CN103706919A - Automatic robot welding device for internal welding lines of hollow cavity rotational member - Google Patents
Automatic robot welding device for internal welding lines of hollow cavity rotational member Download PDFInfo
- Publication number
- CN103706919A CN103706919A CN201210369544.6A CN201210369544A CN103706919A CN 103706919 A CN103706919 A CN 103706919A CN 201210369544 A CN201210369544 A CN 201210369544A CN 103706919 A CN103706919 A CN 103706919A
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- welding
- robot
- telescopic arm
- frock
- tcp
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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
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/032—Seam welding; Backing means; Inserts for three-dimensional seams
- B23K9/0325—Seam welding; Backing means; Inserts for three-dimensional seams helicoidal seams
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
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- Laser Beam Processing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic robot welding device for internal welding lines of a hollow cavity rotational member and relates to welding devices. One lower side of a single-shaft positioner is provided with a step, a quick clamp tool is connected with an additional tool through an adapter flange, the additional tool is connected with a work piece, the lower side of the additional tool is provided with an adjustable roller carrier which is movably connected with a movable frame, one side of the movable frame is provided with a partition post, one side of the partition post is provided with a gun-clearing and wire-cutting device, one lower side of the gun-clearing and wire-cutting device is provided with a TCP detector, the top of the TCP detector is provided with a laser calibration block, one side of the TCP detector is provided with a welding power source, one side of the welding power source is provided with a base, the upper side of the base is provided with a telescopic arm straight line robot, one end of the telescopic arm straight line robot is provided with a five-axis hollow-joint robot. The automatic robot welding device is high in production efficiency and laborsaving; the working process is controlled through a high-accuracy sensor, and welding quality is stable and reliable, so that production efficiency of the welding lines can be improved.
Description
Technical field:
The present invention relates to a kind of welder, be specifically related to a kind of robot automation's welder of hollow molded cavity revolving body internal weld seams.
Background technology:
The welding of agitator inside spin weld seam at present all adopts artificial welding, there is following shortcoming in artificial welding: 1, work situation is severe, labour intensity is large, welding quality is difficult to guarantee, and in welding process, can discharge a large amount of metallic dust particles, these metallic dust particles enter lung by respiratory tract, and welder's physical and mental health is brought to serious harm; 2, in closed container, implement welding and can discharge amount of heat and cause working environment extremely severe, very easily cause especially during the broiling summer heatstroke, have safety in production hidden danger greatly; 3, severe production environment can consume a large amount of muscle power of welder and energy, and welder is difficult to continual and steady work, thereby causes welding quality to be difficult to obtain Reliable guarantee; 4, welder implements welding in the closed container of rotation at a slow speed, easily slides into, and production safety hidden danger is large; 5, the production efficiency of artificial welding is low.Therefore traditional artificial welding is difficult to meet high speed development and the pursuit of people to quality of the life of modern economy technology.
Summary of the invention:
The robot automation's welder that the object of this invention is to provide a kind of hollow molded cavity revolving body internal weld seams, it can solve following technical barrier: 1, whole welding system is except workpiece loading and unloading link, all the other links are full-automatic running, need not manpower get involved (system break down except), can improve working conditions, reduce labor intensity, improve weldquality and production efficiency; 2, two turning rolls support, and single turning rolls relies on frictional force drives workpiece cannot realize the precise positioning of workpiece in whole rotary course, cannot meet the need of work of robot.Robot welding system's frock clamp should be reliable and stable with being connected of workpiece, should guarantee in the process of workpiece rotation between workpiece and fixture without relative sliding; 3, inside spin weld seam initial point position cannot accurately be located in a circumferential direction in clamping process, and robot cannot be at every turn according to the work of planning welding track; Robot need to coordinate laser sensor in motion process, to find the starting point of spiral weld, and enters the welding stage from this point; 4, internal weld seams is that artificial group is right, without group, completes to fixture in the situation that, and assembling precision is very low, need to by laser sensor to robot welding track according to group to after actual welds carry out accurate correction and control; 5, the hollow molded cavity depth size of workpiece is large, and robot must be able to be deep into the welding of die cavity internal implementation, and existing robot mobile device cannot meet this need of production, need to develop separately the equipment that meets this demand; 6, hollow molded cavity inner space scope is narrow and small; robot manipulation's limited space; existing robot welding gun rifle cable and other control circuits can only plug-in robot arm on; easily cause rifle cable in the inner scald of narrow and small die cavity or scratch, thereby affect the long-term stability operation of system really, need to develop hollow arm robot; rifle cable therefrom passes in empty-handed arm; and configure the hollow anticollision sensor adapting with it, and protect to greatest extent rifle cable injury-free, strengthen the stability of system.
In order to solve the existing problem of background technology, the present invention by the following technical solutions: it comprises single-shaft position changing machine 1, embrace fast folder frock 2, adjustable roller frame 3, telescopic arm linear robot 4, five axle hollow articulated robots 5, switch board 6, total digitalization pulse welding power supply 7, wire-feed motor 8, hollow anticollision sensor 9, clear rifle wire shearing machine structure 10, peripheral control unit 11, horse block 12, workpiece 13, movable stand 14, every post 15, laser calibration piece 16, TCP checkout gear 17 and base 18, single-shaft position changing machine 1 is connected with the quick folder frock 2 of embracing, one side-lower of single-shaft position changing machine 1 is provided with horse block 12, embracing fast folder frock 2 is connected with additional frock 1-2 by adapter flange 1-1, additional frock 1-2 is connected with workpiece 13, the below of additional frock 1-2 is provided with adjustable roller frame 3, adjustable roller frame 3 and movable stand 14 mobile links, and a side of movable stand 14 is provided with every post 15, a side every post 15 is provided with rifle wire shearing machine structure 10 clearly, one side-lower of clear rifle wire shearing machine structure 10 is provided with TCP checkout gear 17, the top of TCP checkout gear 17 is provided with laser calibration piece 16, one side of TCP checkout gear 17 is provided with the source of welding current 7, one side of the source of welding current 7 is provided with base 18, the top of base 18 is provided with telescopic arm linear robot 4, one end of telescopic arm linear robot 4 is provided with five axle hollow articulated robots 5, one side of five axle hollow articulated robots 5 is provided with wire-feed motor 8, the other end of telescopic arm linear robot 4 is provided with switch board 6, one side-lower of switch board 6 is provided with peripheral control unit 11.
Described telescopic arm linear robot 4 comprises telescopic cantilever beam 4-1, AC servo motor 4-2, reductor 4-3 and support 4-4, the top of support 4-4 is provided with telescopic cantilever beam 4-1, and telescopic cantilever beam 4-1 is upper connects AC servo motor 4-2 by reductor 4-3.
The present invention has following beneficial effect: it can alleviate workman's labour intensity, improved work situation, the physical and mental health that is of value to workman, it can long-term stable operation, production efficiency is high, saves labour, and the course of work is that high-precision sensor is controlled, welding quality stable is reliable, improves weldquality and production efficiency.
Accompanying drawing explanation:
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of telescopic arm linear robot in the present invention.
The specific embodiment:
With reference to Fig. 1-2, this specific embodiment is taked following technical scheme: it comprises single-shaft position changing machine 1, embrace fast folder frock 2, adjustable roller frame 3, telescopic arm linear robot 4, five axle hollow articulated robots 5, switch board 6, total digitalization pulse welding power supply 7, wire-feed motor 8, hollow anticollision sensor 9, clear rifle wire shearing machine structure 10, peripheral control unit 11, horse block 12, workpiece 13, movable stand 14, every post 15, laser calibration piece 16, TCP checkout gear 17 and base 18, single-shaft position changing machine 1 is connected with the quick folder frock 2 of embracing, one side-lower of single-shaft position changing machine 1 is provided with horse block 12, embracing fast folder frock 2 is connected with additional frock 1-2 by adapter flange 1-1, additional frock 1-2 is connected with workpiece 13, the below of additional frock 1-2 is provided with adjustable roller frame 3, adjustable roller frame 3 and movable stand 14 mobile links, and a side of movable stand 14 is provided with every post 15, a side every post 15 is provided with rifle wire shearing machine structure 10 clearly, one side-lower of clear rifle wire shearing machine structure 10 is provided with TCP checkout gear 17, the top of TCP checkout gear 17 is provided with laser calibration piece 16, one side of TCP checkout gear 17 is provided with the source of welding current 7, one side of the source of welding current 7 is provided with base 18, the top of base 18 is provided with telescopic arm linear robot 4, one end of telescopic arm linear robot 4 is provided with five axle hollow articulated robots 5, one side of five axle hollow articulated robots 5 is provided with wire-feed motor 8, the other end of telescopic arm linear robot 4 is provided with switch board 6, one side-lower of switch board 6 is provided with peripheral control unit 11.
Described telescopic arm linear robot 4 comprises telescopic cantilever beam 4-1, AC servo motor 4-2, reductor 4-3 and support 4-4, the top of support 4-4 is provided with telescopic cantilever beam 4-1, and telescopic cantilever beam 4-1 is upper connects AC servo motor 4-2 by reductor 4-3.
This specific embodiment has following beneficial effect: it can alleviate workman's labour intensity, improved work situation, the physical and mental health that is of value to workman, it can long-term stable operation, production efficiency is high, saves labour, and the course of work is that high-precision sensor is controlled, welding quality stable is reliable, improves weldquality and production efficiency.
Claims (2)
1. robot automation's welder of a hollow molded cavity revolving body internal weld seams, it is characterized in that it comprises single-shaft position changing machine (1), embrace fast folder frock (2), adjustable roller frame (3), telescopic arm linear robot (4), five axle hollow articulated robots (5), switch board (6), total digitalization pulse welding power supply (7), wire-feed motor (8), hollow anticollision sensor (9), clear rifle wire shearing machine structure (10), peripheral control unit (11), horse block (12), additional frock (13), movable stand (14), every post (15), laser calibration piece (16), TCP checkout gear (17) and base (18), single-shaft position changing machine (1) is connected with the quick folder frock (2) of embracing, one side-lower of single-shaft position changing machine (1) is provided with horse block (12), embracing fast folder frock (2) is connected with additional frock (1-2) by adapter flange (1-1), additional frock (1-2) is connected with workpiece (13), the below of additional frock (1-2) is provided with adjustable roller frame (3), adjustable roller frame (3) and movable stand (14) mobile link, and a side of movable stand (14) is provided with every post (15), a side every post (15) is provided with rifle wire shearing machine structure (10) clearly, one side-lower of clear rifle wire shearing machine structure (10) is provided with TCP checkout gear (17), the top of TCP checkout gear (17) is provided with laser calibration piece (16), one side of TCP checkout gear (17) is provided with the source of welding current (7), one side of the source of welding current (7) is provided with base (18), the top of base (18) is provided with telescopic arm linear robot (4), one end of telescopic arm linear robot (4) is provided with five axle hollow articulated robots (5), one side of five axle hollow articulated robots (5) is provided with wire-feed motor (8), the other end of telescopic arm linear robot (4) is provided with switch board (6), one side-lower of switch board (6) is provided with peripheral control unit (11).
2. robot automation's welder of a kind of hollow molded cavity revolving body internal weld seams according to claim 1, it is characterized in that described telescopic arm linear robot (4) comprises telescopic cantilever beam (4-1), AC servo motor (4-2), reductor (4-3) and support (4-4), the top of support (4-4) is provided with telescopic cantilever beam (4-1), and telescopic cantilever beam (4-1) is upper connects AC servo motor (4-2) by reductor (4-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210369544.6A CN103706919A (en) | 2012-09-29 | 2012-09-29 | Automatic robot welding device for internal welding lines of hollow cavity rotational member |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210369544.6A CN103706919A (en) | 2012-09-29 | 2012-09-29 | Automatic robot welding device for internal welding lines of hollow cavity rotational member |
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| CN103706919A true CN103706919A (en) | 2014-04-09 |
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| CN201210369544.6A Pending CN103706919A (en) | 2012-09-29 | 2012-09-29 | Automatic robot welding device for internal welding lines of hollow cavity rotational member |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710496A (en) * | 2016-05-06 | 2016-06-29 | 广州锐速智能科技股份有限公司 | Double-station intelligent welding robot and control system thereof |
| CN106141481A (en) * | 2015-03-26 | 2016-11-23 | 新莱应材科技有限公司 | The Welding Structure of vacuum valve body and welding method thereof and welder |
| CN107160008A (en) * | 2017-06-19 | 2017-09-15 | 江西洪都航空工业集团有限责任公司 | A kind of special welding machine for circular weld |
| CN113996961A (en) * | 2021-11-18 | 2022-02-01 | 潍坊新松机器人自动化有限公司 | Welding robot in limited operation space |
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| CN2059386U (en) * | 1988-12-04 | 1990-07-18 | 王永军 | Automatic telecontrol welder for welding internal and external cylindric bodies |
| CN201304539Y (en) * | 2008-11-26 | 2009-09-09 | 天津烁宝焊研科技有限公司 | Constant line velocity circular seam welding machine |
| CN201552371U (en) * | 2009-09-28 | 2010-08-18 | 三一重型装备有限公司 | Circumferential weld automatic welding device |
| CN102049594A (en) * | 2010-11-25 | 2011-05-11 | 济南杰瑞复盛机电设备有限公司 | Automatic build-up welding equipment for abrasion-resistant layer on inner wall of pipeline and automatic build-up welding method |
| US8132708B1 (en) * | 2010-04-06 | 2012-03-13 | United Launch Alliance, Llc | Friction stir welding apparatus, system and method |
| CN202162485U (en) * | 2011-06-02 | 2012-03-14 | 安徽星马汽车股份有限公司 | Automatic submerged arc welding device for peripheral weld joints of barrels of concrete mixers |
| CN202804437U (en) * | 2012-09-29 | 2013-03-20 | 徕斯机器人（昆山）有限公司 | Robot automation welding set of hollow cavity revolved body interior weld joint |
-
2012
- 2012-09-29 CN CN201210369544.6A patent/CN103706919A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2059386U (en) * | 1988-12-04 | 1990-07-18 | 王永军 | Automatic telecontrol welder for welding internal and external cylindric bodies |
| CN201304539Y (en) * | 2008-11-26 | 2009-09-09 | 天津烁宝焊研科技有限公司 | Constant line velocity circular seam welding machine |
| CN201552371U (en) * | 2009-09-28 | 2010-08-18 | 三一重型装备有限公司 | Circumferential weld automatic welding device |
| US8132708B1 (en) * | 2010-04-06 | 2012-03-13 | United Launch Alliance, Llc | Friction stir welding apparatus, system and method |
| CN102049594A (en) * | 2010-11-25 | 2011-05-11 | 济南杰瑞复盛机电设备有限公司 | Automatic build-up welding equipment for abrasion-resistant layer on inner wall of pipeline and automatic build-up welding method |
| CN202162485U (en) * | 2011-06-02 | 2012-03-14 | 安徽星马汽车股份有限公司 | Automatic submerged arc welding device for peripheral weld joints of barrels of concrete mixers |
| CN202804437U (en) * | 2012-09-29 | 2013-03-20 | 徕斯机器人（昆山）有限公司 | Robot automation welding set of hollow cavity revolved body interior weld joint |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141481A (en) * | 2015-03-26 | 2016-11-23 | 新莱应材科技有限公司 | The Welding Structure of vacuum valve body and welding method thereof and welder |
| CN105710496A (en) * | 2016-05-06 | 2016-06-29 | 广州锐速智能科技股份有限公司 | Double-station intelligent welding robot and control system thereof |
| CN107160008A (en) * | 2017-06-19 | 2017-09-15 | 江西洪都航空工业集团有限责任公司 | A kind of special welding machine for circular weld |
| CN113996961A (en) * | 2021-11-18 | 2022-02-01 | 潍坊新松机器人自动化有限公司 | Welding robot in limited operation space |
| CN113996961B (en) * | 2021-11-18 | 2023-01-13 | 潍坊新松机器人自动化有限公司 | Welding robot in limited operation space |
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Application publication date: 20140409 |