CN212634638U - Welding robot - Google Patents
Welding robot Download PDFInfo
- Publication number
- CN212634638U CN212634638U CN202021166772.XU CN202021166772U CN212634638U CN 212634638 U CN212634638 U CN 212634638U CN 202021166772 U CN202021166772 U CN 202021166772U CN 212634638 U CN212634638 U CN 212634638U
- Authority
- CN
- China
- Prior art keywords
- electric
- platform
- welding
- control system
- arm
- 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
- 238000003466 welding Methods 0.000 title claims abstract description 77
- 230000005611 electricity Effects 0.000 claims abstract description 4
- 238000003384 imaging method Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 230000009286 beneficial effect Effects 0.000 description 8
- 230000000007 visual effect Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a welding robot, including electric movable platform, electric lift platform, arm, electric welding, battery and control system, the electric lift platform is installed on the electric movable platform, its lift end up, the arm is installed the lift of electric lift platform is served, the electric welding head of electric welding is installed the drive end of arm, the electric welding head is last to have electric control switch, electric movable platform, electric lift platform, arm, electric control switch and battery all with the control system electricity is connected. The controller can be arranged to control the moving track of the electric moving platform, the lifting of the electric lifting platform, the movement of the mechanical arm and the working state of the electric welding head respectively, so that the automation degree of the whole welding robot is high.
Description
Technical Field
The utility model belongs to the robot field especially relates to a welding robot.
Background
At present, a first generation of welding robot mainly performs welding work through teaching and reproduction, specifically, the robot is gradually guided to execute a complete process according to a production task, in the process, the robot memorizes each action instruction (position, pose, motion parameter, welding parameter and the like) in the teaching process and generates a complete continuous operation program, an execution command is sent to the robot after the teaching is completed, and the robot can completely reproduce each step of the teaching process and complete the welding task. The second generation of welding robots based on sensing technology mainly indirectly acquire the external environment of welding by means of vision sensors, torque sensors, tracking sensors and the like, and update the processing track of the manipulator through the information acquired by the sensors, which is an improvement over the first generation of welding robots. However, most of the two-generation welding robots are fixed, that is, the bases of the two-generation welding robots are fixed, and most of the two-generation welding robots are applied to arc welding and spot welding in industries such as automobiles, military large-scale equipment, pressure vessels and the like.
The first and second generation welding robots are mainly used for mass production, and for the steel structure bridge processing industry, the first and second generation welding robots are mainly used for small-batch non-standardized production. Because the metal structure appearance of steel structure bridge is complicated, most fretworks, and vertically and horizontally staggered, mainly move to welding seam department by the nimble welding technique of welder and carry out arc welding or spot welding processing when carrying out welding process, the arc light that exists simultaneously among the welding process splashes, the abominable external environment such as smoke and dust leads to the construction more difficult, finally leads to welding quality can not satisfy actual requirement.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, an object of the utility model is to provide a but convenient control moving route and automatic weld's welding robot.
In order to achieve the above purpose, the technical solution of the present invention is as follows: the utility model provides a welding robot, includes electric movable platform, electric lift platform, arm, electric welding, battery and control system, the electric lift platform is installed electric movable platform is last, and its lift end is up, the arm is installed electric lift platform's lift is served, the electric welding head of electric welding is installed the drive end of arm, the electric welding head is last to have electric control switch, electric movable platform, electric lift platform, arm, electric control switch and battery all with the control system electricity is connected.
The beneficial effects of the above technical scheme are that: the controller can be arranged to control the moving track of the electric moving platform, the lifting of the electric lifting platform, the movement of the mechanical arm and the working state of the electric welding head respectively, so that the automation degree of the whole welding robot is high.
In the technical scheme, the front end and the rear end of the electric mobile platform are respectively provided with an obstacle avoidance sensor electrically connected with the control system.
The beneficial effects of the above technical scheme are that: therefore, the electric moving platform can realize automatic obstacle avoidance in the advancing and retreating processes.
In the technical scheme, the obstacle avoidance sensor is an infrared obstacle avoidance sensor.
The beneficial effects of the above technical scheme are that: the accuracy is high.
In the technical scheme, the front end and the rear end of the electric mobile platform are respectively provided with a vision imaging sensor which is electrically connected with the control system, and the vision imaging sensors are respectively electrically connected with the control system.
The beneficial effects of the above technical scheme are that: the visual imaging sensors are arranged to shoot the environments in front of and behind the electric moving platform respectively, and the control system is used for determining the moving route of the electric moving platform according to shot data.
In the technical scheme, the electric moving platform is a agv trolley.
The beneficial effects of the above technical scheme are that: the intelligent control system is flexible in movement, high in intelligent degree and accurate in control.
According to the technical scheme, the lower end of the chassis of the electric mobile platform is provided with the camera electrically connected with the control system, and the camera is used for identifying the two-dimensional code on the ground.
The beneficial effects of the above technical scheme are that: the plurality of two-dimensional codes can be arranged on the ground of the moving track, so that the moving track can be controlled by using the two-dimensional codes on the ground.
In the technical scheme, the electric welding head is provided with a head vision sensor electrically connected with the control system.
The beneficial effects of the above technical scheme are that: the object is welded by matching the working states of the lifting mechanism, the mechanical arm and the electric welding head through the head vision sensor.
In the technical scheme, the vision imaging sensor and the head vision sensor are both CMOS image sensors or CCD cameras.
The beneficial effects of the above technical scheme are that: the imaging sensitivity is high, and the optical signal can be converted into a digital signal.
Drawings
Fig. 1 is a schematic structural diagram of a welding robot according to an embodiment of the present invention;
fig. 2 is another schematic view of a welding robot according to an embodiment of the present invention.
In the figure: the system comprises an electric moving platform 1, an obstacle avoidance sensor 11, a visual imaging sensor 12, a camera 13, an electric lifting platform 2, a mechanical arm 3, an electric welding head 4 and a head visual sensor 41.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1, this embodiment provides a welding robot, including electric movable platform 1, electric lift platform 2, arm 3, electric welding machine, battery and control system, electric lift platform 2 installs on electric movable platform 1, its lift end up, arm 3 installs on electric lift platform 2's the lift end, the electric welding head 41 of electric welding machine is installed the drive end of arm 3, the electric control switch has on the electric welding head 41, electric movable platform 1, electric lift platform 2, arm 3, electric control switch and battery all with the control system electricity is connected. The controller can be arranged to control the moving track of the electric moving platform, the lifting of the electric lifting platform, the movement of the mechanical arm and the working state of the electric welding head respectively, so that the automation degree of the whole welding robot is high. Preferably, the electric welding machine can be mounted on the electric mobile platform, and the electric welding machine is externally connected with a mains supply as a power supply.
In the technical scheme, the front end and the rear end of the electric mobile platform 1 are respectively provided with an obstacle avoidance sensor 11 electrically connected with the control system. Therefore, the electric moving platform can automatically avoid the obstacle in the advancing and retreating process, the obstacle avoiding sensors are respectively arranged at the front end and the rear end of the electric moving platform and can detect whether the obstacle exists in the front or the rear of the electric moving platform in the advancing or retreating process, and if the obstacle exists, the control system controls the electric moving platform to make obstacle avoiding decision so as to control the electric moving platform to detour.
In the above technical scheme, the obstacle avoidance sensor 11 is an infrared obstacle avoidance sensor, and the accuracy is high.
In the technical scheme, the front end and the rear end of the electric moving platform 1 are respectively provided with a vision imaging sensor 12 electrically connected with the control system, the vision imaging sensors 12 are respectively electrically connected with the control system, the environments in the front and the rear of the electric moving platform are respectively shot by arranging the vision imaging sensors, the moving route of the electric moving platform is determined by the control system according to shot data, the image data in the front and the rear of the electric moving platform can be shot by arranging the vision imaging sensors and converted into digital signals to be transmitted to the control system, and the moving route of the electric moving platform is determined by the control system according to the image data.
Among the above-mentioned technical scheme electric mobile platform 1 is agv dolly, and it removes in a flexible way, and intelligent degree is high and control is accurate.
In the technical scheme, the lower end of the chassis of the electric mobile platform 1 is provided with the camera 13 electrically connected with the control system, the camera 13 is used for identifying the two-dimensional codes on the ground, and the moving track of the electric mobile platform can be controlled by utilizing the two-dimensional codes on the ground through arranging a plurality of two-dimensional codes on the ground of the moving track. After the camera 13 is arranged, the two-dimension code is pasted on the ground along the preset moving track of the electric moving platform, so that the electric moving platform can move along the moving track of the electric moving platform, wherein the two-dimension code is shot by the camera and the moving track of the electric moving platform is sensed by the control system.
In the technical scheme, the electric welding head 4 is provided with the head vision sensor 41 electrically connected with the control system, so that the objects are welded by matching the working states of the lifting mechanism, the mechanical arm and the electric welding head with the head vision sensor, the welding seam is identified by the head vision sensor and information is transmitted to the control system, and the control system controls the electric lifting platform to lift and the mechanical arm to drive the electric welding head at the driving end to move along the welding seam so as to weld the welding seam.
In the above technical solution, the vision imaging sensor 12 and the head vision sensor 41 are both CMOS image sensors or CCD cameras, which have high imaging sensitivity and can convert optical signals into digital signals.
Preferably, as shown in fig. 2, the system further comprises a computer control system 5 and a communication module, wherein the communication module is electrically connected with the control system, the computer control system 5 is connected to the internet and is connected with the communication module through wifi via a network, and the information is transmitted between the computer control system and the communication module through wifi.
The principle of the utility model is that: firstly, the obstacle avoidance sensor 11, the visual imaging sensor 12, the camera 13 and the head visual sensor 41 transmit sensed information to the control system and transmit the information to the computer control system through WIFI, and the computer control system comprehensively analyzes the transmitted information to determine the moving track of the electric moving platform 1 and the working states of the electric lifting platform, the mechanical arm and the electric welding head, so that the electric welding head can weld a welding line finally.
The welding robot is particularly suitable for welding a bridge.
The electric lifting platform can be the electric lifting platform disclosed in the document with the reference number of CN 207158693U.
The mechanical arm can adopt an ABB IRB1600 six-axis manipulator.
Wherein, control system and battery all can place on electric movable platform.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (8)
1. A welding robot, characterized in that: including electric movable platform (1), electric lift platform (2), arm (3), electric welding, battery and control system, install electric lift platform (2) on electric movable platform (1), its lift end up, install arm (3) the lift of electric lift platform (2) is served, install electric welding head (4) of electric welding the drive end of arm (3), electric control switch has on electric welding head (4), electric movable platform (1), electric lift platform (2), arm (3), electric control switch and battery all with the control system electricity is connected.
2. The welding robot according to claim 1, characterized in that the front and rear ends of the electric moving platform (1) are respectively provided with obstacle avoidance sensors (11) electrically connected with the control system.
3. Welding robot according to claim 2, characterized in that the obstacle avoidance sensor (11) is an infrared obstacle avoidance sensor.
4. The welding robot according to any one of claims 1-3, characterized in that the front and rear ends of the electric moving platform (1) are respectively mounted with a vision imaging sensor (12) electrically connected with the control system, and the vision imaging sensors (12) are respectively electrically connected with the control system.
5. Welding robot according to claim 4, characterized in that the motorized mobile platform (1) is a agv trolley.
6. The welding robot according to claim 5, characterized in that the lower end of the chassis of the electric mobile platform (1) is provided with a camera (13) electrically connected with the control system, and the camera (13) is used for recognizing a two-dimensional code on the ground.
7. The welding robot according to claim 6, characterized in that a head vision sensor (41) electrically connected with the control system is mounted on the welding head (4).
8. The welding robot according to claim 7, characterized in that the vision imaging sensor (12) and the head vision sensor (41) are both CMOS image sensors or CCD cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021166772.XU CN212634638U (en) | 2020-06-22 | 2020-06-22 | Welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021166772.XU CN212634638U (en) | 2020-06-22 | 2020-06-22 | Welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212634638U true CN212634638U (en) | 2021-03-02 |
Family
ID=74772105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021166772.XU Active CN212634638U (en) | 2020-06-22 | 2020-06-22 | Welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212634638U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113172372A (en) * | 2021-04-25 | 2021-07-27 | 中铁十四局集团有限公司 | Intelligent cutting data and welding data processing system |
| CN113172374A (en) * | 2021-04-25 | 2021-07-27 | 中铁十四局集团有限公司 | Intelligent walking control system and method for steel pipe cutting and welding |
| CN113369686A (en) * | 2021-06-11 | 2021-09-10 | 杭州国辰机器人科技有限公司 | Intelligent welding system and method based on two-dimensional code visual teaching technology |
| CN115041669A (en) * | 2022-06-30 | 2022-09-13 | 山东中衡光电科技有限公司 | Control system and control method for large-scale belt cutting equipment |
| CN115555722A (en) * | 2022-11-14 | 2023-01-03 | 武汉工程大学 | Laser welding mechanical arm, welding robot and welding method |
| CN116160102A (en) * | 2023-04-21 | 2023-05-26 | 中国核工业二三建设有限公司 | Plasma arc automatic welding equipment for welding stainless steel plates and use method |
-
2020
- 2020-06-22 CN CN202021166772.XU patent/CN212634638U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113172372A (en) * | 2021-04-25 | 2021-07-27 | 中铁十四局集团有限公司 | Intelligent cutting data and welding data processing system |
| CN113172374A (en) * | 2021-04-25 | 2021-07-27 | 中铁十四局集团有限公司 | Intelligent walking control system and method for steel pipe cutting and welding |
| CN113369686A (en) * | 2021-06-11 | 2021-09-10 | 杭州国辰机器人科技有限公司 | Intelligent welding system and method based on two-dimensional code visual teaching technology |
| CN115041669A (en) * | 2022-06-30 | 2022-09-13 | 山东中衡光电科技有限公司 | Control system and control method for large-scale belt cutting equipment |
| CN115555722A (en) * | 2022-11-14 | 2023-01-03 | 武汉工程大学 | Laser welding mechanical arm, welding robot and welding method |
| CN116160102A (en) * | 2023-04-21 | 2023-05-26 | 中国核工业二三建设有限公司 | Plasma arc automatic welding equipment for welding stainless steel plates and use method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212634638U (en) | Welding robot | |
| CN110842928B (en) | Visual guiding and positioning method for compound robot | |
| CN112936275B (en) | Mechanical arm grabbing system based on depth camera and control method | |
| CN106392267B (en) | A kind of real-time welding seam tracking method of six degree of freedom welding robot line laser | |
| JP6871857B2 (en) | Robot system | |
| CN113333998B (en) | Automatic welding system and method based on cooperative robot | |
| JP5122770B2 (en) | Mobile object guidance system capable of video recognition | |
| CN103978474B (en) | A kind of job that requires special skills robot towards extreme environment | |
| US11633852B2 (en) | Computing device, machine learning method, and storage medium | |
| CN111203849A (en) | Mobile robot grabbing operation system and control method | |
| US20230147777A1 (en) | Robot Teaching System | |
| CN212329961U (en) | Unmanned wall welding robot that climbs based on vision measurement | |
| CN111240324A (en) | Intelligent carrying and classifying robot trolley | |
| CN114378827A (en) | Dynamic target tracking and grabbing method based on overall control of mobile mechanical arm | |
| CN205888329U (en) | Use two -dimensional laser displacement sensor's welding seam automatic identification tracking means | |
| CN107931787A (en) | A kind of vision closed loop welding system and implementation method | |
| CN113706628A (en) | Intelligent transfer robot cooperation system and method for processing characteristic image by using same | |
| CN210551257U (en) | Crawler-type explosive-handling robot | |
| GB2326491A (en) | Controlling tracking of robot along working path | |
| CN113369686A (en) | Intelligent welding system and method based on two-dimensional code visual teaching technology | |
| CN114918578B (en) | Intelligent robot welding workstation and pipeline welding method | |
| CN208083634U (en) | A kind of vision closed loop welding system | |
| CN205571674U (en) | Soldering joint tracking vision sensory control system based on structured light | |
| CN110732814A (en) | intelligent welding robot based on vision technology | |
| CN218049242U (en) | Cleaning device for chemical waste in laboratory environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240807 Address after: 315000 No. 28, Yunshan Middle Road, Sanqi Town, Yuyao City, Ningbo City, Zhejiang Province (in Yuyao talent entrepreneurship Park) Patentee after: Zhejiang Yongkong Intelligent Equipment Manufacturing Co.,Ltd. Country or region after: China Address before: 430000 No.206 Guanggu 1st Road, Donghu New Technology Development Zone, Wuhan, Hubei Province Patentee before: WUHAN INSTITUTE OF TECHNOLOGY Country or region before: China |
|
| TR01 | Transfer of patent right |