CN108655627A - Intelligent welding robot - Google Patents
Intelligent welding robot Download PDFInfo
- Publication number
- CN108655627A CN108655627A CN201810410975.XA CN201810410975A CN108655627A CN 108655627 A CN108655627 A CN 108655627A CN 201810410975 A CN201810410975 A CN 201810410975A CN 108655627 A CN108655627 A CN 108655627A
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- CN
- China
- Prior art keywords
- welding
- robot
- welding bench
- bench
- axis
- 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.)
- Pending
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Classifications
-
- 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
-
- 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
- B23K37/0264—Carriages for supporting the welding or cutting element magnetically attached to the workpiece
-
- 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
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- 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
- B23K37/0461—Welding tables
-
- 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
- B23K37/08—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for flash removal
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses Intelligent welding robots, including welding bench, polishing table, camera, spare part platform, at sample platform, spare part platform and in sample platform be equipped with 3 sensors, camera is provided with below welding bench, welding bench is equipped with welding placement region, it welds and is equipped with sensing hole in placement region, welding bench is equipped with push rod corresponding with the welding placement region and fixed link, the side of welding bench is equipped with bar, the lower end of bar is equipped with waste material box, motor and gas tank are provided on polishing table, welding bench is equipped with electromagnet with polishing table, camera is electrically connected by connecting line and automatic control device.The present invention whether there is workpiece by sensor impression top, robot is sent a signal to for judging, the camera being equipped with below welding bench, shooting workpiece whether there is welding slag, polishing is positioned over into sample platform after the completion of blowing, operator can obtain grinding workpieces and welding situation on computers in real time.
Description
Technical field
The present invention relates to industrial robot welding field more particularly to Intelligent welding robots.
Background technology
Welding robot is the industrial robot for being engaged in welding (including cutting and spraying).Industrial robot belongs to standard weldering
The definition of welding robot, industrial robot are that a kind of multiduty, repeatable programming automatically controls operation machine, tool there are three or
More programmable axis, are used for industrial automation.In order to adapt to different purposes, the machinery of the last one axis of robot connects
Mouth is typically a connecting flange, can be hinged with different tools or end effector.Welding robot is exactly in industrial robot
Last shaft flange attaching soldering turret or welding gun, make it to be welded, cut or sprayed.But single welding robot is only at present
The welding stage is only rested on, the carrying in welding process intelligent can not be run with polishing, therefore a whole set of welding
Work station of polishing is very necessary, often occurs welding slag during welding, clears up the weldering of a workpiece under the influence of then meeting not in time
Quality is connect, it is often fixed inconvenient to encounter magnetic work.
Invention content
The main purpose of the present invention is to provide Intelligent welding robots, are sent a signal to by the sensor on spare part platform
Robot, robot, which judges to have on spare part platform, can be transported to welding bench and welded when workpiece, after welding, on welding bench
When camera takes workpiece and has stain, workpiece handling to polishing table can be polished and blown by robot, is blown and is terminated carry again
To at sample platform, saves manpower and improve working efficiency.
To achieve the above object, the technical solution that the present invention takes is：
Intelligent welding robot, including one axis of robot, two axis of robot, three axis of robot, four axis of robot, machine
Five axis of people, six axis of robot and fixture, automatic control device, welding bench, polishing table, camera, spare part platform, at sample platform, it is described
Spare part platform and at 3 sensors are equipped in sample platform, camera is provided with below the welding bench, the welding bench is equipped with welding
Placement region, sensing hole is equipped in the welding placement region, and the welding bench is equipped with opposite with the welding placement region
The side of the push rod and fixed link answered, the welding bench is equipped with bar, and the lower end of the bar is equipped with waste material box, the polishing
Motor and gas tank are provided on platform, the welding bench is equipped with electromagnet with polishing table, and the camera is by connecting line and certainly
Dynamic control device is electrically connected.
Further, the motor is equipped with polishing stick.
Further, the gas tank is equipped with gas tank hole.
Further, the fixture includes welding gun and clamping jaw, and the welding gun can apply protective gas, and the clamping jaw is deformable
Clamping.
Further, the fixed link is equipped with gas blow pipe, and the welding bench is equipped with baffle with respect to the side of gas blow pipe.
Operation principle：The workpiece of top is experienced when apparatus of the present invention are run by the sensor on spare part platform, and is sent
Signal is to robot, when impression has workpiece by the welding placement region of workpiece handling to welding bench, when push rod and fixed link
Start to weld after the workpiece in welding placement region is fixed, when the camera on welding bench takes work after welding
There are when welding slag on part, Workpiece transfer to polishing table can be rotated polishing stick by motor and polished by robot, be welded simultaneously
Gas blow pipe on platform can carry out aeration cleaning to welding placement region, welding slag is blown into waste material box, robot of having polished removes again
It transports to by the gas tank of polishing table side and blows, blow and terminate robot by workpiece handling at sample platform.For ferromagnetism work
Part can also utilize the quick positioning and clamping of the high-speed double electromagnet workpiece on welding bench and polishing table.
Advantageous effect：Workpiece handling, welding, polishing, the intelligent operation of positioning and clamping are realized, the working time is saved
Also save manpower.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the clamp structure schematic diagram of the present invention.
Fig. 3 is the welding bench structural schematic diagram of the present invention.
Fig. 4 is for the spare part platform of the present invention or at sample platform structural schematic diagram.
Fig. 5 is the process flow chart of the present invention.
In figure：1- automatic control devices；One axis of 2- robots；Two axis of 3- robots；Three axis of 4- robots；5- robots four
Axis；Five axis of 6- robots；Six axis of 7- robots and fixture；8- welding benches；9- cameras；10- spare part platforms；11- is at sample platform；12-
Polishing table；13 gas tanks；14- gas tanks hole；15- motors；16- polishing sticks；17- fixed links；18- grooves A；19- welds placement region；
20- push rod；21- sensing holes 1；22- sensors；23- clamping jaws；24- clamping jaw wall bars；25- grooves B；26- robots wall bar；27-
Welding gun；28 baffles；29 bars；30 gas blow pipes；31 waste material box；32 electromagnet.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, with reference to
Specific implementation mode, the present invention is further explained.
As shown in Figure 1, Figure 2, Figure 3 shows, Intelligent weldings robot, including one axis 2 of robot, two axis 3 of robot, robot
Three axis 4, four axis 5 of robot, five axis 6 of robot, six axis of robot and fixture 7, automatic control device 1, welding bench 8, polishing table
12, camera 9, spare part platform 10, at sample platform 11, the spare part platform 10 and in sample platform 11 be equipped with 3 sensors 22, the welding
The top of platform 8 is provided with camera 9, and the welding bench 8 is equipped with welding placement region 19, is equipped in the welding placement region 19
Sensing hole 21, the welding bench 8 is equipped with push rod 20 corresponding with the welding placement region 19 and fixed link 17, described
The side of welding bench 8 is equipped with bar 29, and the lower end of the bar 29 is equipped with waste material box 31, motor is provided on the polishing table 12
15 are equipped with electromagnet 32 with gas tank 13, the welding bench 8 with polishing table 12, and the camera 9 passes through connecting line and automatic control
Device 1 processed is electrically connected.
Wherein, the motor 15 is equipped with polishing stick 16, convenient to carry out polishing work to the workpiece after welding.
Wherein, the gas tank 13 is equipped with gas tank hole 14, and the convenient spot on workpiece carries out aeration cleaning.
Wherein, the fixture includes welding gun 27 and clamping jaw 23, and the welding gun 27 can apply protective gas, and the clamping jaw 23 can
Clamping is deformed, is deformed by clamping jaw 23 and changes the collision and temporal waste that clamp strap is come to reduce, it is more succinctly, also more reasonable.
Wherein, the fixed link 17 is equipped with gas blow pipe 30, and the welding bench 8 is equipped with baffle with respect to the side of gas blow pipe 30
28, after welding workpiece, the welding slag that gas blow pipe 30 retains welding placement region 19 carries out aeration cleaning, and welding slag is in gas blow pipe 30
Under the action of fallen into waste material box 31 by the blocking of baffle 28, ensure that the clean of welding placement region 19, not under the influence of one
The processing quality of workpiece.
Embodiment：The workpiece of top is experienced when apparatus of the present invention are run by the sensor 22 on spare part platform 10, concurrently
The number of delivering letters gives robot, when impression has workpiece by the welding placement region 19 of workpiece handling to welding bench 8, when 20 He of push rod
Fixed link 17 starts to weld after the workpiece in welding placement region 19 is fixed, when taking the photograph on welding bench 8 after welding
As first 9 take on workpiece there are when welding slag, Workpiece transfer to polishing table 12 can be passed through the rotation polishing stick of motor 15 by robot
16 polish, while the gas blow pipe 30 on welding bench 8 can carry out aeration cleaning to welding placement region 19, welding slag is blown into useless
In magazine 31, robot of having polished is transported to by the gas tank 13 of 12 side of polishing table and blows again, and blowing end robot will
Workpiece handling is at sample platform 11.For ferromagnetic workpiece, the electromagnet 32 on welding bench 8 and polishing table 12 can also be utilized to realize
The quick positioning and clamping of workpiece.
Above certain exemplary embodiments that the present invention is only described by way of explanation, undoubtedly, for ability
The those of ordinary skill in domain without departing from the spirit and scope of the present invention can be with a variety of different modes to institute
The embodiment of description is modified.Therefore, above-mentioned attached drawing and description are regarded as illustrative in nature, and should not be construed as to the present invention
The limitation of claims.
Claims (5)
1. Intelligent welding robot, including one axis of robot, two axis of robot, three axis of robot, four axis of robot, robot five
Axis, six axis of robot and fixture, automatic control device, welding bench, polishing table, camera, spare part platform, at sample platform, feature exists
In：The spare part platform and at 3 sensors are equipped in sample platform, is provided with camera, the welding bench below the welding bench
Equipped with welding placement region, sensing hole is equipped in the welding placement region, the welding bench is equipped with to be placed with the welding
The side of the corresponding push rod in region and fixed link, the welding bench is equipped with bar, and the lower end of the bar is equipped with waste material box,
Motor and gas tank are provided on the polishing table, the welding bench is equipped with electromagnet with polishing table, and the camera passes through company
Wiring is electrically connected with automatic control device.
2. Intelligent welding robot according to claim 1, it is characterised in that：The motor is equipped with polishing stick.
3. Intelligent welding robot according to claim 1, it is characterised in that：The gas tank is equipped with gas tank hole.
4. Intelligent welding robot according to claim 1, it is characterised in that：The fixture includes welding gun and clamping jaw, institute
Protective gas, the deformable clamping of clamping jaw can be applied by stating welding gun.
5. Intelligent welding robot according to claim 1, it is characterised in that：The fixed link is equipped with gas blow pipe, institute
The side that welding bench is stated with respect to gas blow pipe is equipped with baffle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810410975.XA CN108655627A (en) | 2018-05-02 | 2018-05-02 | Intelligent welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810410975.XA CN108655627A (en) | 2018-05-02 | 2018-05-02 | Intelligent welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108655627A true CN108655627A (en) | 2018-10-16 |
Family
ID=63781699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810410975.XA Pending CN108655627A (en) | 2018-05-02 | 2018-05-02 | Intelligent welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108655627A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116727955A (en) * | 2023-08-15 | 2023-09-12 | 天津市奥其蓄能器有限公司 | Welding device for diaphragm accumulator production |
| CN118162831A (en) * | 2024-05-16 | 2024-06-11 | 常州美通新能源科技有限公司 | Intelligent copper plate welding equipment and welding method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202701652U (en) * | 2012-06-01 | 2013-01-30 | 浙江吉润汽车有限公司 | Welding manipulator with clamping mechanism |
| CN204308433U (en) * | 2014-11-14 | 2015-05-06 | 南京熊猫电子股份有限公司 | Heavy duty transfer robot and welding robot combine comprehensive automatically welding workstation |
| CN105742929A (en) * | 2016-04-29 | 2016-07-06 | 德清县佳伟线缆有限公司 | Simple broken line welding and polishing device |
| CN106862813A (en) * | 2017-03-14 | 2017-06-20 | 浙江大学 | A kind of automatic surfacing of caterpillar teeth wheel disc robot and vision detection system |
| CN206743685U (en) * | 2017-06-06 | 2017-12-12 | 苏州胜科设备技术有限公司 | The repair of circuit slab detection means |
| CN206898634U (en) * | 2017-06-23 | 2018-01-19 | 芜湖美奥机械科技有限公司 | A kind of compressor of air conditioner main casing body canal automatic soldering device |
| CN107695581A (en) * | 2017-11-13 | 2018-02-16 | 广东湘凯办公家具有限公司 | It is a kind of that there is the welding manipulator for carrying function |
-
2018
- 2018-05-02 CN CN201810410975.XA patent/CN108655627A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202701652U (en) * | 2012-06-01 | 2013-01-30 | 浙江吉润汽车有限公司 | Welding manipulator with clamping mechanism |
| CN204308433U (en) * | 2014-11-14 | 2015-05-06 | 南京熊猫电子股份有限公司 | Heavy duty transfer robot and welding robot combine comprehensive automatically welding workstation |
| CN105742929A (en) * | 2016-04-29 | 2016-07-06 | 德清县佳伟线缆有限公司 | Simple broken line welding and polishing device |
| CN106862813A (en) * | 2017-03-14 | 2017-06-20 | 浙江大学 | A kind of automatic surfacing of caterpillar teeth wheel disc robot and vision detection system |
| CN206743685U (en) * | 2017-06-06 | 2017-12-12 | 苏州胜科设备技术有限公司 | The repair of circuit slab detection means |
| CN206898634U (en) * | 2017-06-23 | 2018-01-19 | 芜湖美奥机械科技有限公司 | A kind of compressor of air conditioner main casing body canal automatic soldering device |
| CN107695581A (en) * | 2017-11-13 | 2018-02-16 | 广东湘凯办公家具有限公司 | It is a kind of that there is the welding manipulator for carrying function |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116727955A (en) * | 2023-08-15 | 2023-09-12 | 天津市奥其蓄能器有限公司 | Welding device for diaphragm accumulator production |
| CN116727955B (en) * | 2023-08-15 | 2023-10-10 | 天津市奥其蓄能器有限公司 | Welding device for diaphragm accumulator production |
| CN118162831A (en) * | 2024-05-16 | 2024-06-11 | 常州美通新能源科技有限公司 | Intelligent copper plate welding equipment and welding method thereof |
| CN118162831B (en) * | 2024-05-16 | 2024-08-09 | 常州美通新能源科技有限公司 | Intelligent copper plate welding equipment and welding method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181016 |
|
| RJ01 | Rejection of invention patent application after publication |