CN103028870A - Welding robot system - Google Patents
Welding robot system Download PDFInfo
- Publication number
- CN103028870A CN103028870A CN2012105318134A CN201210531813A CN103028870A CN 103028870 A CN103028870 A CN 103028870A CN 2012105318134 A CN2012105318134 A CN 2012105318134A CN 201210531813 A CN201210531813 A CN 201210531813A CN 103028870 A CN103028870 A CN 103028870A
- Authority
- CN
- China
- Prior art keywords
- welding
- robot
- machine
- workpiece
- robot system
- 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
Links
Images
Landscapes
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention relates to a welding robot system, which comprises a six-freedom robot body (101), a robot control cabinet (102), a demonstrator (103), a touch-screen-type multifunctional digital welding machine (104) and a position changing machine (105), wherein the six-freedom robot body (101) is used for providing and executing a set path plan and a set speed plan, and controlling a welding gun to move and weld through a mechanical structure; the touch-screen-type multifunctional digital welding machine (104) is used for providing various welding conditions and setting welding parameters for direct-current argon arc welding, pulse argon arc welding, gas shield welding and pulse gas shield welding, and acquiring and displaying waveform data in real time; and the position changing machine (105) is used for fixing a workpiece (106) to be welded, providing rotation freedoms in two directions and guaranteeing the relative attitudes of the workpiece to be welded and a six-freedom robot. The welding robot system has the advantages that the welding attitude can be guaranteed, the collision of the workpiece is reduced, the operator can easily master and conveniently operate the welding robot, the waveform data can be stored and displayed in real time and the welding effect can be monitored.
Description
Technical field
The present invention relates to a kind of welding robot system, it not only comprises the basic machine after the optimization, also comprises the touch screen displays for man-machine interaction, and the function of storage, display waveform data.
Background technology
Along with quality and the requirement of welding efficiency to welding are more and more higher, artificial welding cost rises year by year, so that the demand of welding robot and use also more and more extensive.For satisfying the welding job of complex parts, need to optimize structure and avoid the workpiece collision.Be the hommization intuitive operation, need to partly improve in man-machine interaction, make things convenient for bimanualness, What You See Is What You Get is with certain recreational.For satisfying welding quality, need voltage, the current data of Real-time Feedback welding machine, and show intuitively.For guaranteeing the Gesture of welding, positioner, welding machine and robot need to be organically combined into system, carry out the coordinated movement of various economic factors.
Therefore, prior art remains to develop and improve.
Summary of the invention
In view of above demand, the object of the present invention is to provide a kind of welding robot system, it can reduce the workpiece collision, make things convenient for man-machine interaction, real-time storage, display waveform data.Especially adopt positioner and teaching machine, be used for and be easy to adjust fixing workpiece to be welded, the rotary freedom of both direction is provided, guarantee the relative attitude of workpiece and robot, make things convenient for the robot welding.
For achieving the above object, technical scheme of the present invention is: welding robot system comprises six-DOF robot body (101), robot control cabinet (102), teaching machine (103), touch panel type multifunctional Study of digital welding machine (104) and positioner (105); Six-DOF robot body (101) is used for providing and carries out path planning and the speed planning of setting, and moves and welds with frame for movement control welding gun; Robot control cabinet (102), be used for planning six-DOF robot body control algolithm, process communication instruction mutual, storage instruction, drive the joint motor of six-DOF robot; Teaching machine (103) is used for the operator and sets workpiece attitude and path node, editor's welding procedure, set path execution parameter; Touch panel type multifunctional Study of digital welding machine (104) is used for providing direct current argon arc, pulse argon arc, gas to protect and the multiple welding condition of pulse GMAW and setting welding parameter, and Real-time Collection display waveform data; Positioner (105) is used for fixing workpiece to be welded (106), and the rotary freedom of both direction is provided, and guarantees the relative attitude of workpiece to be welded and six-DOF robot, is suitable for the welding of six-DOF robot control welding gun.
Further, six-DOF robot body (101) uses the arc-shaped bend armed lever, and is provided with rotary mop chain type electric supply installation at the pedestal place of six-DOF robot body.
Teaching machine (103) is touch screen type, and with the two-speed adjusting knob; Make things convenient for the right-hand man to operate, when relevant important instruction input is carried out, must press simultaneously two place's buttons for teaching machine (103), guarantee safety, teaching machine (103) and with USB interface.
Positioner (105) has the free degree of two mutual vertical rotaries, can with simultaneously by robot teaching device (103) programming Control, satisfy the welding of complex part.
In the concrete welding robot system course of work: set first the attitude of positioner by teaching machine, drive workpiece to be welded and turn to suitable position; Moved to again starting point, intermediate point, the end point of welding by teaching machine control and welding gun, the record pose; Teach programming one by one.Then carry out, the feedback of Wave data can real time monitoring welding situation.
Beneficial effect of the present invention: the present invention especially adopts positioner, is used for fixing workpiece to be welded, and the rotary freedom of both direction is provided, and guarantees the relative attitude of workpiece and robot, makes things convenient for the robot welding.Can guarantee welding posture, reduce the workpiece collision, make the easy left-hand seat of operating personnel, handled easily, and real-time storage, display waveform data, welding effect monitored.The present invention is by providing a kind of welding robot system of powerful, easy operating, and this robot system is used arc armed lever, the power supply of joint rotary mop chain type, two-speed control teaching machine and had real-time voltage and the touch screen type pulse GMAW machine of current waveform feedback.This system has effectively increased the robot movable space, has increased visuality.
Description of drawings
Fig. 1 shows welding robot system illustrative view of functional configuration of the present invention;
Fig. 2 shows robot body structure of the present invention and rotary mop chain type electric power-feeding structure schematic diagram;
Fig. 3 shows teaching machine schematic diagram of the present invention; A, b, c are respectively the schematic diagrames of front, the back side and side;
Fig. 4 shows positioner structural representation of the present invention.
The specific embodiment
Below, the present invention is further illustrated by reference to the accompanying drawings.
Fig. 1 shows welding robot system illustrative view of functional configuration of the present invention.The robot body of 101 expression six degree of freedoms, 102 expression robot control cabinets, 103 expression teaching machines, 104 expression touch panel type multifunctional Study of digital welding machines, 105 expression positioners, 106 expression workpiece.
The system of Multifunctional digitized welding machine (104) is based on Win CE, with multimedia function.Multifunctional digitized welding machine (104) is touch screen type, capable of choosing multiple technique.Multifunctional digitized welding machine (104) can be set the sampling period, the Wave data of record, storage, deletion voltage, electric current, and visualization display.
Wherein, switch board mainly comprises instruction algorithm processing module, SERVO CONTROL module, memory module, communication module etc.During online programming, teaching machine record node attitude is write the path program, stores in the storage medium in the switch board.The instruction algorithm processing module sends the joint control signal to SERVO CONTROL module and positioner on the one hand according to path program analytical algorithm, says that on the other hand the welding control instruction sends wire-feed motor and Multifunctional digitized welding machine to.Thereby form the orderly cooperation of robot, positioner, wire-feed motor and Multifunctional digitized welding machine.
Fig. 2 shows robot body structural representation of the present invention.201 expression pedestals (the first armed lever), 202 expressions the second armed lever, 203 expressions the 3rd armed lever, 204 expressions the 4th armed lever, 205 expressions the 5th armed lever, 206 expressions the 6th armed lever, 207 expression welding guns.Wherein, the 3rd armed lever is done an improvement, be about to straight-bar and change curved beam into, effectively avoided some collisions.At the pedestal place, use the power supply of rotary mop chain type, its structure can effectively be protected built-in cable shown in figure two right sides, and long service life.
Fig. 3 shows teaching machine schematic diagram of the present invention.301 expression left and right sides speed control rollers, 302 expression USB flash disk sockets.When teaching, roller can be controlled the velocity rate of motor.When relevant important instruction input is carried out, must press simultaneously two place's buttons for teaching machine (103), guarantee safety.The USB flash disk socket can be uploaded, download.
The maximum characteristics of Multifunctional digitized welding machine are to realize the pulse GMAW connection function.It not only realizes the welding operation of the active metals such as aluminium alloy, and also is better than common gas guarantor weldering for ordinary carbon steel, stainless welding performance, and it has the touch screen type interface of hommization simultaneously.The various parameters that not only shown current welding in the interface, and according to the sampling period Real-time Feedback voltage, the electric current of welding, and they are depicted as oscillogram.Touch panel type multifunctional Study of digital welding machine waveform of the present invention shows adjusts schematic diagram.This interface display to current oscillogram convergent-divergent editor.
Fig. 3 shows positioner structural representation of the present invention.501 expression trip shafts, 502 expression gyroaxises, 503 expression workpiece.In the native system, teaching machine not only can the teaching robot, can also adjust corner and the record of trip shaft and gyroaxis, can realize workpiece attitude and robot end's cooperation when carrying out.
The description of this specification is not to limit the scope of the invention with embodiment, and the scope of protection of present invention is not walked out in the improvement of any non-creativeness on basis of the present invention.
Claims (4)
1. welding robot system is characterized in that, comprises six-DOF robot body (101), robot control cabinet (102), teaching machine (103), touch panel type multifunctional Study of digital welding machine (104) and positioner (105); Six-DOF robot body (101) is used for providing and carries out path planning and the speed planning of setting, and moves and welds with frame for movement control welding gun; Robot control cabinet (102), be used for planning six-DOF robot body control algolithm, process communication instruction mutual, storage instruction, drive the joint motor of six-DOF robot; Teaching machine (103) is used for the operator and sets workpiece attitude and path node, editor's welding procedure, set path execution parameter; Touch panel type multifunctional Study of digital welding machine (104) provides direct current argon arc, pulse argon arc, gas to protect and the multiple welding condition of pulse GMAW and setting welding parameter, and Real-time Collection display waveform data; Positioner (105) is used for fixing workpiece to be welded (106), and the rotary freedom of both direction is provided, and guarantees the relative attitude of workpiece to be welded and six-DOF robot.
2. welding robot system according to claim 1 is characterized in that, six-DOF robot body (101) uses the arc-shaped bend armed lever, and is provided with rotary mop chain type electric supply installation at the pedestal place of six-DOF robot body.
3. welding robot system according to claim 1 is characterized in that, teaching machine (103) is touch screen type, is provided with the two-speed adjusting knob.
4. welding robot system according to claim 1 is characterized in that, positioner (105) is provided with the free degree of two mutual vertical rotaries.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105318134A CN103028870A (en) | 2012-12-11 | 2012-12-11 | Welding robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105318134A CN103028870A (en) | 2012-12-11 | 2012-12-11 | Welding robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103028870A true CN103028870A (en) | 2013-04-10 |
Family
ID=48016540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012105318134A Pending CN103028870A (en) | 2012-12-11 | 2012-12-11 | Welding robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103028870A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103358080A (en) * | 2013-07-12 | 2013-10-23 | 苏州澳冠自动化设备有限公司 | Robot welding device |
| CN103358081A (en) * | 2013-07-12 | 2013-10-23 | 苏州澳冠自动化设备有限公司 | Swing arm bi-rotation robot welding device |
| CN103480950A (en) * | 2013-09-30 | 2014-01-01 | 成都四威高科技产业园有限公司 | Robot arc welding method suitable for splicing of horn-shaped structures |
| CN103949755A (en) * | 2014-03-31 | 2014-07-30 | 长治清华机械厂 | Method for single-side welding double-side forming of HG785D steel plate by robot |
| CN104589346A (en) * | 2014-12-15 | 2015-05-06 | 广西科技大学 | Collisionless path planning method suitable for manipulator |
| CN104908041A (en) * | 2015-06-19 | 2015-09-16 | 广州数控设备有限公司 | Series connection six-shaft industrial robot control device and method |
| CN106001912A (en) * | 2016-06-29 | 2016-10-12 | 中车青岛四方机车车辆股份有限公司 | Welding equipment |
| CN107335896A (en) * | 2017-05-27 | 2017-11-10 | 赣州清亦华科科技有限公司 | A kind of welding equipment of adjustable soldering angle for metal sheet type part |
| CN108326483A (en) * | 2018-03-10 | 2018-07-27 | 冯秉健 | Welding industry integrating device |
| CN108463305A (en) * | 2015-05-18 | 2018-08-28 | Abb瑞士股份有限公司 | The gas tungsten arc welding machine and its operating method of robot control |
| CN109332928A (en) * | 2018-10-23 | 2019-02-15 | 江苏山扬智能装备有限公司 | Street lamp post robot welding system and welding method based on deep learning on-line checking |
| CN111618405A (en) * | 2020-06-12 | 2020-09-04 | 浙江嘉沛科技有限公司 | Automatic welding equipment for wire clamp body |
| CN113146001A (en) * | 2021-03-13 | 2021-07-23 | 无锡信捷电气股份有限公司 | Demonstrator system and demonstration method of arc welding robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2303703Y (en) * | 1997-07-22 | 1999-01-13 | 机械工业部天津工程机械研究所 | Fully double-revolving type welding position-changing machine |
| CN1819902A (en) * | 2004-06-22 | 2006-08-16 | 松下电器产业株式会社 | Industrial robot |
| JP2010158683A (en) * | 2009-01-06 | 2010-07-22 | Fujisawa Iron Works Co Ltd | Device for supporting welded tank |
| CN201720607U (en) * | 2010-07-09 | 2011-01-26 | 天津工业大学 | Laser remanufacturing robot system |
| CN102166752A (en) * | 2011-01-20 | 2011-08-31 | 天津大学 | Man-machine interaction method for welding robot and implementing method |
| CN102601493A (en) * | 2012-03-29 | 2012-07-25 | 华南理工大学 | Embedded multi-device real-time control welding robot system and control method |
| CN202344104U (en) * | 2011-09-29 | 2012-07-25 | 熊猫电子集团有限公司 | Multifunctional digital welding machine |
| CN102699612A (en) * | 2012-06-11 | 2012-10-03 | 徐州华恒机器人***有限公司 | Precision five-axis double-station position changing machine |
| CN203091984U (en) * | 2012-12-11 | 2013-07-31 | 南京熊猫电子股份有限公司 | Welding robot system |
-
2012
- 2012-12-11 CN CN2012105318134A patent/CN103028870A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2303703Y (en) * | 1997-07-22 | 1999-01-13 | 机械工业部天津工程机械研究所 | Fully double-revolving type welding position-changing machine |
| CN1819902A (en) * | 2004-06-22 | 2006-08-16 | 松下电器产业株式会社 | Industrial robot |
| JP2010158683A (en) * | 2009-01-06 | 2010-07-22 | Fujisawa Iron Works Co Ltd | Device for supporting welded tank |
| CN201720607U (en) * | 2010-07-09 | 2011-01-26 | 天津工业大学 | Laser remanufacturing robot system |
| CN102166752A (en) * | 2011-01-20 | 2011-08-31 | 天津大学 | Man-machine interaction method for welding robot and implementing method |
| CN202344104U (en) * | 2011-09-29 | 2012-07-25 | 熊猫电子集团有限公司 | Multifunctional digital welding machine |
| CN102601493A (en) * | 2012-03-29 | 2012-07-25 | 华南理工大学 | Embedded multi-device real-time control welding robot system and control method |
| CN102699612A (en) * | 2012-06-11 | 2012-10-03 | 徐州华恒机器人***有限公司 | Precision five-axis double-station position changing machine |
| CN203091984U (en) * | 2012-12-11 | 2013-07-31 | 南京熊猫电子股份有限公司 | Welding robot system |
Non-Patent Citations (1)
| Title |
|---|
| 马世辉: "《焊接结构生产与实例》", 31 August 2012 * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103358081A (en) * | 2013-07-12 | 2013-10-23 | 苏州澳冠自动化设备有限公司 | Swing arm bi-rotation robot welding device |
| CN103358080A (en) * | 2013-07-12 | 2013-10-23 | 苏州澳冠自动化设备有限公司 | Robot welding device |
| CN103480950B (en) * | 2013-09-30 | 2016-02-03 | 成都四威高科技产业园有限公司 | A kind of robot arc welding method being suitable for horn body structures to form |
| CN103480950A (en) * | 2013-09-30 | 2014-01-01 | 成都四威高科技产业园有限公司 | Robot arc welding method suitable for splicing of horn-shaped structures |
| CN103949755A (en) * | 2014-03-31 | 2014-07-30 | 长治清华机械厂 | Method for single-side welding double-side forming of HG785D steel plate by robot |
| CN104589346A (en) * | 2014-12-15 | 2015-05-06 | 广西科技大学 | Collisionless path planning method suitable for manipulator |
| CN108463305A (en) * | 2015-05-18 | 2018-08-28 | Abb瑞士股份有限公司 | The gas tungsten arc welding machine and its operating method of robot control |
| CN104908041A (en) * | 2015-06-19 | 2015-09-16 | 广州数控设备有限公司 | Series connection six-shaft industrial robot control device and method |
| CN106001912A (en) * | 2016-06-29 | 2016-10-12 | 中车青岛四方机车车辆股份有限公司 | Welding equipment |
| CN107335896A (en) * | 2017-05-27 | 2017-11-10 | 赣州清亦华科科技有限公司 | A kind of welding equipment of adjustable soldering angle for metal sheet type part |
| CN108326483A (en) * | 2018-03-10 | 2018-07-27 | 冯秉健 | Welding industry integrating device |
| CN109332928A (en) * | 2018-10-23 | 2019-02-15 | 江苏山扬智能装备有限公司 | Street lamp post robot welding system and welding method based on deep learning on-line checking |
| CN111618405A (en) * | 2020-06-12 | 2020-09-04 | 浙江嘉沛科技有限公司 | Automatic welding equipment for wire clamp body |
| CN113146001A (en) * | 2021-03-13 | 2021-07-23 | 无锡信捷电气股份有限公司 | Demonstrator system and demonstration method of arc welding robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203091984U (en) | Welding robot system | |
| CN103028870A (en) | Welding robot system | |
| CN103386685B (en) | A kind of robotic programming control method | |
| CN103987496B (en) | Nc machine tool system | |
| CN202486615U (en) | Coordination control system for multiple welding robots | |
| CN104400188B (en) | Three-dimensional automatic welding system and welding control method thereof | |
| CN101791750A (en) | Robot remote control welding system and method used for remote welding | |
| JP2019093494A (en) | Control device of robot for setting jog coordinate system | |
| JP6168890B2 (en) | Robot control device and teaching method of offset value in multi-layer welding robot | |
| KR20150106927A (en) | Robot pendant | |
| CN105500345A (en) | Separating type robot dragging and demonstrating handle and demonstrating method thereof | |
| CN103737591A (en) | Robot welding system | |
| TWI622451B (en) | Multi-pass welding device | |
| CN104959983A (en) | Robot handheld demonstration method | |
| CN103659094A (en) | Robot spot welding and stud welding system | |
| CN103737211A (en) | Robot automatic welding tool system | |
| CN103495824A (en) | Welding robot based on rectangular coordinate system | |
| CN108326483A (en) | Welding industry integrating device | |
| CN114654446A (en) | Robot teaching method, device, equipment and medium | |
| CN105034000A (en) | Industrial robot imaging control system based on CAD import | |
| CN103203522B (en) | Arc-welding apparatus | |
| CN203792336U (en) | Wiring mechanism of truss robot | |
| CN204673607U (en) | Hand holds teaching robot | |
| CN103909524B (en) | Directional type position control method | |
| CN203696282U (en) | Welding robot based on rectangular coordinates system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20130410 |