CN213560722U - Automatic welding system based on soft mechanical gripper - Google Patents
Automatic welding system based on soft mechanical gripper Download PDFInfo
- Publication number
- CN213560722U CN213560722U CN202022308314.1U CN202022308314U CN213560722U CN 213560722 U CN213560722 U CN 213560722U CN 202022308314 U CN202022308314 U CN 202022308314U CN 213560722 U CN213560722 U CN 213560722U
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- soft
- welding
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- arm
- gripper
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- 238000003466 welding Methods 0.000 title claims abstract description 135
- 239000011324 bead Substances 0.000 claims abstract description 9
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 claims description 5
- 229910052721 tungsten Inorganic materials 0.000 claims description 5
- 239000010937 tungsten Substances 0.000 claims description 5
- 239000000314 lubricant Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 6
- 239000007789 gas Substances 0.000 description 6
- 238000007599 discharging Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000003313 weakening effect Effects 0.000 description 2
- MYMOFIZGZYHOMD-UHFFFAOYSA-N Dioxygen Chemical compound O=O MYMOFIZGZYHOMD-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229910001882 dioxygen Inorganic materials 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000010894 electron beam technology Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Abstract
The utility model belongs to the technical field of automatic weld and arm design, concretely relates to automatic weld system based on soft mechanical tongs. Comprises an automatic welding device and a soft mechanical gripper device; the automatic welding device comprises a guide rail, a sliding block and an automatic welding manipulator; the automatic welding manipulator comprises a base, a vertical rotating shaft, a rotating base, a horizontal rotating shaft, a rotating arm, a connecting rotating ball and a welding gun; the connecting rotating beads are used for realizing the multi-degree-of-freedom rotation of the welding gun; the rotating base is also provided with a control box; the sliding block is connected with the guide rail in a sliding manner; the soft mechanical gripper device comprises a gripper controller, a soft supporting arm, a connecting part and at least four soft gripper supporting arms. The utility model has the characteristics of simple structure, technique threshold are low, easily operation and use to can make welder rotate wantonly and realize multi-angle welding, and then improve welding efficiency.
Description
Technical Field
The utility model belongs to the technical field of automatic weld and arm design, concretely relates to automatic weld system based on soft mechanical tongs.
Background
The welding has the characteristics of good sealing performance, high connection strength, strong adaptability, high production efficiency and the like, and is widely applied to connection of large-scale equipment such as pressure vessels and the like and structural members. Therefore, the quality of the welding often determines the service life and the safety of the part. The development of welding technology has gone through the development processes from arc welding, oxygen gas welding, resistance welding, submerged arc welding, gas metal arc welding, flux-cored wire arc welding, and then laser and electron beam welding; during this process researchers are constantly exploring improvements in welding technology, from manual to automated. Nowadays, in welding technology, people usually use a mechanical arm to replace manual welding, so that labor can be saved.
However, the existing welding device can only perform welding at a single angle, a large amount of time is needed for welding a complex structure which needs multi-angle welding, the welding efficiency is reduced, and meanwhile, the welding quality of a difficult position cannot be guaranteed.
For example, a welding device, especially a mechanical arm of a welding machine, described in chinese patent application No. CN 201611185086.5, includes a column, a fixed arm, an adjusting arm, a welding arm, a connecting plate, an angle adjusting device, a welding gun fixing seat, and a welding gun; the one end of fixed arm is fixed on the stand, and the other end of fixed arm passes through angle adjusting device to be connected with the one end of adjustment arm, the other end of adjustment arm passes through angle adjusting device to be connected with the one end of welding arm, the other end of welding arm is equipped with the welder fixing base, be equipped with welder on the welder fixing base. Although the welding gun has the advantages of simple and reliable structure, convenience in adjustment, wide application range, low cost and the like, the welding gun has the defect that welding wires can only be slowly and uniformly conveyed to the welding gun head for welding, but the wire discharging gun and the welding gun can not synchronously move, so that the aim of accurate and efficient welding is fulfilled.
SUMMERY OF THE UTILITY MODEL
The utility model relates to an overcome prior art, current welding set can only carry out the welding of single angle, need spend a large amount of times to the complicated structure that needs multi-angle welding and weld, has reduced welding efficiency, and the problem that also can't guarantee to the welding quality of difficult position simultaneously provides a simple structure, the technique threshold is low, easily operation and use, can realize multi-angle welding, improves the automatic weld system based on software mechanical tongs of welding efficiency.
In order to achieve the purpose of the utility model, the utility model adopts the following technical scheme:
the automatic welding system based on the soft mechanical gripper comprises an automatic welding device and a soft mechanical gripper device; the automatic welding device comprises a guide rail, a sliding block arranged on the guide rail and an automatic welding manipulator arranged on the sliding block; the automatic welding manipulator comprises a base, a vertical rotating shaft arranged on the base, a rotating base arranged on the vertical rotating shaft, a horizontal rotating shaft arranged on the rotating base, a rotating arm arranged on the horizontal rotating shaft, a connecting rotating ball arranged at the tail end of the rotating arm and a welding gun arranged on the connecting rotating ball; the base is connected with the rotating base through a vertical rotating shaft; the welding gun is connected with the rotating arm through a connecting rotating bead, and the connecting rotating bead is used for realizing multi-degree-of-freedom rotation of the welding gun; the rotating base is also provided with a control box for controlling the whole operation of the automatic welding device; the sliding block is connected with the guide rail in a sliding manner; the soft mechanical gripper device comprises a gripper controller, a soft supporting arm arranged on the gripper controller, a connecting part arranged at the tail end of the soft supporting arm and at least four soft gripper supporting arms arranged on the connecting part; the hand grip controller is respectively connected with the soft hand grip support arm and the soft support arm and is used for controlling the opening and closing of the soft hand grip support arm and the rotation of the soft support arm.
Preferably, the welding gun includes a welding gun nozzle and a tungsten needle inserted into the welding gun nozzle and fixed.
Preferably, the welding torch nozzle is further provided with a shielding gas for simultaneously discharging during welding.
Preferably, the welding gun nozzle is connected with the rotating arm through a connecting rotating ball.
Preferably, the contact surface between the sliding block and the guide rail, the contact surface between the vertical rotating shaft and the base, and the contact surface between the vertical rotating shaft and the rotating base are coated with lubricant.
Preferably, the surface of the soft gripper support arm is subjected to anti-skid treatment.
Preferably, the soft gripper arms are fixedly arranged on the connecting component and are symmetrically distributed with each other.
Preferably, the guide rail is an i-shaped guide rail.
Compared with the prior art, the utility model, beneficial effect is: (1) the utility model combines the soft mechanical structure and the traditional welding technology, can lead the welding gun to rotate randomly and realize multi-angle welding, greatly improves the welding efficiency, and provides conditions for the welding of workpieces with complex structures; (2) the application of the middle-soft mechanical gripper device can realize multi-angle placement of welding workpieces, and is more favorable for realizing welding of difficult positions; (3) the utility model discloses simple structure, technique threshold are low, easily operation and use.
Drawings
Fig. 1 is the utility model discloses an automatic welding system's a schematic structure based on soft mechanical tongs:
FIG. 2 is a schematic structural view of an automatic welding device according to the present invention;
fig. 3 is a schematic structural view of the middle soft body mechanical gripper of the present invention;
fig. 4 is a schematic view of a partial structure of the automatic welding device of the present invention.
In the figure: the welding gun comprises a guide rail 1, a sliding block 2, a base 3, a vertical rotating shaft 4, a rotating base 5, a control box 6, a horizontal rotating shaft 7, a rotating arm 8, a connecting rotating ball 9, a welding gun nozzle 10, a tungsten needle 11, a soft gripper supporting arm 12, a gripper controller 13, a connecting part 14 and a soft supporting arm 15.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention, the following description will explain embodiments of the present invention with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.
Example 1:
as shown in fig. 1 to 3, the automatic welding device in the system of the present invention includes a guide rail 1, a slider 2 disposed on the guide rail, and an automatic welding manipulator disposed on the slider; the automatic welding manipulator comprises a base 3, a vertical rotating shaft 4 arranged on the base, a rotating base 5 arranged on the vertical rotating shaft, a horizontal rotating shaft 7 arranged on the rotating base, a rotating arm 8 arranged on the horizontal rotating shaft, a connecting rotating ball 9 arranged at the tail end of the rotating arm and a welding gun arranged on the connecting rotating ball; the base is connected with the rotating base through a vertical rotating shaft; the welding gun is connected with the rotating arm through a connecting rotating bead, and the connecting rotating bead is used for realizing multi-degree-of-freedom rotation of the welding gun; the rotating base is also provided with a control box 6 for controlling the whole operation of the automatic welding device; the sliding block is connected with the guide rail in a sliding mode. Wherein, rotating base drives horizontal rotating shaft and is used for controlling welder's horizontal direction of rotation, and the swinging boom is used for controlling welder's vertical direction of rotation.
Further, as shown in fig. 4, the welding torch includes a torch nozzle 10 and a tungsten needle 11 inserted into the torch nozzle and fixed. The welding gun nozzle is connected with the rotating arm through a connecting rotating ball. The connecting rotating ball is a sphere, so that the multi-degree-of-freedom rotation of the welding gun can be realized, and conditions are provided for welding of complex weldment.
Furthermore, the welding gun nozzle is internally provided with protective gas which is used for spraying out during welding. Shielding gas is used to shield metal droplets during welding, and has an important role in the productivity and quality of the weld. The shielding gas prevents oxidation of the solidifying molten weld, and also blocks impurities and moisture in the air from weakening the weld's corrosion resistance, creating porosity and weakening the weld's durability by altering the geometric characteristics of the weld. The shielding gas also enables the torch to be cooled.
In addition, be provided with singlechip, sideslip formula motor and drive module in the control box, sideslip formula motor and drive module all are connected with the singlechip electricity, and the sideslip formula motor is connected with the slider, and rotating base, horizontal rotating shaft and swinging boom all are connected with drive module electric connection. The power source that the slider removed is the sideslip formula motor, and rotating base, horizontal rotating shaft and swinging boom utilize drive module to make rotating base, horizontal rotating shaft and swinging boom realize the operation under the control of singlechip.
Furthermore, the contact surface of the sliding block and the guide rail, the contact surface of the vertical rotating shaft and the base and the contact surface of the vertical rotating shaft and the rotating base are coated with lubricant. The lubricant coated on each contact surface can reduce the friction resistance between each part in the operation process, reduce the loss of each part and prolong the service life. The lubricating treatment is carried out on the connecting surface of the sliding block and the guide rail, and the sliding of the sliding block on the guide rail is facilitated. The guide rail is an I-shaped guide rail, and the cross section of the guide rail is I-shaped. The I-shaped guide rail and the matched slide block are matched to operate, so that the derailing phenomenon is not easy to occur.
As shown in fig. 3, the soft mechanical gripper device of the present invention comprises a gripper controller 13, a soft supporting arm 15 disposed on the gripper controller, a connecting member 14 disposed on the end of the soft supporting arm, and at least four soft gripper supporting arms 12 disposed on the connecting member; the hand grip controller is respectively connected with the soft hand grip support arm and the soft support arm and is used for controlling the opening and closing of the soft hand grip support arm and the rotation of the soft support arm.
Similarly, a single chip microcomputer and a driving module are also arranged in the gripper controller, the driving module is electrically connected with the single chip microcomputer, and the soft gripper supporting arm and the soft supporting arm are both electrically connected with the driving module. The soft gripper support arm and the soft support arm are controlled by the singlechip, and the soft gripper support arm and the soft support arm are operated by the driving module.
Furthermore, the surface of the soft gripper support arm is subjected to anti-skid treatment. The anti-skid treatment can be to make the surface of the soft gripper support arm rough or to arrange a clamping piece on the contact surface of the soft gripper support arm and the welding workpiece, so as to avoid the welding workpiece from sliding off the soft gripper support arm and influencing the welding efficiency.
As shown in fig. 3, the surface of the connecting member of the soft mechanical gripper device is rectangular, and the four soft gripper arms are fixedly mounted on the connecting member and symmetrically distributed with each other, specifically distributed at four corners of the connecting member, so as to achieve the purpose of stably fixing the welding workpiece. The soft gripper support arm can be bent in a knuckle shape.
The utility model discloses a working method and principle are:
an operator places a workpiece to be welded on the soft mechanical gripper device, and controls the soft gripper support arm to be closed by using the gripper controller so as to fix the welded workpiece; the positioning of the welding gun is realized through a rotary base, a horizontal rotary shaft, a rotary arm, a connecting rotary bead and a control box, the rotary base drives the horizontal rotary shaft to be mainly used for adjusting the positioning of the welding gun on a horizontal plane, the rotary arm is mainly used for adjusting the positioning of the welding gun in the vertical direction, and the connecting rotary bead is mainly used for enabling the welding gun to rotate in multiple degrees of freedom so as to adjust the welding angle direction of the welding gun; finally, the welding gun is moved along the direction of the welding seam through a sliding block on the guide rail;
when the angle position of the welding workpiece needs to be changed, the gripper controller is used for controlling the rotation of the soft supporting arm so as to change the angle of the welding workpiece; after the welding task is completed, the gripper controller controls the soft gripper supporting arm to open, so that the welding workpiece can be conveniently taken down.
The utility model combines the soft mechanical structure and the traditional welding technology, can lead the welding gun to rotate randomly and realize multi-angle welding, greatly improves the welding efficiency, and provides conditions for the welding of workpieces with complex structures; the application of the middle-soft mechanical gripper device can realize multi-angle placement of welding workpieces, and is more favorable for realizing welding of difficult positions; the utility model has the characteristics of simple structure, technology threshold are low, easy to operate and use.
The foregoing has been a detailed description of the preferred embodiments and principles of the present invention, and it will be apparent to those skilled in the art that variations may be made in the specific embodiments based on the concepts of the present invention, and such variations are considered as within the scope of the present invention.
Claims (8)
1. The automatic welding system based on the soft mechanical gripper is characterized by comprising an automatic welding device and a soft mechanical gripper device; the automatic welding device comprises a guide rail, a sliding block arranged on the guide rail and an automatic welding manipulator arranged on the sliding block; the automatic welding manipulator comprises a base, a vertical rotating shaft arranged on the base, a rotating base arranged on the vertical rotating shaft, a horizontal rotating shaft arranged on the rotating base, a rotating arm arranged on the horizontal rotating shaft, a connecting rotating ball arranged at the tail end of the rotating arm and a welding gun arranged on the connecting rotating ball; the base is connected with the rotating base through a vertical rotating shaft; the welding gun is connected with the rotating arm through a connecting rotating bead, and the connecting rotating bead is used for realizing multi-degree-of-freedom rotation of the welding gun; the rotating base is also provided with a control box for controlling the whole operation of the automatic welding device; the sliding block is connected with the guide rail in a sliding manner; the soft mechanical gripper device comprises a gripper controller, a soft supporting arm arranged on the gripper controller, a connecting part arranged at the tail end of the soft supporting arm and at least four soft gripper supporting arms arranged on the connecting part; the hand grip controller is respectively connected with the soft hand grip support arm and the soft support arm and is used for controlling the opening and closing of the soft hand grip support arm and the rotation of the soft support arm.
2. The automated welding system based on soft mechanical grippers of claim 1, wherein the welding gun comprises a welding gun nozzle and a tungsten needle, the tungsten needle being inserted into the welding gun nozzle and secured.
3. The automated welding system based on soft mechanical grippers of claim 2, wherein the torch nozzle is further provided with shielding gas for simultaneous ejection during welding.
4. The automated welding system based on soft mechanical grippers of claim 2, wherein the welding gun nozzle is connected to the rotating arm by a connecting rotating ball.
5. The automated welding system based on soft mechanical grippers of claims 1 to 4, wherein the contact surfaces of the sliders and the guide rails, the contact surfaces of the vertical rotating shafts and the base, and the contact surfaces of the vertical rotating shafts and the rotating base are coated with lubricant.
6. The automated welding system based on soft mechanical grippers of claim 1, wherein the soft gripper arm surface is treated to prevent slipping.
7. The automated welding system based on soft mechanical grippers of claim 1, wherein each soft gripper arm is fixedly mounted on the connecting member and symmetrically disposed with respect to each other.
8. The automated welding system based on soft mechanical grippers of claims 1 to 4, wherein the rails are I-shaped rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022308314.1U CN213560722U (en) | 2020-10-16 | 2020-10-16 | Automatic welding system based on soft mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022308314.1U CN213560722U (en) | 2020-10-16 | 2020-10-16 | Automatic welding system based on soft mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213560722U true CN213560722U (en) | 2021-06-29 |
Family
ID=76524715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022308314.1U Expired - Fee Related CN213560722U (en) | 2020-10-16 | 2020-10-16 | Automatic welding system based on soft mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213560722U (en) |
-
2020
- 2020-10-16 CN CN202022308314.1U patent/CN213560722U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210629 |