WO2022246960A1 - 一种智能焊接机器人及其焊接方法 - Google Patents
一种智能焊接机器人及其焊接方法 Download PDFInfo
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- WO2022246960A1 WO2022246960A1 PCT/CN2021/104194 CN2021104194W WO2022246960A1 WO 2022246960 A1 WO2022246960 A1 WO 2022246960A1 CN 2021104194 W CN2021104194 W CN 2021104194W WO 2022246960 A1 WO2022246960 A1 WO 2022246960A1
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- welding
- intelligent
- welded
- arm
- clamping
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- 238000003466 welding Methods 0.000 title claims abstract description 197
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000003860 storage Methods 0.000 claims description 53
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000012815 thermoplastic material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Definitions
- the invention relates to the field of mechanical welding, in particular to an intelligent welding robot and a welding method thereof.
- Welding technology is a technology that joins metals or other thermoplastic materials by heating, high temperature and high pressure. Welding can join multiple materials or objects. During the welding operation, the welding joints of two or more objects to be welded are often irregular or inconsistent. In the prior art, the welding technology needs to grind and cut the interface of the objects to be welded in advance to make it It can be matched, but it is impossible to directly weld the two irregular interfaces, which increases the workload virtually and reduces the work efficiency.
- An intelligent welding system is provided, and a welding method based on the above-mentioned intelligent welding robot is further provided to solve the above-mentioned problems existing in the prior art.
- An intelligent welding robot includes three parts: a storage module, a welding module and a clamping module.
- the storage module includes a storage table, and the bottom of the storage table is fixedly connected with sliding rollers;
- the welding module includes a welding arm, and the welding arm further includes a support column, which is fixedly connected to the rotating base on the support column, and is fixed on the The support arm on the rotating base, the support arm is connected with an extension arm, connected to the transfer column on the extension arm, the second extension arm is fixed on the transfer post, connected to The welding column on the second extension arm, the welding column is fixedly connected with a welding head, and the welding head is equipped with an intelligent scanner;
- the clamping module further includes a clamping machine, and a fixed plate fixedly connected with the clamping machine.
- the sliding roller further includes a rotating base for connection between the sliding roller and the storage table, so that the storage table can move at any angle during use.
- the rotating base plate is hinged with a pulley, which enables the storage table to move; a locking clip is provided between the rotating base plate and the pulley, and after the storage table is moved to a suitable position, The sliding rollers can be locked and locked, so that the storage table is fixed and prevented from sliding.
- the surface of the storage table is an uneven striped panel, which plays an anti-slip effect. When the welded items slide down to the storage table, it can prevent the welded items from sliding out of the storage table, increasing the size of the storage table. Friction between the table and the welded item.
- connection method between the components of the welding module is further that the rotating base is bolted to the support column, and the support arm is bolted to the rotating base , when the rotary disk rotates, it will drive the rotation of the support arm; the support arm and the extension arm are fixed in a hinged manner, so that the extension arm can be adjusted at different heights;
- the transfer post is hinged on the extension arm, the second extension arm is hinged on the transfer post, and the welding post is hinged on the second extension arm, because the second extension arm, Both the transfer column and the welding column are hinged, so the corresponding angle and height can be adjusted;
- the welding head and the welding column are fixed by bolt connection, which is convenient for the later maintenance of the welding head , maintenance and replacement; the intelligent scanner is embedded and connected to the surface of the welding head.
- the welding head further includes a base and a welding rod, and the welding rod is slidably connected to the center of the base, so that the welding rod can be rotated flexibly, so that welding requirements of different angles can be adjusted.
- the smart scanner is embedded and connected to the surface of the base, and on the premise of ensuring that the smart scanner can work normally, it also plays a certain protective role for the smart scanner, prolonging the Lifespan of the Smart Scanner.
- the clamping machine further includes a main base, a motor box, a boss, a rotating disk and an adjustment plate, and the motor box is fixedly connected to the main base so that the clamping machine as a whole can operate stably;
- the column is arranged on the surface of the motor box, and the convex column is further a circular convex column, and the rotating disk is connected with the bearing of the convex column, so that the rotating disk can rotate flexibly;
- the center of the rotating disk is equipped with an automatic The telescopic column, when performing welding operations, the automatic telescopic column will pop up, resist the item to be welded, and ensure the firmness of the item to be welded; when the welding operation is completed, the automatic telescopic column will be retracted, so that The items that have been welded slide down onto the storage table; the rotating disk is welded with an adjusting plate, and one side of the fixing plate is welded to the bottom of the adjusting plate, when the rotating disk rotates, it will drive The rotation of the
- the welding module is composed of a plurality of welding arms
- the clamping module is composed of a plurality of clamping mechanisms
- the welding module and the clamping module are fixedly connected on the base plate, The distance between the welding module and the clamping module is fixed to each other.
- the plurality of welding arms are symmetrically distributed, which is convenient for all-round scanning of the items to be welded. When two or more items to be welded are carried out simultaneously, it can also meet the requirements of multiple items. Simultaneous welding not only saves the time cost of welding operations, but also improves the efficiency of welding operations.
- the plurality of clamping machines are also symmetrically distributed, which is convenient for clamping the items to be welded, ensuring that the items to be welded can be firmly held between the clamping machines, and at the same time, the fixing plate can It plays the role of holding up the items to be welded.
- the storage module is welded to one side of the base plate, which plays a role of fixing the distance between the storage module and the base plate, so that the welded items can be placed on the storage after the welding operation is completed. module.
- the welding module, the clamping module and the storage module are all fixedly connected to form a whole, which is convenient for the overall movement and handling during later use and storage.
- sliding rollers are also installed on the bottom of the base plate, so that the base plate can also be moved, rotated and locked flexibly.
- the surface of the base plate is provided with a sliding track, and the clamping machine is slidably connected to the sliding track, so that the clamping machine can flexibly move on the base plate along the sliding track, so that It is suitable for clamping and fixing welds of different lengths.
- the connection between the welding arm and the base plate is further bolted, which is convenient for later maintenance and replacement of the welding arm.
- the sliding track is provided with a locking device, so that the clamping machine can be locked at any position on the sliding track, so as to facilitate adjustment of the distance between multiple clamping machines, and facilitate the adjustment of the desired Items to be welded are clamped.
- the fixed plate is further a telescopic fixed plate, which can be telescopically adjusted at any length. When clamping the item to be welded, the length of the telescopic fixed plate can be adjusted according to the actual situation, so that the item to be welded Items are held more firmly.
- a welding method for an intelligent welding robot comprising the following steps:
- the generated welding scheme is sent to the motor box through the wireless signal receiving device, and the rotating disk is rotated and adjusted according to the corresponding instructions, so that the angle of the fixed plate is adjusted, and the welding work is completed with the welding arm;
- the rotating disk continues to rotate, and the welded items are burrowed to the edge of the storage table, the automatic telescopic column is retracted, and the rotating disk rotates again to drive the adjustment plate, Adjusting the angle of the telescopic fixing plate to slide the welded items onto the storage table;
- the invention relates to an intelligent welding robot and its welding method. Before the welding work starts, it will first intelligently scan the items to be welded to generate a corresponding welding plan, which can directly perform welding on irregular or unfit items. For welding, preparatory work such as interface grinding and cutting of the items to be welded is not allowed in advance. The workload of the welding work is reduced, and the work efficiency of the welding work is improved at the same time. And after the welding is completed, the welded items will be automatically dropped on the storage table, and the machine can be picked up manually after the machine is completely powered off and no longer running, ensuring the safety of manual work.
- Fig. 1 is a schematic diagram of the whole of the present invention.
- Fig. 2 is a schematic diagram of the welding arm of the present invention.
- Fig. 3 is a schematic diagram of the sliding roller of the present invention.
- Fig. 4 is a schematic diagram of the clamping machine of the present invention.
- Fig. 5 is a schematic diagram of the welding head of the present invention.
- the reference signs in the figure are: storage table 1, sliding roller 2, support column 3, rotating abutment 4, support arm 5, extension arm 6, transfer column 7, second extension arm 8, welding column 9, welding Head 10, fixed plate 11, main base 12, motor box 13, rotating disk 14, automatic telescopic column 15, adjusting plate 16, rotating base plate 17, pulley 18, locking card piece 19, base 20, welding rod 21, intelligent scanner22.
- the applicant designed an intelligent welding robot and its welding method.
- the welding machine intelligently scans the items to be welded in advance, generates a welding plan, and can directly weld the items to be welded.
- the welded items will be automatically placed on the storage table, which reduces the workload of welding work, improves production efficiency, and ensures the safety of manual operation.
- the intelligent welding robot involved in the present invention mainly includes three parts: a storage module, a welding module and a clamping module.
- the storage module further includes a storage table 1 fixedly connected with a sliding roller 2 at the bottom;
- the welding module includes a welding arm, and the welding arm further includes a supporting column 3, and the rotating base 4 is fixedly connected to the supporting column 3, and the A support arm 5 is fixedly connected to the rotating base 4, and the support arm 5 is connected to an extension arm 6, and an adapter column 7 is connected to the extension arm 6, and a second arm is fixed on the adapter column 7.
- the extension arm 8, the second extension arm 8 is connected with a welding column 9, the welding column 9 is fixedly connected with a welding head 10, and the welding head 10 is equipped with an intelligent scanner 22; the clamping module further includes a clamping machine , the clamping machine is fixedly connected with a fixed plate 11 .
- the sliding roller 2 further includes a rotating base plate 17, which is used for the connection between the sliding roller 2 and the storage table 1, so that the storage table 1 can be rotated at any angle during use. of the mobile.
- the rotating base plate 17 is hinged with a pulley 18, and a locking clip 19 is provided between the rotating base plate 17 and the pulley 18.
- the connection between the components is further that the rotating base 4 is bolted to the support column 3, and the supporting arm 5 and the rotating base 4 are connected by bolts Fixed, the extension arm 6 is hinged on the support arm 5, the adapter column 7 is hinged on the extension arm 6, and the second extension arm 8 is hinged on the adapter column 7 Above, the welding column 9 is hinged on the second extension arm 8, the welding head 10 and the welding column 9 are fixed by bolt connection, and the intelligent scanner 22 is embedded in the welding The surface of the head 10.
- the rotating disk 14 rotates, it will drive the rotation of the support arm 5, and since the support arm 5 and the extension arm 6 are hinged, the extension arm 6 can be adjusted at different heights .
- the second extension arm 8 , the transfer column 7 and the welding column 9 are all hinged, so the corresponding angle and height can be adjusted accordingly.
- the bolted connection between the welding head 10 and the welding column 9 facilitates maintenance, repair and replacement of the welding head 10 later.
- the welding head 10 further includes a base 20 and a welding rod 21, the welding rod 21 and the base 20 are fixed in a sliding connection, and the welding rod 21 is slidingly connected to the
- the center of the base 20 allows the welding rod 21 to rotate flexibly; in order to ensure that the smart scanner 22 can work normally, it also protects the smart scanner 22 accordingly to prolong its use. Lifespan, to avoid damage to the exposed smart scanner 22 during the welding operation, the smart scanner 22 is embedded and connected to the surface of the base 20 .
- the clamping machine further includes a main frame 12, a motor box 13, a boss, a rotating disk 14 and an adjustment plate 16, and the motor box 13 is fixedly connected to the main frame 12, so that the clamping machine as a whole can Stable operation; the boss is set on the surface of the motor box 13, and the boss is further a circular boss, in order to allow the rotating disk 14 to rotate flexibly, the rotating disk 14 and the boss
- the column is fixed by means of bearing connection; in order to firmly clamp the item to be welded during the welding operation, and to facilitate the welding of the completed item to be placed on the storage table 1 after welding, the rotating The center of the disc 14 is provided with an automatic telescopic column 15.
- the automatic telescopic column 15 When performing welding operations, the automatic telescopic column 15 will pop up and hold against the object to be welded. When the welding operation is completed, the automatic telescopic column 15 will be retracted, so that the welding The finished article slides onto the storage table 1; the rotating disc 14 is welded with an adjusting plate 16, and one side of the fixing plate 11 is welded to the bottom of the adjusting plate 16, when the rotating disc 14 When rotating, it will drive the rotation of the adjusting plate 16, thereby adjusting the angle and height of the fixing plate 11, so as to cooperate with the welding work of the welding module.
- the welding module is composed of a plurality of welding arms
- the clamping module is composed of a plurality of clamping mechanisms
- the welding module and the clamping module are fixedly connected on the base plate, so that the welding module is on the
- the distances between the clamping modules are fixed to each other, which facilitates the welding operation.
- the welding module and the clamping module are connected as a whole, which is convenient for moving and carrying during use.
- the plurality of welding arms are symmetrically distributed, which is convenient for all-round scanning of the items to be welded.
- the plurality of clamping machines are also symmetrically distributed, which is convenient for clamping the items to be welded.
- the storage module is welded to one side of the base plate, which plays a role of fixing the distance between the storage module and the base plate, so that the welded items can be placed on the storage after the welding operation is completed. In the module, the welding module, the clamping module and the storage module are also connected.
- Sliding rollers 2 are also installed on the bottom of the base plate, so that the base plate can also be flexibly moved, rotated and locked, which is convenient for the overall movement and transportation of the intelligent welding robot.
- the surface of the base plate is provided with a sliding track, in order to enable the clamping machine to move flexibly on the base plate along the sliding track, the clamping machine is slidably connected to the sliding track Inside.
- the connection between the welding arm and the base plate is further bolted, which is convenient for maintenance and replacement of the welding arm later.
- the sliding track is provided with a locking device, so that the clamping machine can be locked at any position of the sliding track, which is convenient for adjusting the distance between multiple clamping machines, and at the same time, it is convenient for clamping the items to be welded hold.
- the fixed plate 11 is further a telescopic fixed plate 11, which can be telescopically adjusted at any length. When clamping the item to be welded, the length of the telescopic fixed plate 11 can be adjusted according to the actual situation, so that the desired Items to be welded are held more securely. When faced with welds of different lengths, the clamping machine and the telescopic fixing plate 11 can also be flexibly handled to meet different welding requirements.
- the present invention proposes a welding method for an intelligent welding robot, and the specific steps are as follows:
- the automatic telescopic column 15 will pop up, and hold against the object to be welded, so that it is fixed between the clamping machines, and at the same time
- the telescopic fixing plate 11 will hold up the items to be welded.
- the smart scanner 22 scans the items to be welded to generate a corresponding welding scheme.
- the generated welding scheme is sent to the motor box 13 through a wireless signal receiving device, and the rotating disk 14 performs corresponding rotation adjustment according to corresponding instructions, and the rotation of the rotating disk 14 drives the adjustment plate 16 Move to make the telescopic fixing plate 11 perform corresponding angle adjustment and height adjustment, and cooperate with the welding arm to complete the corresponding welding work.
- the rotating disk 14 continues to rotate, and the welded items are burrowed to the edge of the storage table 1, the automatic telescopic column 15 is retracted, and the rotating disk 14 rotates again to drive the adjustment
- the plate 16 enables the telescopic fixing plate 11 to adjust the angle, and slides the welded items onto the storage table 1 .
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Abstract
本发明涉及一种智能焊接机器人及其焊接方法，包括置物模块、焊接模块和夹持模块。在实际作业过程中，人工只需将进行焊接的物品放至所述夹持模块，启动所述焊接模块进行焊接工作。在焊接过程中，所述焊接模块会进行智能扫描，可满足不同的焊接需求。焊接结束后，所述夹持模块会将进行焊接的物品运送至所述置物模块，人工只需通过置物模块进行拿取，提高了焊接工作的效率和精准度的同时也提高了焊接作业的安全性，减轻了人工的劳动力。
Description
本发明涉及机械焊接领域，具体涉及一种智能焊接机器人及其焊接方法。
焊接技术是一种以加热、高温高压的方式接合金属或其他热塑性材料的工艺技术，焊接可以将多种材料或物体相接合。在焊接作业过程中，所要进行焊接的两种或两种以上的物体焊接口往往是不规则或不契合的，现有技术中焊接技术需要预先对所要进行焊接的物品进行接口打磨切割，使其能够相契合，无法做到对不规则的两个接口直接进行焊接，无形中增加了工作量，降低了工作效率。
提供一种只能焊接系统，并进一步提供一种基于上述智能焊接机器人的焊接方法，以解决现有技术存在的上述问题。
一种智能焊接机器人，包括置物模块、焊接模块和夹持模块三个部分。
其中，置物模块包括置物台，所述置物台的底部固定连接有滑动滚轮；焊接模块包括焊接臂，所述焊接臂进一步包括支撑柱，固定连接于所述支撑柱上的旋转基台，固定于所述旋转基台之上的撑托臂，所述撑托臂连接有延长臂，连接于所述延长臂之上的转接柱，所述转接柱上固定有第二延长臂，连接于第二延长臂上的焊接柱，所述焊接柱固定连接有焊接头，所述焊接头安装有智能扫描仪；夹持模块进一步包括夹持机，与所述夹持机固定连接的固定板。
在进一步的实施例中，所述滑动滚轮进一步包括旋转基盘，用于所述滑动滚轮与所述置物台之间的连接，使得在使用过程中所述置物台可进行任意角度的移动。所述旋转基盘铰接有滑轮，可使得所述置物台能够进行移动；所述旋转基盘与所述滑轮之间设有锁定卡位片，在将所述置物台移动至合适的位置后，可将所述滑动滚轮进行锁定卡位，使得所述置物台固定住，防止滑动。且所述置物台的表面为凹凸不平的条纹面板，起到了防滑的作用，在所焊接的物品滑落至所述置物台时，可防止焊接完成的物品滑落出所述置物台，增大所述置物台与焊接物品之间的摩擦力。
在进一步的实施例中，所述焊接模块各组件之间的连接方式进一步为所述旋转基台螺栓连接于所述支撑柱之上，所述撑托臂螺栓连接于所述旋转基台之上，当所述旋转盘转动时，会带动所述撑托臂的转动；所述撑托臂与所述延长臂采用铰接的方式相固定，使得所述延长臂可进行不同高度上的调整；所述转接柱铰接于所述延长臂之上，所述第二延长臂铰接于所述转接柱上，所述焊接柱铰接于所述第二延长臂上，由于所述第二延长臂、转接柱和焊接柱之间均为铰接，所以均可进行相应的角度、高度的调整；所述焊接头与所述焊接柱采用螺栓连接的方式相固定，便于后期对所述焊接头的保养、维修和更换；所述智能扫描仪嵌入式连接于所述焊接头的表面。
在进一步的实施例中，所述焊接头进一步包括底座和焊接杆，所述焊接杆滑动连接于所述底座的中心，使得所述焊接杆可进行灵活的转动，从而能够对不同角度的焊接需求进行操作；所述智能扫描仪嵌入式连接于所述底座表面，在确保了所述智能扫描仪能够正常工作的前提下，也对所述智能扫描仪起到了一定的保护作用，延长了所述智能扫描仪的使用寿命。所述夹持机进一步包括主机座、电机箱、凸柱、旋转盘和调节板，所述电机箱固定连接于所述主机座之上，使得所述夹持机整体能够稳固运作；所述凸柱设于所述电机箱表面，且所述凸柱进一步为圆形凸柱，所述旋转盘与所述凸柱轴承连接，使得所述旋转盘可灵活转动；所述旋转盘中心设有自动伸缩柱，当进行焊接作业时，所述自动伸缩柱会弹出，抵住所要进行焊接的物品，确保了所要焊接的物品的牢固性；当焊接作业完成后，所述自动伸缩柱会收回，使得焊接完成的物品滑落至所述置物台之上；所述旋转盘焊接有调节板，且所述固定板的一侧焊接于所述调节板的底部，当所述旋转盘进行转动时，会带动所述调节板的转动，从而对所述固定板的角度、高度进行调节，以此配合所述焊接模块的焊接工作。
在进一步的实施例中，所述焊接模块由多个焊接臂构成，所述夹持模块由多个夹持机构成，所述焊接模块与所述夹持模块固定连接于基座板之上，使得所述焊接模块于所述夹持模块之间的距离相互固定。多个所述焊接臂之间为对称式分布，便于对所要进行焊接的物品进行全方位的扫描，当所要进行焊接的物品为两个或两个以上同时进行时，也可满足多个物品进行同时焊接，不仅节省了焊接作业的时间成本，同时提高了焊接作业的效率。且多个所述夹持机之间同样为对称式分布，便于对所要进行焊接的物品进行夹持，确保所要进行焊接的物品能够牢固于所述夹持机之间，同时所述固定板能够起到托起所要进行焊接的物品的作用。所述置物模块焊接于所述基座板的一侧，起到固定所述置物模块与所述基座板之间距离的作用，便于焊接作业结束后将所进行焊接的物品置于所述置物模块中。同时，所述焊接模块、所述夹持模块与所述置物模块之间都为固定连接，形成了一个整体，便于后期使用和收纳时的整体移动、搬运。
在进一步的实施例中，所述基座板底部同样安装有滑动滚轮，使得所述基座板也可尽心灵活的移动、旋转和锁定。所述基座板表面设有滑动轨道，所述夹持机滑动连接于所述滑动轨道之上，使所述夹持机沿着滑动轨道能够灵活的在所述基座板上进行移动，以便于对不同长度的焊接物进行夹持固定。所述焊接臂与所述基座板的连接方式进一步为螺栓连接，便于后期对所述焊接臂的维修和更换。
在进一步的实施例中，所述滑动轨道设有锁定装置，使得所述夹持机可锁定于所述滑动轨道的任意位置，便于调节多个所述夹持机之间的距离，便于对所要进行焊接的物品进行夹持。所述固定板进一步为伸缩固定板，可进行任意长度的伸缩调节，在对所要进行焊接的物品进行夹持工作时，可根据实际情况进行所述伸缩固定板的长度调节，使得所要进行焊接的物品夹持的更为牢固。
一种智能焊接机器人的焊接方法，包括以下步骤：
S1、人工把所要进行焊接的物品放至固定板上，滑动所述夹持机调整至适当的距离，通过所述滑动轨道的锁定装置将所述夹持机固定于所述滑动轨道之上，所述伸缩固定板随着所述夹持机之间的距离变化而随之进行调整，初步完成对焊接物品的夹持固定工作；
S2、启动所述焊接臂和所述电机箱，随着电流的通入，所述自动伸缩柱会弹出，抵住所要焊接的物品，使得其固定于所述夹持机之间，同时所述伸缩固定板会将所要
进行焊接的物品托起。所述智能扫描仪对所要焊接的物品进行扫描，生成相应的焊接方案；
S3、生成的焊接方案通过无线信号接收装置发送至电机箱，旋转盘根据相应的指令进行旋转调节，使固定板进行角度调节，配合焊接臂完成焊接工作；
S4、当焊接工作完成后，所述旋转盘继续进行转动，将焊接完成的物品地洞至所述置物台的边缘，所述自动伸缩柱收回，所述旋转盘再次转动，带动所述调节板，使得所述伸缩固定板进行角度的调节，将焊接完成的物品滑落至所述置物台之上；
S5、关闭所述焊接臂与所述电机箱的电源，停止所述智能焊接机器人的运作。在确保了电源完全断开，所述智能焊接机器人完全停止运作后，人工可通过所述置物台将焊接完成的物品取走。
本发明涉及一种智能焊接机器人及其焊接方法，在焊接工作开始前，会先对所要进行焊接的物品进行智能扫描，生成相应的焊接方案，可对焊接口不规则或不契合的物品直接进行焊接，不许预先对所要焊接的物品进行接口打磨切割等预备工作。降低了焊接工作的工作量，同时提高了焊接工作的工作效率。且焊接结束后会将焊接完成的物品自动放落至置物台上，可等机器完全断电不再进行运转后人工再进行拿取工作，确保了人工作业的安全性。
图1为本发明整体的示意图。
图2为本发明焊接臂的示意图。
图3为本发明滑动滚轮的示意图。
图4为本发明夹持机的示意图。
图5为本发明焊接头的示意图。
图中各附图标记为：置物台1、滑动滚轮2、支撑柱3、旋转基台4、撑托臂5、延长臂6、转接柱7、第二延长臂8、焊接柱9、焊接头10、固定板11、主机座12、电机箱13、旋转盘14、自动伸缩柱15、调节板16、旋转基盘17、滑轮18、锁定卡位片19、底座20、焊接杆21、智能扫描仪22。
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
申请人认为，传统的焊接机需要预先对所要进行焊接的物品进行接口的打磨切割，无法直接进行焊接工作，不仅无形中增加了焊接工作量，还降低了焊接工作的工作效率。
为此，申请人设计一种智能焊接机器人及其焊接方法，焊接机预先对所要焊接的物品进行智能扫描，生成焊接方案，可直接对所要焊接的物品进行焊接。同时焊接结束后会自动将完成焊接的物品放至置物台上，降低了焊接工作的工作量，提高生产效率，也确保了人工操作的安全性。
本发明涉及的智能焊接机器人主要包括置物模块、焊接模块和夹持模块三个部分。其中，置物模块进一步包括底部固定连接有滑动滚轮2的置物台1；焊接模块包括焊接臂，所述焊接臂进一步包括支撑柱3，旋转基台4固定连接于所述支撑柱3上，所述旋转基台4上固定连接有撑托臂5，所述撑托臂5连接有延长臂6，转接柱7连接于所述延长臂6之上，所述转接柱7上固定有第二延长臂8，所述第二延长臂8上连接有焊接柱9，所述焊接柱9固定连接有焊接头10，所述焊接头10安装有智能扫描仪22；夹持模块进一步包括夹持机，所述夹持机固定连接有固定板11。
在上述置物模块中，所述滑动滚轮2进一步包括旋转基盘17，用于所述滑动滚轮2与所述置物台1之间的连接，使得在使用过程中所述置物台1可进行任意角度的移动。所述旋转基盘17铰接有滑轮18，所述旋转基盘17与所述滑轮18之间设有锁定卡位片19，在将所述置物台1移动至合适的位置后，可将所述滑动滚轮2进行锁定卡位，使得所述置物台1固定住，防止滑动。且所述置物台1的表面为凹凸不平的条纹面板，起到了防滑的作用，在所焊接的物品滑落至所述置物台1时，可防止焊接物品的滑落，增大所述置物台1与焊接物品之间的摩擦力。
在上述焊接模块中，各组件之间的连接方式进一步为所述旋转基台4螺栓连接于所述支撑柱3之上，所述撑托臂5与所述旋转基台4采用螺栓连接的方式相固定，所述延长臂6铰接于所述撑托臂5之上，所述转接柱7铰接于所述延长臂6之上，所述第二延长臂8铰接于所述转接柱7上，所述焊接柱9铰接于所述第二延长臂8上，所述焊接头10与所述焊接柱9采用螺栓连接的方式相固定，所述智能扫描仪22嵌入式连接于所述焊接头10的表面。当所述旋转盘14转动时，会带动所述撑托臂5的转动，由于所述撑托臂5与所述延长臂6之间为铰接，所述延长臂6可进行不同高度上的调整。所述第二延长臂8、转接柱7和焊接柱9之间均为铰接，所以均可进行相应的角度、高度的调整。所述焊接头10与所述焊接柱9之间的螺栓连接便于后期对所述焊接头10的保养、维修和更换。
在上述焊接臂中，所述焊接头10进一步包括底座20和焊接杆21，所述焊接杆21与所述底座20之间采用滑动连接的方式相固定，且所述焊接杆21滑动连接于所述底座20的中心，使得所述焊接杆21可进行灵活的转动；为了确保了所述智能扫描仪22能够正常的进行工作，同时也对所述智能扫描仪22进行相应的保护，延长其使用寿命，避免在焊接作业过程中对裸露在外的所述智能扫描仪22造成伤害，所述智能扫描仪22嵌入式连接于所述底座20表面。所述夹持机进一步包括主机座12、电机箱13、凸柱、旋转盘14和调节板16，所述电机箱13固定连接于所述主机座12之上，使得所述夹持机整体能够稳固运作；所述凸柱设于所述电机箱13表面，且所述凸柱进一步为圆形凸柱，为了使所述旋转盘14可进行灵活的转动，所述旋转盘14与所述凸柱采用轴承连接的方式相固定；为了在焊接作业过程中能够对所要焊接的物品牢固的夹持，同时便于焊接结束后将所焊接完成的物品放落至所述置物台1上，所述旋转盘14中心设有自动伸缩柱15，当进行焊接作业时，所述自动伸缩柱15会弹出，抵住所要进行焊接的物品，当焊接作业完成后，所述自动伸缩柱15会收回，使得焊接完成的物品滑落至所述置物台1之上；所述旋转盘14焊接有调节板16，且所述固定板11的一侧焊接于所述调节板16的底部，当所述旋转盘14进行转动时，会带动所述调节板16的转动，从而对所述固定板11的角度、高度进行调节，以此配合所述焊接模块的焊接工作。
所述焊接模块由多个焊接臂构成，所述夹持模块由多个夹持机构成，所述焊接模块与所述夹持模块固定连接于基座板之上，使得所述焊接模块于所述夹持模块之间的距离相互固定，便于焊接作业的进行。同时把所述焊接模块与所述夹持模块连接为一个整体，便于使用过程中的移动、搬运。多个所述焊接臂之间为对称式分布，便于对所要进行焊接的物品进行全方位的扫描，同时，当所要进行焊接的物品为两个或两个以上同时进行时，可满足对多个物品进行同时焊接，节省了焊接作业的时间成本，同时还提高了焊接作业的效率。且多个所述夹持机之间同样为对称式分布，便于对所要进行焊接的物品进行夹持。所述置物模块焊接于所述基座板的一侧，起到固定所述置物模块与所述基座板之间距离的作用，便于焊接作业结束后将所进行焊接的物品置于所述置物模块中，也将所述焊接模块、所述夹持模块与所述置物模块相连接起来。
所述基座板底部同样安装有滑动滚轮2，使得所述基座板也可尽心灵活的移动、旋转和锁定，便于所述智能焊接机器人整体的移动、搬运。所述基座板表面设有滑动轨道，为了使所述夹持机能够沿着所述滑动轨道灵活的在所述基座板上进行移动，所述夹持机滑动连接于所述滑动轨道之内。所述焊接臂与所述基座板的连接方式进一步为螺栓连接，便于后期对所述焊接臂进行维修和更换。
所述滑动轨道设有锁定装置，使得所述夹持机可锁定于所述滑动轨道的任意位置，便于调节多个所述夹持机之间的距离，同时便于对所要进行焊接的物品进行夹持。所述固定板11进一步为伸缩固定板11，可进行任意长度的伸缩调节，在对所要进行焊接的物品进行夹持工作时，可根据实际情况进行所述伸缩固定板11的长度调节，使得所要进行焊接的物品夹持的更为牢固。在面对不同长度的焊接物时，所述夹持机与所述伸缩固定板11也可灵活应对，随机应变，满足不同的焊接需求。
在上述智能焊接机器人的基础之上，本发明提出一种智能焊接机器人的焊接方法，具体步骤如下：
首先，人工把所要进行焊接的物品放至固定板11上，滑动所述夹持机调整至适当的距离，通过所述滑动轨道的锁定装置将所述夹持机固定于所述滑动轨道之上，所述伸缩固定板11随着所述夹持机之间的距离变化而随之进行调整，初步完成对焊接物品的夹持固定工作。
接着，启动所述焊接臂和所述电机箱13，随着电流的通入，所述自动伸缩柱15会弹出，抵住所要焊接的物品，使得其固定于所述夹持机之间，同时所述伸缩固定板11会将所要 进行焊接的物品托起。所述智能扫描仪22对所要焊接的物品进行扫描，生成相应的焊接方案。
随后，生成的焊接方案通过无线信号接收装置发送至所述电机箱13，所述旋转盘14根据相应的指令进行相应的旋转调节，在所述旋转盘14的转动下带动所述调节板16的移动，使所述伸缩固定板11进行相应的角度调节和高度调整，配合所述焊接臂完成相应的焊接工作。
如所述智能扫描仪22在对所要进行焊接的物品进行扫描时发现需对所要进行焊接的物品预先进行相应的切割打磨时，会自动生成最优的切割打磨方案，以耗时最短、材料成本消耗最少为原则进行焊接的预备打磨切割工作。
当焊接工作完成后，所述旋转盘14继续进行转动，将焊接完成的物品地洞至所述置物台1的边缘，所述自动伸缩柱15收回，所述旋转盘14再次转动，带动所述调节板16，使得所述伸缩固定板11进行角度的调节，将焊接完成的物品滑落至所述置物台1之上。
最后，关闭所述焊接臂与所述电机箱13的电源，停止所述智能焊接机器人的运作。在确保了电源完全断开，所述智能焊接机器人完全停止运作后，人工可通过所述置物台1将焊接完成的物品取走。
如上所述，尽管参照特定的优选实施例已经表示和表述了本发明，但其不得解释为对本发明自身的限制。在不脱离所附权利要求定义的本发明的精神和范围前提下，可对其在形式上和细节上做出各种变化。
Claims (10)
- 一种智能焊接机器人，其特征是包括：置物模块，包括置物台，固定连接于所述置物台底部的滑动滚轮；焊接模块，包括焊接臂，所述焊接臂进一步包括支撑柱，与所述支撑柱固定连接的旋转基台，固定于所述旋转基台之上的撑托臂，所述撑托臂连接有延长臂，连接于所述延长臂之上的转接柱，固定于所述转接柱上的第二延长臂，连接于第二延长臂上的焊接柱，所述焊接柱固定连接有焊接头，所述焊接头安装有智能扫描仪；夹持模块，包括夹持机，与所述夹持机固定连接的固定板。
- 根据权利要求1所述的一种智能焊接机器人，其特征在于：所述滑动滚轮进一步包括旋转基盘，铰接于所述旋转基盘上的滑轮，置于所述旋转基盘与所述滑轮之间的锁定卡位片；所述置物台表面为凹凸不平的条纹面板。
- 根据权利要求1所述的一种智能焊接机器人，其特征在于：所述旋转基台螺栓连接于所述支撑柱之上，所述撑托臂螺栓连接于所述旋转基台之上，所述撑托臂与所述延长臂采用铰接的方式相固定，所述转接柱铰接于所述延长臂之上，所述第二延长臂铰接于所述转接柱上，所述焊接柱铰接于所述第二延长臂上，所述焊接头与所述焊接柱采用螺栓连接的方式相固定，所述智能扫描仪嵌入式连接于所述焊接头的表面。
- 根据权利要求3所述的一种智能焊接机器人，其特征在于：所述焊接头进一步包括底座，所述底座中心滑动连接有焊接杆，所述智能扫描仪嵌入式连接于所述底座表面。
- 根据权利要求1所述的一种智能焊接机器人，其特征在于：所述夹持机进一步包括主机座，固定连接于所述主机座之上的电机箱，所述电机箱表面设有圆形凸柱，所述凸柱轴承连接有旋转盘，所述旋转盘中心设有自动伸缩柱，所述旋转盘焊接有调节板，所述固定板的一侧边焊接于所述调节板的底部。
- 根据权利要求1所述的一种智能焊接机器人，其特征在于：所述焊接模块由多个焊接臂构成，所述夹持模块由多个夹持机构成；所述焊接模块与所述夹持模块固定连接于基座板之上；多个所述焊接臂之间为对称式分布，且多个所述夹持机之间同样为对称式分布；所述置物模块焊接于所述基座板的一侧。
- 根据权利要求6所述的一种智能焊接机器人，其特征在于：所述基座板底部同样安装有滑动滚轮；所述基座板表面设有滑动轨道，所述夹持机滑动连接于所述滑动轨道之上，所述焊接臂螺栓连接于所述基座板之上。
- 根据权利要求7所述的一种智能焊接机器人，其特征在于：所述滑动轨道设有锁定装置，所述夹持机可锁定于所述滑动轨道的任意位置。
- 根据权利要求1所述的一种智能焊接机器人，其特征在于：所述固定板进一步为伸缩固定板，可进行任意长度的伸缩调节。
- 根据权利要求1至9中任一项所述的一种智能焊接机器人的焊接方法，其特征在于包括以下步骤：S1、人工把所要进行焊接的物品放至固定板上，滑动夹持机调整至适当的距离，通过滑动轨道的锁定装置将夹持机固定于滑动轨道之上；S2、启动焊接臂和电机箱，自动伸缩柱会弹出，抵住所要焊接的物品，使得其固定于夹持机之间，智能扫描仪对所要焊接的物品进行扫描，生成相应的焊接方案；S3、生成的焊接方案通过无线信号接收装置发送至电机箱，旋转盘根据相应的指令进行旋转调节，使固定板进行角度调节，配合焊接臂完成焊接工作；S4、当焊接工作完成后，旋转盘继续进行转动，自动伸缩柱收回，将焊接完成的物品滑落至置物台之上；S5、关闭焊接臂和电机箱，停止系统运作，人工通过所述置物台将焊接完成的物品取走。
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