CN106425254B - A kind of cabinet robot welding system - Google Patents
A kind of cabinet robot welding system Download PDFInfo
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- CN106425254B CN106425254B CN201610791693.XA CN201610791693A CN106425254B CN 106425254 B CN106425254 B CN 106425254B CN 201610791693 A CN201610791693 A CN 201610791693A CN 106425254 B CN106425254 B CN 106425254B
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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
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention relates to a kind of robot welding system, in particular to a kind of cabinet robot welding system.Including displacement headstock, frock clamp, robot slide unit walking mechanism, robot welding system, displacement aircraft tail shelf and displacement machine base, wherein displacement headstock and displacement aircraft tail shelf are mounted in displacement machine base, displacement aircraft tail shelf can be moved along the direction close to or far from displacement headstock, the both ends of frock clamp are connect with displacement headstock and displacement aircraft tail shelf respectively by Quick Connect Kit, robot slide unit walking mechanism is set to the side of displacement machine base, and robot welding system is set in robot slide unit walking mechanism.The present invention can be done the rotation of X-axis linear motion and positioner and workpiece by the slide unit walking mechanism of servo-drive, cooperate robotic gun to realize the welding of various angles.
Description
Technical field
The present invention relates to a kind of robot welding system, in particular to a kind of cabinet robot welding system.
Background technique
With the extensive use of robot in the industry, it is big that more and more factories begin to use robot to form plate
Type workpiece is welded.Since workpiece quality itself is big, artificial group very cumbersome to, welding sequence, can not also carry out to workpiece
Overturning.It manually also cannot achieve and fast and accurately weld, generally use positioner cooperation robot at present to be welded
Work, i.e., fixed by the workpiece that the fixture on positioner will weld, and the position of workpiece is adjusted by positioner, reaches workpiece
Suitable welding posture, the welding requirements of Lai Fuhe robot.
Welding robot is run according to pre-set program, and robotic gripper welding gun reaches weld seam beginning and starts to weld
Connect, in the welding process positioner can in due course turning of work piece so that the weld seam on workpiece is conducive to the weld job of robot.
Welding terminates, and robot resets.Positioner drives workpiece to overturn in due course, to adapt to the accurate welding of workpiece, and reduces workpiece weldering
Connect bring welding deformation.Blanking/assembling precision of the common welding box body system by workpiece, frock clamp accuracy of manufacture shadow
It rings.Make correctly to find position while welding when robot welding and influence welding quality, efficiency improves to get on yet.It is a pair of
One tooling can not be applicable in the welding of the cabinet of multiple specifications.Need to make more set toolings, waste money occupies storage pad
Ground.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of cabinet robot welding systems.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of cabinet robot welding system, including displacement headstock, frock clamp, robot slide unit walking mechanism, change
Position aircraft tail shelf, displacement machine base and robot welding system, wherein displacement headstock and displacement aircraft tail shelf are mounted on positioner bottom
On seat, the displacement aircraft tail shelf can be moved by displacement aircraft tail shelf slide unit along the direction close to or far from displacement headstock, described
The both ends of frock clamp connect with displacement headstock and displacement aircraft tail shelf respectively and can be turned by the driving of displacement headstock
Dynamic, the robot slide unit walking mechanism is set to the side of displacement machine base, straight for driving robot welding system to do X-axis
Line walking, the robot welding system is set in robot slide unit walking mechanism, for completing the welding of workpiece.
The frock clamp includes fixture base and the horizontal positioning device being mounted in the fixture base, laterally holds out against
Device, longitudinal positioning device and longitudinal holding device, wherein the both ends of fixture base by attachment device respectively with displacement head
Frame is connected with displacement aircraft tail shelf, and the horizontal positioning device and lateral holding device are transversely oppositely arranged, and the transverse direction is held out against
Device can laterally move, the longitudinal register and clamping of the longitudinal positioning device and longitudinal holding device for workpiece, described
Longitudinal holding device can move longitudinally.
The longitudinal direction holding device includes the longitudinal holding device I being oppositely arranged along longitudinal direction and longitudinal holding device II, institute
State two side compressions of longitudinal holding device I and longitudinal direction holding device II from workpiece.
The longitudinal positioning device is set on longitudinal holding device I or longitudinal holding device II.
The transverse direction holding device includes cross slide, laterally holds out against pressure head, lateral fastening screw and locking nut, wherein
Cross slide is slidably connected with the horizontal slide rail being set in fixture base, and the transverse direction fastening screw and cross slide screw thread connect
It connects and end is equipped with and laterally holds out against pressure head, the locking nut is threadedly coupled with cross slide, for locking cross slide.
The longitudinal direction holding device I is identical with the structure of longitudinal holding device II, includes longitudinal slide, longitudinal locking screw
Bolt, longitudinal pressure head, longitudinal pressing plate and longitudinal hold-down bolt, wherein longitudinal slide and the longitudinal slide rail being set in fixture base are sliding
Dynamic connection, the longitudinal direction pressing plate pass through longitudinal hold-down bolt and connect with longitudinal slide, be equipped with below one end of the longitudinal direction pressing plate
Longitudinal pressure head, the longitudinal direction clamping screw is threadedly coupled with longitudinal slide, for locking longitudinal slide.
The robot slide unit walking mechanism includes sliding rail, slide, driving servo motor, drives gear and drive rack,
Wherein slide is slidably connected with sliding rail, and the drive rack is set to the inside of sliding rail and parallel with sliding rail, and the driving is watched
Take motor be set on slide and output shaft with driving gear connect, the driving gear is engaged with drive rack, the machine
Device people's welding system is mounted on slide.
The robot welding system includes that the source of welding current, robot, welding gun and laser seek a tracking device, wherein machine
People is mounted in the robot slide unit walking mechanism, the welding gun be mounted on the actuating station of the robot and with welding
Power supply connection.
It includes laser and monitoring camera that the laser, which seeks a tracking device, and the laser is for correcting each ruler of workpiece
Very little deviation and the real-time welding deformation occurred in the welding process, the effect of the monitoring camera are can to pass through display
Monitoring weldquality in real time.
The lower end of the robot is equipped with the clear rifle device for cleaning welding gun.
The invention has the advantages and beneficial effects that:
1. the present invention seeks a tracking device using laser, the dedicated laser tracking on robotic gun can be to work
The weld seam of part carries out real-time tracking welding, can do X-axis linear motion and positioner by the slide unit walking mechanism of servo-drive
With the rotation of workpiece, cooperate robotic gun to realize the welding of various angles.
2. walking mechanism of the invention is robot formal dress slide unit walking mechanism, X can be under the driving of servo motor
Axis linear motion, cooperation robot welding system, the covering for realizing full workpiece, realizes maximized access for welding.
3. positioner of the invention is the uniaxial overturning positioner of Serve Motor Control, tail end slidably, with frock clamp
The workpiece for combining compatible different size range drives workpiece by positioner and the frock clamp connecting with positioner
Rotation come realize robot welding need various angles.
4. tooling of the invention has versatility, can be adapted in certain adjustable range more by adjusting setting element
The positioning of kind workpiece clamps.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the left view of Fig. 1；
Fig. 4 is axonometric drawing of the invention；
Fig. 5 is the structural schematic diagram of robot welding system in the present invention；
Fig. 6 is the top view of Fig. 5；
Fig. 7 is the left view of Fig. 5；
Fig. 8 is the structural schematic diagram of robot assembly in the present invention；
Fig. 9 is the structural schematic diagram of positioner in the present invention；
Figure 10 is the structural schematic diagram of frock clamp in the present invention；
Figure 11 is the top view of Figure 10；
Figure 12 is the left view of Figure 10；
Figure 13 is the shaft side figure of frock clamp in the present invention；
Figure 14 is the structural schematic diagram of attachment device in the present invention；
Figure 15 is the structural schematic diagram of lateral holding device in the present invention；
Figure 16 is the structural schematic diagram of longitudinal holding device in the present invention.
In figure: 1 is displacement headstock, and 2 be frock clamp, and 201 be fixture base, and 202 be attachment device, and 2021 be level-one
Tooling, 2022 be secondary mould, and 2023 be positioning pin, and 2024 be hinge bolt, and 203 be horizontal positioning device, and 204 be laterally top
Tight device, 2041 be cross slide, and 2042 is laterally hold out against pressure head, and 2043 be lateral fastening screw, and 2044 be locking nut,
205 be longitudinal positioning device, and 206 be longitudinal holding device I, and 2061 be longitudinal slide, and 2062 be longitudinal clamping screw, and 2063 are
Longitudinal pressure head, 2064 be longitudinal pressing plate, and 2065 be longitudinal hold-down bolt, and 207 be longitudinal holding device II, and 3 be workpiece, and 4 be machine
Device people's slide unit walking mechanism, 401 be sliding rail, and 402 be slide, and 403 be driving servo motor, and 404 be driving gear, and 405 be to drive
Carry-over bar, 5 be robot welding system, and 501 be the source of welding current, and 502 be robot, and 503 be clear rifle device, and 504 be drag chain, 505
Welding gun, 506 seek a tracking device for laser, and 5061 be laser, and 5062 be monitoring camera, and 6 be displacement aircraft tail shelf, and 7 be guardrail,
9 be displacement machine base, and 10 be displacement aircraft tail shelf slide unit, and 11 be positioner ring flange.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
Picture 1-4, shown in Fig. 9, a kind of cabinet robot welding system provided by the invention, including displacement headstock 1, work
Clamps 2, robot slide unit walking mechanism 4, displacement aircraft tail shelf 6, displacement machine base 9 and robot welding system 5, wherein conjugating
Headstock 1 and displacement aircraft tail shelf 6 are mounted in displacement machine base 9, are equipped between the displacement aircraft tail shelf 6 and displacement machine base 9
Slidable displacement aircraft tail shelf slide unit 10, can be along the direction close to or far from displacement headstock 1 by displacement aircraft tail shelf slide unit 10
It is mobile, as shown in Figure 9.The both ends of the frock clamp 2 connect and pass through with displacement headstock 1 and displacement aircraft tail shelf 6 respectively
The driving for conjugating headstock 1 can be rotated, and the robot slide unit walking mechanism 4 is set to the side of displacement machine base 9, for driving
Mobile robot welding system 5 does the walking of X-axis straight line.The robot welding system 5 is set in robot slide unit walking mechanism,
And it is for linear motion by the drives edge X-axis of robot slide unit walking mechanism.
As illustrated in figs. 5-7, the robot slide unit walking mechanism 4 includes sliding rail 401, slide 402, driving servo motor
403, gear 404 and drive rack 405 are driven, wherein slide 402 is slidably connected with sliding rail 401, and the drive rack 405 is arranged
In the inside of sliding rail 401 and parallel with sliding rail 401, the driving servo motor 403 is set on slide 402 and exports
Axis is connect with driving gear 404, and the driving gear 404 is engaged with drive rack 405, and the robot welding system 5 installs
On slide 402.
The robot welding system 5 includes that the source of welding current 501, robot 502, welding gun 505 and laser seek position tracking dress
506 are set, wherein robot 502 is mounted on the slide 402 of the robot slide unit walking mechanism 4, and the welding gun 505 is mounted on
It the actuating station of the robot 502 and is connect with the source of welding current 501.The lower end of the robot 502 is equipped with for cleaning weldering
The clear rifle device 503 of rifle 505.
The robot slide unit walking mechanism 4 is robot formal dress slide unit walking mechanism, can be in the driving of servo motor
Under do X-axis linear motion, cooperation robot realizes the covering of full workpiece, realizes maximized access for welding.Pass through robot
Formal dress slide unit walking mechanism cooperates the rotation of positioner to realize different angle/positions of workpiece, realizes suitable welding position
It sets.
As shown in figure 8, the laser, which seeks a tracking device 506, includes laser 5061 and monitoring camera 5062, it is described to swash
Light device 5061 is used for the real-time welding deformation correcting the deviation of each size of workpiece and occurring in the welding process, monitoring camera
5062 effect is can to monitor weldquality in real time by display.
As shown in figures 10-13, the frock clamp 2 includes fixture base 201 and is mounted in the fixture base 201
Horizontal positioning device 203, lateral holding device 204, longitudinal positioning device 205 and longitudinal holding device, wherein fixture base 201
Both ends connect respectively with displacement headstock 1 and displacement aircraft tail shelf 6, the horizontal positioning device 203 and transverse direction holding device 204
It is transversely oppositely arranged, the transverse direction holding device 204 can laterally move, the located lateral and clamping for workpiece 3.It is described
The longitudinal register and clamping of longitudinal positioning device 205 and longitudinal holding device for workpiece 3, the longitudinal direction holding device can be along vertical
To movement.
The longitudinal direction holding device includes the longitudinal holding device I 206 being oppositely arranged along longitudinal direction and longitudinal holding device II
207, the longitudinal direction holding device I 206 and longitudinal holding device II 207 are clamped from the two sides of workpiece 3.
The longitudinal positioning device 205 is set on longitudinal holding device I 206 or longitudinal holding device II 207.This reality
It applies in example, the longitudinal positioning device 205 is L-type positioning plate.The longitudinal direction holding device I 206 and longitudinal holding device II
207 be two groups, and is symmetrically disposed on the two sides of workpiece 3.
As shown in figure 15, the lateral holding device 204 includes cross slide 2041, laterally holds out against pressure head 2042, is lateral
Fastening screw 2043 and locking nut 2044, wherein cross slide 2041 and the horizontal slide rail being set in fixture base 201 are sliding
Dynamic connection, the transverse direction fastening screw 2043 is threadedly coupled with cross slide 2041 and end is equipped with and laterally holds out against pressure head
2042, the locking nut 2044 is threadedly coupled with cross slide 2041, for locking cross slide 2041.
As shown in figure 16, longitudinal holding device I 206 is identical with the structure of longitudinal holding device II 207, includes
Longitudinal slide 2061, longitudinal clamping screw 2062, longitudinal pressure head 2063, longitudinal pressing plate 2064 and longitudinal hold-down bolt 2065,
Middle longitudinal direction slide 2061 is slidably connected with the longitudinal slide rail being set in fixture base 201, and the longitudinal direction pressing plate 2064 passes through vertical
It is connect to hold-down bolt 2065 with longitudinal slide 2061, is equipped with longitudinal pressure head 2063 below one end of the longitudinal direction pressing plate 2064,
The longitudinal direction clamping screw 2062 is threadedly coupled with longitudinal slide 2061, for locking longitudinal slide 2061.The longitudinal register
Device 205 is set on longitudinal slide 2061.
The both ends of the fixture base 201 pass through attachment device 202 and displacement headstock 1 respectively and displacement aircraft tail shelf 6 connects
It connects.
As shown in figure 14, the attachment device 202 include level-one tooling 2021, secondary mould 2022, positioning pin 2023 and
Hinge bolt 2024, wherein level-one tooling 2021 is connect with positioner ring flange 11, the secondary mould 2022 and fixture base
201 end connection, the level-one tooling 2021 and secondary mould 2022 overlap, and by the positioning of multiple positioning pins 2023 and
It is fixedly connected by hinge bolt 2024.
The level-one tooling 2021 can be realized quick connection, but the secondary mould in workpiece loading and unloading with secondary mould 2022
2022 do not have to remove, and directly by workpiece on the frock clamp, the separation of level-one tooling 2021 and secondary mould 2022 and tear open
Dress be used when replacing product (replacement of products while needing replacing tooling, interchangeability can be thus improved, using more
Workpiece welding), normal workpiece loading and unloading does not have to separation.
The present invention seeks position+tracking device using laser, and the dedicated laser tracking on robotic gun can be to work
The weld seam of part carries out real-time tracking welding, can do X-axis linear motion by the slide unit walking mechanism of servo-drive, and by servo
The positioner of driving drives the rotation of the frock clamp and workpiece that connect with positioner, and robotic gun is cooperated to realize various angles
The welding of degree.
Positioner of the invention is the uniaxial overturning positioner of Serve Motor Control, and head end is fixed, tail end sliding, with tooling
Fixture combines the workpiece of compatible different size range.Positioner driving mechanism is that servo motor increases accurate retarding machine, is become
Workpiece is equipped with by frock clamp on the machine of position, the rotation of workpiece is driven by positioner to realize that robot welding needs each
Kind angle.
Welding 2 of the invention is mounted in the head case and positioner boot ring flange of positioner, passes through setting element and pressure
Workpiece is located and fixed on frock clamp by tight element, and such positioner makes rotating motion with regard to energy band part of starting building, Lai Peihe machine
Device people welding.The welding tool setup has versatility, can be adapted in certain adjustable range more by adjusting setting element
The positioning of kind workpiece clamps.
The present invention uses electrical integrated control system:
1) control system is made of robot system, positioner system and welding system function, passes through communication between several persons
Interface carries out communication and the link of relevant action, the common welding completed to workpiece.
2) control system is started by unit station, and when welding is completed to need to clear up welding gun, robot can be automatic
It moves to clear rifle device position and clears up welding gun automatically, robot is connect by bus with welding machine, can control the start and stop of welding machine, welding ginseng
Several calling is realized by program number.Equipment whole process is controlled by robot, and welding procedure and requirements of process pass through demonstrator
To compile planning.
4) control system is equipped with sensor, has automatic fault detection and reports the ability of fault code.
5) entire welding system reserves TCP/IP communication interface, can be integrated with Upper system, in welding system pair
It directly displays, realizes associated with production task on the station integrated machine answered.
Laser of the invention seeks position+laser tracker for correcting the deviation of each size of workpiece and in welding process
The real-time welding deformation of middle appearance.The process that robotic laser seeks position is gone out by laser strip beam, is strafed workpiece features point, is recorded
And the position is calculated, the effective length of laser strip beam is exactly the deviation range that characteristic point allows theoretically.Such words phase
The repetitive positioning accuracy for closing frock clamp is very accurate there is no need to what is done, because laser seeks position and tracking and has certain correction energy
Power.
The process that operates with of the invention is:
Tooling and workpiece are connected and fixed, operator presses behaviour by operative employee by the tooling on workpiece to positioner
Make the start button on box, welding robot is run according to pre-set program, and robotic gripper welding gun, which reaches weld seam, to be begun
End starts automatic localization welding welding, and welding workpiece terminates, and robot resets, and operator loads and unloads lower workpiece, and by new workpiece
It is attached on positioner.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (6)
1. a kind of cabinet robot welding system, which is characterized in that including conjugating headstock (1), frock clamp (2), robot
Slide unit walking mechanism (4), displacement aircraft tail shelf (6), displacement machine base (9) and robot welding system (5), wherein conjugating headstock
(1) it is mounted on displacement machine base (9) with displacement aircraft tail shelf (6), the displacement aircraft tail shelf (6) passes through displacement aircraft tail shelf slide unit
(10) can be mobile along the direction close to or far from displacement headstock (1), the both ends of the frock clamp (2) respectively with displacement head
Frame (1) and displacement aircraft tail shelf (6) are connected and be can be rotated by the driving of displacement headstock (1), the robot slide unit walking
Mechanism (4) is set to the side of displacement machine base (9), described for driving robot welding system (5) to do the walking of X-axis straight line
Robot welding system (5) is set in robot slide unit walking mechanism (4), for completing the welding of workpiece (3)；
The frock clamp (2) includes fixture base (201) and the horizontal positioning device that is mounted on the fixture base (201)
(203), lateral holding device (204), longitudinal positioning device (205) and longitudinal holding device, the horizontal positioning device (203)
It is transversely oppositely arranged with lateral holding device (204), the transverse direction holding device (204) can laterally move, the longitudinal direction
The longitudinal register and clamping of positioning device (205) and longitudinal holding device for workpiece (3), the longitudinal direction holding device can be along vertical
To movement；
The transverse direction holding device (204) includes cross slide (2041), laterally holds out against pressure head (2042), lateral fastening screw
(2043) and clamping screw (2044), wherein cross slide (2041) and the horizontal slide rail being set on fixture base (201) are sliding
Dynamic connection, the transverse direction fastening screw (2043) is threadedly coupled with cross slide (2041) and end is equipped with and laterally holds out against pressure
Head (2042), the clamping screw (2044) is threadedly coupled with cross slide (2041), for locking cross slide (2041)；
The longitudinal direction holding device includes the longitudinal holding device I (206) being oppositely arranged along longitudinal direction and longitudinal holding device II
(207), two side compressions of longitudinal holding device I (206) and longitudinal direction holding device II (207) from workpiece (3)；
The longitudinal direction holding device I (206) is identical with the structure of longitudinal holding device II (207), includes longitudinal slide
(2061), longitudinal clamping screw (2062), longitudinal pressure head (2063), longitudinal pressing plate (2064) and longitudinal hold-down bolt (2065),
Wherein longitudinal slide (2061) is slidably connected with the longitudinal slide rail being set on fixture base (201), the longitudinal direction pressing plate
(2064) it is connect by longitudinal hold-down bolt (2065) with longitudinal slide (2061), below one end of the longitudinal direction pressing plate (2064)
Equipped with longitudinal pressure head (2063), the longitudinal direction clamping screw (2062) is threadedly coupled with longitudinal slide (2061), vertical for locking
To slide (2061)；
The longitudinal positioning device (205) is set on longitudinal holding device I (206) or longitudinal holding device II (207), described
Longitudinal positioning device (205) is L-type positioning plate.
2. cabinet robot welding system according to claim 1, which is characterized in that the two of the fixture base (201)
End is connect with displacement headstock (1) and displacement aircraft tail shelf (6) respectively by attachment device (202).
3. cabinet robot welding system according to claim 2, which is characterized in that the robot slide unit walking mechanism
(4) include sliding rail (401), slide (402), driving servo motor (403), drive gear (404) and drive rack (405),
Middle slide (402) is slidably connected with sliding rail (401), the drive rack (405) be set to the inside of sliding rail (401) and with
Sliding rail (401) in parallel, the driving servo motor (403) be set on slide (402) and output shaft and driving gear
(404) it connects, the driving gear (404) is engaged with drive rack (405), and the robot welding system (5) is mounted on cunning
On seat (402).
4. cabinet robot welding system according to claim 1, which is characterized in that the robot welding system (5)
A tracking device (506) are sought including the source of welding current (501), robot (502), welding gun (505) and laser, wherein robot
(502) it is mounted on the robot slide unit walking mechanism (4), the welding gun (505) is mounted on holding for the robot (502)
It row end and is connect with the source of welding current (501).
5. cabinet robot welding system according to claim 4, which is characterized in that the laser seeks a tracking device
It (506) include laser (5061) and monitoring camera (5062), the laser (5061) is for correcting each size of workpiece
The effect of deviation and the real-time welding deformation occurred in the welding process, the monitoring camera (5062) is can to pass through display
Device monitors weldquality in real time.
6. cabinet robot welding system according to claim 4, which is characterized in that the lower end of the robot (502)
Equipped with the clear rifle device (503) for cleaning welding gun (505).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610791693.XA CN106425254B (en) | 2016-08-31 | 2016-08-31 | A kind of cabinet robot welding system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610791693.XA CN106425254B (en) | 2016-08-31 | 2016-08-31 | A kind of cabinet robot welding system |
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| CN106425254A CN106425254A (en) | 2017-02-22 |
| CN106425254B true CN106425254B (en) | 2019-08-30 |
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| CN206105267U (en) * | 2016-08-31 | 2017-04-19 | 斯图加特航空自动化（青岛）有限公司 | Welding system of box robot |
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| CN204449723U (en) * | 2015-02-09 | 2015-07-08 | 广州创研自动化设备有限公司 | The standby welding robot system of a kind of large car erection |
| CN205200852U (en) * | 2015-12-01 | 2016-05-04 | 长沙长泰机器人有限公司 | Box welding system based on robot |
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