixing plate and are connected with the welding workpiece fixing bottom plate.
5. The welding robotic system for practical training according to claim 4,
the welding device is characterized by further comprising a workpiece adsorption strong magnet, wherein the workpiece adsorption strong magnet is fixed in the welding workpiece groove, and the workpiece adsorption strong magnet is used for detachably fixing a workpiece to be welded in the welding workpiece groove.
6. The welding robotic system for practical training according to claim 4,
the welding fixture comprises a welding workpiece fixing plate, and is characterized by further comprising a plurality of movable clamping plates, wherein the movable clamping plates are symmetrically positioned on the welding workpiece fixing plate, fixed grooves and first strong magnets are arranged on the movable clamping plates, a plurality of first strong magnets are arranged, a plurality of second strong magnets are arranged on the welding workpiece fixing plate, and the second strong magnets correspond to the first strong magnets one by one;
the bottom of a workpiece to be welded is provided with positioning rings, two sides of the outer circle surface of each positioning ring are symmetrically provided with unhooking grooves, the unhooking grooves are parallel to each other, the positioning rings are clamped in the two fixing grooves, and the unhooking grooves are used for the positioning rings to pull out the two fixing grooves.
7. The welding robotic system for practical training of claim 1, further comprising
Simulation workstation, the simulation workstation comprises
The computer is connected with the demonstrator;
and the off-line programming and simulation software is installed on the computer and used for generating a robot off-line program and guiding the robot off-line program into the demonstrator to carry out operation debugging on the welding robot system for practical training.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922203691.6U CN211708453U (en) | 2019-12-10 | 2019-12-10 | Welding robot system for practical training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922203691.6U CN211708453U (en) | 2019-12-10 | 2019-12-10 | Welding robot system for practical training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211708453U true CN211708453U (en) | 2020-10-20 |
Family
ID=72817327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922203691.6U Active CN211708453U (en) | 2019-12-10 | 2019-12-10 | Welding robot system for practical training |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211708453U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091214A (en) * | 2022-06-24 | 2022-09-23 | 厦门航天思尔特机器人系统股份公司 | Automatic welding system of PD wheel |
| CN115091214B (en) * | 2022-06-24 | 2024-05-28 | 厦门航天思尔特机器人系统股份公司 | PD wheel automatic welding system |
-
2019
- 2019-12-10 CN CN201922203691.6U patent/CN211708453U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091214A (en) * | 2022-06-24 | 2022-09-23 | 厦门航天思尔特机器人系统股份公司 | Automatic welding system of PD wheel |
| CN115091214B (en) * | 2022-06-24 | 2024-05-28 | 厦门航天思尔特机器人系统股份公司 | PD wheel automatic welding system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110842413B (en) | Welding robot system for practical training and checking method thereof | |
| CN110706539B (en) | Virtual reality and real welding training system and method | |
| CN110782771A (en) | Comprehensive training system for robot and assessment method thereof | |
| CN111583747A (en) | Robot teaching training platform | |
| CN211708453U (en) | Welding robot system for practical training | |
| CN204229734U (en) | Welder training operation control platform | |
| CN112404783B (en) | Flexible assembling and welding system and method for standard part and non-standard part | |
| CN207824891U (en) | A kind of robot training platform | |
| CN105057940A (en) | Intelligent rectangular coordinate spot welding robot | |
| CN209056105U (en) | Robot clamp adjustment training platform | |
| CN204833849U (en) | Step servo motor synthesizes real device of instructing | |
| CN113601075B (en) | Four-robot coordinated tracking standard welding system | |
| CN210875969U (en) | Real robot automatic spraying and grinding device of instructing | |
| CN110842897A (en) | Palletizing robot system for practical training and assessment method thereof | |
| CN211719062U (en) | Jigsaw robot system for practical training | |
| CN217426278U (en) | Virtual-real combined robot comprehensive application training platform | |
| CN212365336U (en) | Hydraulic and pneumatic training workbench | |
| CN112509450B (en) | Bearing automatic assembly teaching production line | |
| CN209477831U (en) | A kind of posture apparatus for correcting of automatic production line workpiece | |
| CN209471648U (en) | Industrial robot multifunctional workstation | |
| CN213092653U (en) | Comprehensive training system for robot | |
| CN218214467U (en) | A multi-functional real platform of instructing of industrial robot for teaching | |
| CN110867109A (en) | Real platform of instructing of robot anchor clamps installation and debugging | |
| CN110782736A (en) | Jigsaw puzzle robot system for practical training and examination method thereof | |
| CN208496210U (en) | A kind of fully welded valve automatic welding platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |