CN107442986B - Industrial robot is used in welding - Google Patents

Abstract

The present invention proposes a kind of welding industrial robot, including robot body, control cabinet is equipped in robot body, robot body is equipped with touch display screen, robot body is connected and fixed platform by revolving joint, fixed station is equipped with groove and displaceable member, robot body is equipped with removable follower link, removable follower link is equipped with auxiliary block, auxiliary block is equipped with hydraulic cylinder, hydraulic cylinder is equipped with elevating lever, elevating lever is hollow cylindrical structure, hydraulic cylinder is equipped with and bar is auxiliarily fixed, elevating lever is equipped with linking arm, the left end of linking arm is equipped with welder, welder is equipped with scanner, the right end of linking arm is equipped with weight block.Welding industrial robot of the present invention also has the advantages that structurally reasonable stabilization, operation intelligence, good fixing effect, adaptable, the applied widely, working efficiency that reduces human cost, ensure that welding effect, ensure that welding.

Description

Industrial robot is used in welding

Technical field

The present invention relates to welder field, in particular to industrial robot is used in welding.

Background technique

In the industrial production many plates be need by weld operation be attached it is fixed, but now in society Welding operation usually artificially welded, fixation when welding between soldered plate is generally required using face Fixed device, the soldered plate of different needs need different fixation devices, and model can be used in the bad adaptability of fixed device Limitation is enclosed, while thinking that welding is if operator's careless manipulation, which is easy for, can iron hand；There are also some welding operations to be Using the welder of automation carry out, welder is merely able to all around move when welding, and place and be soldered plate The pedestal of part cannot move, and when encountering weld is irregular arc, weld just very trouble.

Summary of the invention

It is an object of the invention to provide a kind of welding industrial robots, solve above-mentioned prior art problem.

The present invention proposes a kind of welding industrial robot, including robot body, is equipped with control cabinet in robot body, The robot body is equipped with touch display screen, and the robot body is connected and fixed platform by revolving joint, fixed Platform is equipped with groove and displaceable member, and for displaceable member in groove, the robot body is equipped with removable follower link, institute Removable follower link is stated equipped with auxiliary block, auxiliary block is equipped with hydraulic cylinder, and hydraulic cylinder is connect with hydraulic press, on the hydraulic cylinder Equipped with elevating lever, elevating lever is hollow cylindrical structure, and the hydraulic cylinder is equipped with and bar is auxiliarily fixed, bar is auxiliarily fixed and is located at liter Hollow interior among drop bar, the elevating lever is equipped with linking arm, and the left end of linking arm is equipped with welder, sets on welder There is scanner, the right end of the linking arm is equipped with weight block.

Wherein, the revolving joint includes rotary cylinder and air pump, and the rotary cylinder includes pedestal and rotating seat, The pedestal is connect with air pump, and the rotating seat is located on pedestal, and the rotating seat is equipped with fixed station, and air pump can pass through rotation Rotaring cylinder drives fixed station rotation.

Further, set on the fixed station there are two groove, four displaceable members and a centering ring, it is described in Heart locating ring is located at the center of fixed station upper surface, and each groove is embedded there are two displaceable member, and two described removable Part is respectively provided at the both ends of groove, and the groove two sides are embedded with ball, and the moving member includes fixed link and Mobile base, the shifting Ball is embedded on dynamic seat, the position of the ball on the Mobile base is corresponding with the position of the ball of groove two sides, same recessed The Mobile base on two displaceable members in slot is respectively Mobile base A and Mobile base B, and the two sides of the Mobile base A are respectively provided with one The inner wall of a telescopic tube, the other end of one of telescopic tube and groove connects, the other end of another telescopic tube with Mobile base B connection, an input pipe and an efferent duct are equipped on each telescopic tube, and the input pipe and aspiration pump connect It connects, is equipped with gas flow controller on the input pipe and efferent duct.

Further, rubber ring is enclosed in the fixed link, the rubber ring is equipped with decorative pattern, the rubber equipped with decorative pattern Circle can be good at enhancing the frictional force on fixed link surface, and fixed link is enabled preferably to fix soldered object.

Further, the top of the fixed link is equipped with guard member, and guard member is ball or rubber bead, preferably ball.

Further, the two sides up and down of the telescopic tube are respectively equipped with upper layer telescopic protection layer and lower layer's telescopic protection Layer, the shape of upper layer telescopic protection layer and position, the shape of lower layer's telescopic protection layer and position with telescopic tube Shape and position are corresponding, and upper layer telescopic protection layer and lower layer's telescopic protection layer are for protecting telescopic tube.

Wherein, the welder and weight block are demountable, the weight of the welder and position with again The weight of gauge block and position are corresponding, and the weight block is for balancing linking arm.

Wherein, reinforcing rib is equipped between the linking arm and elevating lever, for reinforcing the company between linking arm and elevating lever Intensity is connect, is further ensured that the stability of the structure of the welding industrial robot.

Wherein, the removable follower link includes mobile pallet, movable pulley, assistant cylinder, is set in the robot body There is the first auxiliary Mobile base, the first auxiliary Mobile base is equipped with the first auxiliary shifting chute, and the mobile pallet bottom is equipped with multiple Movable pulley, for the movable pulley of the mobile pallet bottom in the first auxiliary shifting chute, the front end connection of the mobile pallet is auxiliary Cylinder is helped, the mobile pallet is equipped in the second auxiliary shifting chute, and the auxiliary block bottom is equipped with multiple movable pulleys, described auxiliary It helps the movable pulley of a bottom in the second auxiliary shifting chute, assistant cylinder, mobile pallet is connected on the right side of the auxiliary block The assistant cylinder connected on the assistant cylinder and auxiliary block of upper connection respectively connects an auxiliary air pump.

Wherein, main control module, memory module, touch display screen control module, scanner scanning are equipped in the control cabinet Processing module, data processing module, gas flow control module, hydraulic cylinder control module, assistant cylinder control module, welding control Molding block and fixed station control module, wherein

Scanner scanning processing module, for controlling scanner, and the needs that scanner is scanned out are welded together The image outline of two plates forms data dot matrix, and sends the data dot matrix to data main control module, and pass through master control mould Data dot matrix is driven to data processing module and touch display screen control module by block；

Touch display screen control module, for controlling touch display screen, the data dot matrix received, which is formed image slices, is Onto touch display screen；

Data processing module carries out gas flow control according to data dot matrix for receiving the data dot matrix in main control module Needed in device processed by the amount of gas, the welder route, the fixed station that all around move need to rotate angle, pad institute Position calculating, then all around by the amount of the gas passed through in the gas flow controller calculated, welder The rotation angle of mobile route, fixed station and the position where pad send main control module to；

Gas flow control module, obtain main control module in gas flow controller in need by gas amount, root According to needed in gas flow controller by the amount of gas control the amount of gas passed through in gas flow controller, to reach Control the purpose of the moving distance of displaceable member；

Fixed station control module obtains the angle that the fixed station in main control module need to rotate, need to be rotated according to fixed station Angle controls air pump and rotary cylinder, to achieve the purpose that the rotation for controlling fixed station；

Hydraulic cylinder control module, obtain pad where position, according to where pad position control hydraulic press and Hydraulic cylinder guarantees the purpose that welding is normally carried out to reach control lifter rod lifting；

Assistant cylinder control module obtains the route that the welder in main control module all around moves, according to welding The route control assistant cylinder and auxiliary air pump that device all around moves all around move to reach control welder Purpose；

Control module is welded, for controlling the working condition of welder.

A kind of the advantages of welding industrial robot of the present invention are as follows: structurally reasonable stabilization, intelligent performance is good, Gu It is good to determine effect, different shape and size of plates can be fixed, it is adaptable, it is applied widely, it can replace artificial It is subjected to, effectively reduces human cost, ensure that the fluency of welding process and the safety of welding operation, into The working efficiency that ensure that welding of one step.

Detailed description of the invention

Fig. 1 is the schematic diagram of the section structure that industrial robot is used in welding in one embodiment of the present invention；

Fig. 2 is the top view of fixed station in one embodiment of the present invention；

Fig. 3 is the schematic diagram of the section structure of shifting chute in one embodiment of the present invention；

Fig. 4 is the structural schematic diagram of displaceable member in one embodiment of the present invention.

Specific embodiment

As shown in Figure 1, the present invention proposes a kind of welding industrial robot, including robot body 1, robot body 1 Interior to be equipped with control cabinet 13, the robot body 1 is equipped with touch display screen 30, and the robot body 1 passes through rotation connection Device is connected and fixed platform 4, and fixed station 4 is equipped with groove 7 and displaceable member, and displaceable member is in groove 7, the robot master Body 1 is equipped with removable follower link, and the removable follower link is equipped with auxiliary block 18, and auxiliary block is equipped with hydraulic cylinder 22, liquid Cylinder pressure 22 is connect with hydraulic press, and the hydraulic cylinder 22 is equipped with elevating lever 23, and elevating lever 23 is hollow cylindrical structure, the liquid Cylinder pressure 22 is equipped with and bar 29 is auxiliarily fixed, and bar 29 is auxiliarily fixed and is located at the hollow interior of 23 centre of elevating lever, on the elevating lever 23 Equipped with linking arm 24, the left end of linking arm 24 is equipped with welder 25, and welder 25 is equipped with scanner 26, the linking arm 24 right end is equipped with weight block 27.

As the preferred of the present embodiment, the revolving joint includes rotary cylinder 3 and air pump 2, the rotary cylinder 3 Including pedestal and rotating seat, the pedestal is connect with air pump 2, and the rotating seat is located on pedestal, and the rotating seat is equipped with solid Determine platform 4, air pump 2 can drive fixed station 4 to rotate by rotary cylinder 3.

As the preferred of the present embodiment, as shown in Figures 2 to 4, set on the fixed station 4 removable there are two groove 7, four Moving part and a centering ring, the centering ring are located at the center of 4 upper surface of fixed station, in each groove 7 Embedding there are two displaceable member, two displaceable members are respectively provided at the both ends of groove 7, and 7 two sides of groove are embedded with ball 8, The moving member includes fixed link 5 and Mobile base 12, and ball 8, the ball 8 on the Mobile base 12 are embedded on the Mobile base 12 Position it is corresponding with the position of ball 8 of 7 two sides of groove, the Mobile base 12 on two displaceable members in the same groove 7 Respectively Mobile base A and Mobile base B, the two sides of the Mobile base A are respectively provided with a telescopic tube 10, one of telescopic tube 10 other end is connect with the inner wall of groove 7, and the other end of another telescopic tube 10 is connect with Mobile base B, each scalable An input pipe 14 and an efferent duct 15 are equipped on pipe 10, the input pipe 14 is connect with aspiration pump, the input pipe 14 Gas flow controller is equipped with on efferent duct 15.The use of ball 8 be displaceable member it is mobile get up enhanced convenience it is suitable Freely.

As the preferred of the present embodiment, rubber ring is enclosed in the fixed link 5, the rubber ring is equipped with decorative pattern, if There is the rubber ring of decorative pattern to can be good at enhancing the frictional force on 5 surface of fixed link, enables fixed link 5 is preferably fixed to be welded The object connect, while also can preferably protect fixed object.

As the preferred of the present embodiment, the top of the fixed link 5 is equipped with guard member 9, and guard member 9 is ball or rubber Pearl, preferably ball effectively enhance the slickness at 5 top of fixed link.

As the preferred of the present embodiment, the two sides up and down of the telescopic tube 10 are respectively equipped with upper layer telescopic protection layer 6 With lower layer telescopic protection layer 11, the shape of the shape of upper layer telescopic protection layer 6 and position, lower layer's telescopic protection layer 11 It is corresponding with the shape of telescopic tube 10 and position with position, upper layer telescopic protection layer 6 and lower layer's telescopic protection layer 11 For protecting telescopic tube 10, avoiding can not normal use after 10 gas leakage of telescopic tube.

As the preferred of the present embodiment, the welder 25 and weight block 27 are demountable, the welding dresses Set 25 weight and position it is corresponding with the weight of weight block 27 and position, the weight block 27 makes for balancing linking arm 24 The working condition for obtaining welder 25 is more reliable and stable.

As the preferred of the present embodiment, it is equipped with reinforcing rib 28 between the linking arm 24 and elevating lever 23, connects for reinforcing The bonding strength between arm 24 and elevating lever 23 is connect, is further ensured that the stability of the structure of the welding industrial robot.

As the preferred of the present embodiment, the removable follower link includes mobile pallet 19, movable pulley 16, assistant cylinder 21, the robot body 1 is interior to be equipped with the first auxiliary Mobile base 17, and the first auxiliary Mobile base 17 is equipped with first and assists movement Slot, 19 bottom of mobile pallet are equipped with multiple movable pulleys 16, and the movable pulley 16 of 19 bottom of mobile pallet is auxiliary embedded in first It helps in shifting chute, the front end of the mobile pallet 19 connects assistant cylinder 21, and the mobile pallet 19 is equipped with the second auxiliary and moves In dynamic slot, 18 bottom of auxiliary block is equipped with multiple movable pulleys 16, and the movable pulley 16 of 18 bottom of auxiliary block is auxiliary embedded in second It helps in shifting chute 20, the right side of the auxiliary block 18 is connected with assistant cylinder 21, the assistant cylinder 21 connected on mobile pallet 19 An auxiliary air pump is respectively connected with the assistant cylinder 21 connected on auxiliary block 18.

As the preferred of the present embodiment, main control module, memory module, touch display screen control are equipped in the control cabinet 13 Module, scanner scanning processing module, data processing module, gas flow control module, hydraulic cylinder control module, assistant cylinder Control module, welding control module and fixed station control module, wherein

Scanner scanning processing module needs to be welded on one for controlling scanner 26, and by what scanner 26 scanned out The image outline of two plates risen forms data dot matrix, and sends the data dot matrix to data main control module, and pass through master Data dot matrix is driven to data processing module and touch display screen control module by control module；

The data dot matrix received is formed image slices for controlling touch display screen 30 by touch display screen control module It is onto touch display screen 30；

Data processing module carries out gas flow control according to data dot matrix for receiving the data dot matrix in main control module Needed in device processed by the amount of gas, welder 25 route, the fixed station 4 that all around move need to rotate angle, welding The calculating of position where point, then will be before the amount of the gas passed through in the gas flow controller that calculated, welder 25 The rotation angle of the route, fixed station 4 that move left and right afterwards and the position where pad send main control module to；

Gas flow control module, obtain main control module in gas flow controller in need by gas amount, root According to needed in gas flow controller by the amount of gas control the amount of gas passed through in gas flow controller, to reach Control the purpose of the moving distance of displaceable member；

Fixed station control module obtains the angle that the fixed station 4 in main control module need to rotate, needs to rotate according to fixed station 4 Angle control air pump 2 and rotary cylinder 3, to achieve the purpose that the rotation for controlling fixed station 4；

Hydraulic cylinder control module, obtain pad where position, according to where pad position control hydraulic press and Hydraulic cylinder 22 goes up and down to reach control elevating lever 23, guarantees the purpose that welding is normally carried out；

Assistant cylinder control module obtains the route that the welder 25 in main control module all around moves, according to weldering The route control assistant cylinder 21 and auxiliary air pump that connection device 25 all around moves, to reach 25 front and back of control welder The purpose moved left and right；

Control module is welded, for controlling the working condition of welder 25.

The welding working principle of industrial robot described in the present embodiment are as follows: two plates for being welded together needs Part is placed on fixed station 4 so that two need two soldered plate welding edges to be docking together, and be two needs Since part is on centering ring in soldered plate, 26 pairs of scanner need two soldered plates to be scanned, It obtains two and needs data dot matrix of the soldered plate relative to fixed station 4, then data dot matrix can be transmitted to master control mould Data dot matrix can be sent to touch display screen control module and data processing module, 30 meeting of touch display screen by block, main control module Fixed station 4 is shown according to data dot matrix and needs the positional relationship of two soldered plates and the shape of two plates, Simultaneously data processing module according to data dot matrix needed in gas flow controller by the amount of gas, before welder 25 The calculating for the angle that the route and fixed station 4 moved left and right afterwards need to rotate, then will be in the gas flow controller that calculated By the amount of gas, the rotation angle of the route that welder 25 all around moves and fixed station 4 send master control mould to Block, then main control module can be respectively by the amount of the gas passed through in the gas flow controller calculated, 25 front and back of welder The rotation angle of the route, fixed station 4 that move left and right and the position where pad, which are respectively transmitted, controls mould to gas flow Block, assistant cylinder control module, fixed station control module, hydraulic cylinder control module, then gas flow control module can basis Needed in gas flow controller by the amount of gas control the amount of gas passed through in gas flow controller, control is removable Part is moved to required position, and the work of aspiration pump system, gas flow controller can close, so that two need to be welded on one Two plates risen are fixed, and then fixed station control module can be according to the angle control air pump 2 and rotation that fixed station 4 need to rotate Rotaring cylinder 3, so that control fixed station 4 rotates, assistant cylinder control module, the road that can be all around moved according to welder 25 Line traffic control assistant cylinder 21 and auxiliary air pump enable welder 25 all around to move, and hydraulic cylinder control module can root According to the position control hydraulic press and hydraulic cylinder 22 where pad, elevating lever can be controlled when reaching above pad position 23 declines, so that welder 25 is contacted with required two welded together plate, achieve the effect that welding, do not reach Elevating lever 23 can rise when pad position, so that between welder 25 and required two welded together plate Connection disconnects.

Welding industrial robot structure reasonably stability, intelligent performance is good, can be soldered two portions as needed The fixed effect of two components has both been effectively guaranteed to needing two soldered plates to be fixed in the shape of part, so that The effect of welding is protected, and two soldered plates can be effectively protected, and effectively enhances welding industry The adaptability of robot can either be welded, or the irregular plate of weld for the plate of weld rule It is welded, it is applied widely, while the welding industrial robot can replace manually being subjected to, and effectively reduce Human cost ensure that the fluency of welding process and the safety of welding operation, further ensure that the work of welding Efficiency.

The above is only preferred embodiment of the invention, it is noted that those skilled in the art, not Under the premise of being detached from the invention design, some similar deformation and improvement can be made, these also should be regarded as the present invention Protection scope within.

Claims (6)

1. a kind of welding industrial robot, which is characterized in that including robot body (1), be equipped with control in robot body (1) Case (13) processed, the robot body (1) are equipped with touch display screen (30), and the robot body (1) passes through rotation connection Device is connected and fixed platform (4), and revolving joint includes rotary cylinder (3) and air pump (2), and the rotary cylinder (3) includes bottom Seat and rotating seat, the pedestal are connect with air pump (2), and the rotating seat is located on pedestal, and fixed station (4) is arranged in rotating seat On, set that there are two groove (7), four displaceable members and a centering ring, the centering rings to set on fixed station (4) In the center of fixed station (4) upper surface, each groove (7) is embedded, and there are two displaceable member, two displaceable members point It is not located at the both ends of groove (7), groove (7) two sides are embedded with ball (8), and the moving member includes fixed link (5) and movement Seat (12) is embedded with ball (8) on the Mobile base (12), the position of the ball (8) on the Mobile base (12) and groove (7) two The position of the ball (8) of side is corresponding, and the Mobile base (12) on two displaceable members in the same groove (7) is respectively to move Seat A and Mobile base B, the two sides of the Mobile base A are respectively provided with a telescopic tube (10), one of telescopic tube (10) it is another One end is connect with the inner wall of groove (7), and the other end of another telescopic tube (10) is connect with Mobile base B, each telescopic tube (10) input pipe (14) and an efferent duct (15) are equipped on, the input pipe (14) connect with aspiration pump, described defeated Enter and be equipped with gas flow controller on pipe (14) and efferent duct (15), the robot body (1) is equipped with removable connection Part, removable follower link are equipped with auxiliary block (18), and removable follower link includes mobile pallet (19), movable pulley (16), auxiliary Cylinder (21), is equipped with the first auxiliary Mobile base (17) in the robot body (1), and the first auxiliary Mobile base (17) is equipped with the One auxiliary shifting chute, mobile pallet (19) bottom are equipped with multiple movable pulleys (16), the shifting of mobile pallet (19) bottom Driving wheel (16) is in the first auxiliary shifting chute, and the front end of the mobile pallet (19) connects assistant cylinder (21), the movement Supporting plate (19) is equipped with the second auxiliary shifting chute (20), and auxiliary block (18) bottom is equipped with multiple movable pulleys (16), described auxiliary It helps the movable pulley (16) of seat (18) bottom in the second auxiliary shifting chute (20), is connected on the right side of the auxiliary block (18) auxiliary It helps cylinder (21), the assistant cylinder (21) connected on the assistant cylinder (21) and auxiliary block (18) connected on mobile pallet (19) is each An auxiliary air pump is connected, auxiliary block (18) is equipped with hydraulic cylinder (22), and hydraulic cylinder (22) is connect with hydraulic press, the hydraulic cylinder (22) elevating lever (23) are equipped with, elevating lever (23) is hollow cylindrical structure, and the hydraulic cylinder (22) is equipped with and is auxiliarily fixed Bar (29) is auxiliarily fixed bar (29) and is located at the hollow interior of elevating lever (23) centre, and the elevating lever (23) is equipped with linking arm (24), the left end of linking arm (24) is equipped with welder (25), and welder (25) is equipped with scanner (26), the linking arm (24) right end is equipped with weight block (27).

2. welding industrial robot according to claim 1, which is characterized in that be enclosed with rubber on the fixed link (5) Cushion rubber, the rubber ring are equipped with decorative pattern, and the rubber ring equipped with decorative pattern can be good at enhancing the sassafras that rubs on fixed link (5) surface Power.

3. welding industrial robot according to claim 1 or 2, which is characterized in that set at the top of the fixed link (5) Have guard member (9), guard member (9) is ball or rubber bead.

4. welding industrial robot according to claim 1, which is characterized in that up and down the two of the telescopic tube (10) Side is respectively equipped with upper layer telescopic protection layer (6) and lower layer's telescopic protection layer (11), the shape of upper layer telescopic protection layer (6) It is corresponding with the shape of telescopic tube (10) and position with position, the shape of lower layer's telescopic protection layer (11) and position.

5. welding industrial robot according to claim 1, which is characterized in that the linking arm (24) and elevating lever (23) reinforcing rib (28) are equipped between.

6. welding industrial robot according to claim 1, which is characterized in that be equipped with master control in the control cabinet (13) Module, memory module, touch display screen control module, scanner scanning processing module, data processing module, gas flow control Module, hydraulic cylinder control module, assistant cylinder control module, welding control module and fixed station control module.