CN105666488A - Gas supply control system of robot for automobile production - Google Patents
Gas supply control system of robot for automobile production Download PDFInfo
- Publication number
- CN105666488A CN105666488A CN201610266348.4A CN201610266348A CN105666488A CN 105666488 A CN105666488 A CN 105666488A CN 201610266348 A CN201610266348 A CN 201610266348A CN 105666488 A CN105666488 A CN 105666488A
- Authority
- CN
- China
- Prior art keywords
- mechanical hand
- welding gun
- robot
- gyroaxis
- supply
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot, in particular to a gas supply control system of a robot for automobile production. The gas supply control system comprises a welding controller, a robot forearm and a manipulator, wherein the manipulator is hinged to the forearm through a wrist, and is connected with a welding gun; the wrist is provided with a gas valve connected with a gas source; the controller controls the gas valve to be switched on after receiving a gas supply signal of the welding gun, so that high-pressure gas flows into the manipulator from the wrist, and then flows into the welding gun from the manipulator. According to the gas supply control system, by feeding the high-pressure gas into the hollow manipulator, on one hand, the manipulator can be elongated or shortened under the pressure of the high-pressure gas; on the other hand, gas can be supplied to the welding gun; the gas supply control system is ingenious in design, convenient to use and easy to maintain, and greatly improves the work efficiency of the robot.
Description
Technical field
The present invention relates to the robot of automobile manufacturing field, specifically the supply of automobile production robot controls system.
Background technology
Robot is widely used in commercial production, produces and in the welding process of processing particularly in auto parts, and the arm of robot meets industrial demand by doing swing and circumference rotary motion. Along with the development of advanced manufacturing technology, robot welding is adopted to become the modern outstanding feature of welding automatization technology. Welding robot, due to the advantage of highly versatile, reliable operation, is subject to people and more and more payes attention to. But matched spot welding aqueous vapor transport of kinetic energy, control mode are comparatively chaotic. Pipe-line layout trend is random, various terminal is multifarious, safeguards
Work complexity and function singleness, many problems that Robot Spot Welding is occurred cannot make effective control, has had a strong impact on machine task efficiency, has reduced the stability of welding quality.
Summary of the invention
For above-mentioned technical problem, the present invention provides the supply of a kind of automobile production robot being undertaken by flexible mechanical hand and supplying to control system.
This invention address that the technical scheme that above-mentioned technical problem adopts is: the supply of automobile production robot controls system, including welding controller, robot forearm and mechanical hand, mechanical hand is hinged by wrist and forearm, mechanical hand is connected to welding gun, described wrist is provided with the air valve being connected with source of the gas, after described controller receives the supply signal of welding gun, controls air valve and opens, make gases at high pressure flow into mechanical hand from wrist, then flow into welding gun from mechanical hand.
As preferably, described wrist includes rotating hollow gyroaxis, and the radial direction side of this gyroaxis is fixing connects described mechanical hand, and the radial direction opposite side of gyroaxis is hinged with described forearm, and the inner chamber of gyroaxis is connected with source of the gas by described air valve; Described mechanical hand is hollow manipulator, is provided with air outlet valve between mechanical hand and welding gun, after described controller controls air valve unlatching, then controls the unlatching of described air outlet valve, makes the gases at high pressure of mechanical hand inner chamber flow into described welding gun through this air outlet valve.
As preferably, described mechanical hand front end is provided with position sensor, and described controller elongates or shortens according to the signal driving tool hands of position sensor.
As preferably, described mechanical hand includes hollow shell and is arranged on this shell inner cavity and the front end hollow inner shell by cover closure, inner shell is connected with described welding gun, cover plate is provided with described position sensor, described shell inner cavity and inner shell inner chamber constitute described mechanical hand inner chamber, described gyroaxis inner chamber and this mechanical hand inner space, mechanical hand inner chamber is connected with welding gun air inlet by described air outlet valve; The described controller signal according to position sensor, controls described air valve and opens, and controls the closedown of described air outlet valve, and described inner shell is extended or retraction shell inner cavity by the air pressure of intracavity in mechanical hand.
As preferably, described gyroaxis sidewall offers through hole, and gyroaxis inner chamber is by this through hole and described mechanical hand inner space; In described mechanical hand, intracavity is provided with a spring, and this spring one end is connected with described cover plate, the other end is connected with described gyroaxis sidewall.
As preferably, described welding gun is installed on the cover board, and cover plate is provided with and the pore of inner shell inner space, and this pore is connected with the air inlet of welding gun by trachea, and this trachea is installed described air outlet valve.
As preferably, offering several grooves along its length at described shell inner cavity inwall, described inner shell outer wall is provided with several slide block, and each slide block stretches in corresponding groove and can move along groove.
As preferably, being provided with sealing strip along its length in each described groove.
From upper technical scheme it can be seen that the present invention by passing into gases at high pressure in the mechanical hand of hollow, mechanical hand can be made under the pressure of gases at high pressure to elongate or shorten on the one hand, can supply for welding gun on the other hand; The design of this device is ingenious, easy to use, it is easy to safeguards, greatly improves robot work efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of optimal way of the present invention.
Detailed description of the invention
The present invention is discussed in detail below in conjunction with Fig. 1:
The supply of automobile production robot controls system, including welding controller 7, robot forearm 1 and mechanical hand 2, mechanical hand is hinged by wrist 4 and forearm, mechanical hand is connected to welding gun 6, and described wrist 4 is provided with the air valve 8 being connected with source of the gas, after described controller receives the supply signal of welding gun, control air valve to open, make gases at high pressure flow into mechanical hand from wrist, then flow into welding gun from mechanical hand, thus supplying to welding gun.
The wrist of the present invention includes rotating hollow gyroaxis 42, the radial direction side of this gyroaxis is fixing connects described mechanical hand, the radial direction opposite side of gyroaxis is hinged with described forearm, by being driven back to axis of rotation, can rotate by driving mechanical hands, can being swung by driving mechanical hands by the swing of forearm, it is ensured that welding gun is in optimum welding position, the inner chamber 43 of gyroaxis is connected with source of the gas by described air valve; Described mechanical hand is hollow manipulator, it is provided with air outlet valve 9 between mechanical hand and welding gun, after described controller controls air valve unlatching, then controls the unlatching of described air outlet valve, the gases at high pressure making mechanical hand inner chamber flow into described welding gun through this air outlet valve, thus meeting the air supply requirement of Robot Spot Welding system.
Described mechanical hand 2 front end is provided with position sensor 10, and described controller elongates or shortens according to the signal driving tool hands of position sensor; Described mechanical hand 2 includes hollow shell 21 and is arranged on the hollow inner shell 23 that this shell inner cavity 22 and front end are closed by cover plate 3 specifically, inner shell is connected with described welding gun, cover plate is provided with described position sensor 10, described shell inner cavity 22 and inner shell inner chamber 24 constitute described mechanical hand inner chamber 25, described gyroaxis inner chamber and this mechanical hand inner space, mechanical hand inner chamber is connected with welding gun air inlet by described air outlet valve;The described controller signal according to position sensor, controls described air valve and opens, and controls the closedown of described air outlet valve, thus ensureing that mechanical hand inner chamber has higher pressure, inner shell is extended or retraction shell inner cavity by the air pressure of intracavity in mechanical hand.
Described cover plate is provided with the pore 31 with inner shell inner space, and this pore can pass through trachea 32 and connect with the air inlet of welding gun, and this trachea is installed described air outlet valve 9; Described gyroaxis sidewall offers through hole 41, and gyroaxis inner chamber is by this through hole and described mechanical hand inner space; Being provided with a spring 5 in described mechanical hand inner chamber 25, this spring one end is connected with described cover plate, the other end is connected with described gyroaxis sidewall; In welding process, when welding gun from pad farther out time, high-pressure air source from gyroaxis inner chamber by described through hole enter mechanical hand inner chamber, raise the air pressure of intracavity in mechanical hand, inner shell is made to stretch out shell under gas pressure, thus driving welding gun close to pad, spring elongation simultaneously; If welding gun from pad too close to, in mechanical hand, the gas of intracavity can return to source of the gas from through hole through rotating shaft inner chamber, in mechanical hand, the air pressure of intracavity reduces, spring-return is made every effort to overcome and is taken the gas pressure of intracavity in mechanical hand, inner shell is made to retract gradually shell inner cavity, so that welding gun is in the welding position of the best.
As preferably, offering several grooves 221 along its length at described shell inner cavity 22 inwall, described inner shell outer wall is provided with several slide block 241, and each slide block stretches in corresponding groove and can move along groove; In the process that inner shell stretches out and retracts, slide block moves along groove, it may be achieved the accurate of inner shell is moved; Sealing strip 222 it is provided with along its length, it is ensured that the sealing of mechanical hand inner chamber in each described groove.
The technical scheme above embodiment of the present invention provided is described in detail, principle and the embodiment of the embodiment of the present invention are set forth by specific case used herein, and the explanation of above example is only applicable to help to understand the principle of the embodiment of the present invention; Simultaneously for one of ordinary skill in the art, according to the embodiment of the present invention, all will change in detailed description of the invention and range of application, in sum, this specification content should not be construed as limitation of the present invention.
Claims (8)
1. the supply of automobile production robot controls system, including welding controller, robot forearm and mechanical hand, mechanical hand is hinged by wrist and forearm, mechanical hand is connected to welding gun, it is characterized in that: described wrist is provided with the air valve being connected with source of the gas, after described controller receives the supply signal of welding gun, control air valve and open, make gases at high pressure flow into mechanical hand from wrist, then flow into welding gun from mechanical hand.
2. the supply of robot controls system as claimed in claim 1, it is characterized in that: described wrist includes rotating hollow gyroaxis, the radial direction side of this gyroaxis is fixing connects described mechanical hand, the radial direction opposite side of gyroaxis is hinged with described forearm, and the inner chamber of gyroaxis is connected with source of the gas by described air valve; Described mechanical hand is hollow manipulator, is provided with air outlet valve between mechanical hand and welding gun, after described controller controls air valve unlatching, then controls the unlatching of described air outlet valve, makes the gases at high pressure of mechanical hand inner chamber flow into described welding gun through this air outlet valve.
3. the supply of robot controls system as claimed in claim 2, it is characterised in that: described mechanical hand front end is provided with position sensor, and described controller elongates or shortens according to the signal driving tool hands of position sensor.
4. the supply of robot controls system as claimed in claim 3, it is characterized in that: described mechanical hand includes hollow shell and is arranged on this shell inner cavity and the front end hollow inner shell by cover closure, inner shell is connected with described welding gun, cover plate is provided with described position sensor, described shell inner cavity and inner shell inner chamber constitute described mechanical hand inner chamber, described gyroaxis inner chamber and this mechanical hand inner space, mechanical hand inner chamber is connected with welding gun air inlet by described air outlet valve;The described controller signal according to position sensor, controls described air valve and opens, and controls the closedown of described air outlet valve, and described inner shell is extended or retraction shell inner cavity by the air pressure of intracavity in mechanical hand.
5. the supply of robot controls system as claimed in claim 4, it is characterised in that: described gyroaxis sidewall offers through hole, and gyroaxis inner chamber is by this through hole and described mechanical hand inner space; In described mechanical hand, intracavity is provided with a spring, and this spring one end is connected with described cover plate, the other end is connected with described gyroaxis sidewall.
6. the supply of robot controls system as claimed in claim 4, it is characterised in that: described welding gun is installed on the cover board, and cover plate is provided with and the pore of inner shell inner space, and this pore is connected with the air inlet of welding gun by trachea, and this trachea is installed described air outlet valve.
7. the supply of robot controls system as claimed in claim 4, it is characterised in that: offering several grooves along its length at described shell inner cavity inwall, described inner shell outer wall is provided with several slide block, and each slide block stretches in corresponding groove and can move along groove.
8. the supply of robot controls system as claimed in claim 7, it is characterised in that: it is provided with sealing strip along its length in each described groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610266348.4A CN105666488A (en) | 2016-04-26 | 2016-04-26 | Gas supply control system of robot for automobile production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610266348.4A CN105666488A (en) | 2016-04-26 | 2016-04-26 | Gas supply control system of robot for automobile production |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105666488A true CN105666488A (en) | 2016-06-15 |
Family
ID=56215789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610266348.4A Pending CN105666488A (en) | 2016-04-26 | 2016-04-26 | Gas supply control system of robot for automobile production |
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| Country | Link |
|---|---|
| CN (1) | CN105666488A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1317459A (en) * | 1970-06-02 | 1973-05-16 | Chavarria M J | Hydraulic jacks for motor vehicles |
| EP0016921A1 (en) * | 1979-02-05 | 1980-10-15 | Georg Fischer Aktiengesellschaft | Telescopic device |
| CN88101578A (en) * | 1987-04-01 | 1988-10-12 | 海德堡印刷机械股份公司 | Band promotes the paper sucking machine of suction nozzle |
| JPH06126673A (en) * | 1992-10-20 | 1994-05-10 | Matsushita Electric Ind Co Ltd | Parts holding unit |
| CN2410093Y (en) * | 2000-03-10 | 2000-12-13 | 简新锋 | Clamping jaw for combined manipulator |
| CN2514960Y (en) * | 2001-07-12 | 2002-10-09 | 重庆运达焊接设备有限公司 | Plasma arc-welding gun |
| CN102126064A (en) * | 2011-03-10 | 2011-07-20 | 上海交通大学 | Light metal and bare steel plate spot-welding method based on bulk forming solder |
-
2016
- 2016-04-26 CN CN201610266348.4A patent/CN105666488A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1317459A (en) * | 1970-06-02 | 1973-05-16 | Chavarria M J | Hydraulic jacks for motor vehicles |
| EP0016921A1 (en) * | 1979-02-05 | 1980-10-15 | Georg Fischer Aktiengesellschaft | Telescopic device |
| CN88101578A (en) * | 1987-04-01 | 1988-10-12 | 海德堡印刷机械股份公司 | Band promotes the paper sucking machine of suction nozzle |
| JPH06126673A (en) * | 1992-10-20 | 1994-05-10 | Matsushita Electric Ind Co Ltd | Parts holding unit |
| CN2410093Y (en) * | 2000-03-10 | 2000-12-13 | 简新锋 | Clamping jaw for combined manipulator |
| CN2514960Y (en) * | 2001-07-12 | 2002-10-09 | 重庆运达焊接设备有限公司 | Plasma arc-welding gun |
| CN102126064A (en) * | 2011-03-10 | 2011-07-20 | 上海交通大学 | Light metal and bare steel plate spot-welding method based on bulk forming solder |
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Application publication date: 20160615 |