CN108436343A - A kind of multifunctional industrial robot for intelligence manufacture automatic production line - Google Patents
A kind of multifunctional industrial robot for intelligence manufacture automatic production line Download PDFInfo
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- CN108436343A CN108436343A CN201810575989.7A CN201810575989A CN108436343A CN 108436343 A CN108436343 A CN 108436343A CN 201810575989 A CN201810575989 A CN 201810575989A CN 108436343 A CN108436343 A CN 108436343A
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- gear
- motor
- mounting bracket
- lead screw
- installation
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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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
-
- 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
- B23K37/003—Cooling means
-
- 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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot device fields, disclose a kind of multifunctional industrial robot for intelligence manufacture automatic production line comprising bottom plate is fixed with welding manipulator on bottom plate, and the lower section of bottom plate is equipped with trundle group；The welding manipulator to move along a straight line along the first guide rail group is provided on first rack and the first guide rail group, welding manipulator includes jig, support leg is provided with below jig, support leg is slidably arranged in the first guide rail group, the output shaft of first motor is coaxially connected with first gear, and first gear and the intermeshing of the first rack, the side of first motor are provided with mounting rod, the bottom of mounting rod is provided with support wheel, and support wheel is in rolling contact with bottom plate；Turntable is installed, the outer cover of turntable is equipped with gear ring, and the medial surface of gear ring and the lateral surface of turntable are interference fitted, and gear ring is engaged with second gear on jig.The advantages that present apparatus has use scope wide, at low cost, and transmission control is accurate.
Description
Technical field
The present invention relates to robot fields, more particularly to a kind of multi-functional work for intelligence manufacture automatic production line
Industry robot.
Background technology
With the development of society and science and technology, people are more infatuated for automating, and automatic production line has its unique excellent
Gesture, such as human cost are low, and production efficiency is high, is easy to control.The important component of automatic production line includes robot, is passed
The flow line production robot of system is confined to the uses of robot arm using majority, then to the part of robot arm into
Row improves, and cost is higher, and unsuitable long range carries out operation operation；Welding is used as a kind of common connection type, has connection
Intensity is high, the advantages that being hardly damaged.Traditional robot is simple robot arm, to the parts conveyed on assembly line
It is simply welded, is had a single function, narrow scope of application.
Invention content
The present invention for it is existing in the prior art the shortcomings of, provide a kind of for intelligence manufacture automatic production line
Multifunctional industrial robot.
In order to solve the above technical problems, the present invention is addressed by following technical proposals：
A kind of multifunctional industrial robot for intelligence manufacture automatic production line, including it is used for automated production wire bonding
The robot body connect and the control system for controlling robot body's movement, robot body includes bottom plate, is set on bottom plate
It is equipped with the first rack and the first guide rail group, the weldering to move along a straight line along the first guide rail group is provided on the first rack and the first guide rail group
Welding manipulator；Welding manipulator includes jig, and support leg is provided with below jig, and support leg is slidably arranged in
In one guide rail group, the lower face of jig is provided with walking power packages, and walking power packages include first motor, first motor
Output shaft is coaxially connected with first gear, first gear and the intermeshing of the first rack, and the side of first motor is provided with installation
The bottom of bar, mounting rod is provided with support wheel, and support wheel is in rolling contact with bottom plate；Turntable is installed on jig, turntable
Outer cover is equipped with gear ring, and the medial surface of gear ring and the lateral surface of turntable are interference fitted, and the side of gear ring is engaged with second
Gear, the other side are engaged with measurement rack, the second guide rail are provided on jig, and the bottom setting for measuring rack is led second
It is slided on rail and along the second guide rail, shaft is installed in second gear, shaft passes through jig, the lower section of jig to be arranged
There is the second motor, the output shaft of the second motor is coaxially connected with shaft and second gear is driven to rotate, gear ring and second gear
Engagement drive turntable rotation；It is provided with the first mounting bracket on turntable, active lead screw, active lead screw are installed on the first mounting bracket
Upper end be connected with the first mounting bracket, lower end is connected with turntable, and the upper end of active lead screw is equipped with third motor, and third motor is solid
Dingan County is on the first mounting bracket, and the upper end of active lead screw is provided with transmission gear, and the both sides of transmission gear are engaged with transition tooth
Wheel, transition gear are fixed on the first mounting bracket, two driven lead screws are additionally provided on the first mounting bracket and are correspondingly arranged at respectively
The both sides of active lead screw, one end of driven lead screw are rotatablely connected with the first mounting bracket, and the other end is rotatablely connected with turntable, driven silk
The upper end of bar is coaxially fixed with driven gear, and the center of circle of driven gear and the center of circle of driving gear are located at same straight line and residing
Highly identical, driving gear is identical with the parameter of driven gear, and weld assembly is arranged on active lead screw, and weld assembly includes peace
Adjustable plate is filled, installation and adjustment plate is matched with active lead screw, driven lead screw, and the third of vertical direction is provided on the first mounting bracket
Guide rail, installation and adjustment plate is fallen to be slided in third guide rail upper edge third guide rail；Third motor drives active lead screw, driving cog rotation
Dynamic, transmission gear drives driven gear to rotate at the same speed by transition gear, and driven gear drives driven lead screw rotation, active lead screw
Identical with the parameter of driven lead screw, installation and adjustment plate is moved up and down by the drive of active lead screw and driven lead screw, installation and adjustment
Welding gun component is installed, welding gun component includes the second mounting bracket, and the second mounting bracket is fixed on installation and adjustment plate, the second peace on plate
It shelves and installation axle is installed, the both ends of installation axle are rotatablely connected with the second mounting bracket by bearing, and is provided in installation axle
The gun rack of three gears and fixed welding gun, third gear are engaged with the 4th gear, support plate are provided on the second mounting bracket, support
4th motor is installed, the 4th motor and the 4th gear, which are connected, drives the rotation of the 4th gear, and the upper end of the second mounting bracket is set on plate
It is equipped with NI Vision Builder for Automated Inspection, NI Vision Builder for Automated Inspection includes the 5th motor, and the 5th motor is connected with the first installation axle, the first installation axle
On be provided with camera, the 5th motor, which passes through, drives the rotation of the first installation axle that camera is driven to carry out rotating angle movement；Welding gun component
Side be provided with hammering device, hammering device is mounted on installation and adjustment plate, and hammering device includes hammering mounting bracket, hammering peace
The top shelved is provided with electric rotating machine, and electric rotating machine is connected with the second installation axle, and set is provided with hammering plate in the second installation axle,
It hammers plate and the second installation axle is hinged, the end of the second installation axle is fixedly installed horizontal mounting plate, the upside on mounting plate
It is provided with hammering cylinder, the piston rod of cylinder is hammered and is connected with hammering plate by universal joint, the one end for hammering plate is fixed with and strikes
Hammer, taps hammer and hammering cylinder is correspondingly arranged the both sides of the second installation axle respectively；It is additionally provided with blowing nozzle on mounting plate, blows
Mouth is positioned close to tap the side of hammer；The other side of welding gun component is provided with cleaning device, and cleaning device includes cleaning motor,
Cleaning motor is connected with rocking arm, and cleaning motor drives rocking arm to be rotated, and one end of rocking arm is provided with steel brush, and steel brush is connected with the
Six motors, the 6th motor drive steel brush rotation, the side of steel brush to be provided with dust absorption nozzle, and dust absorption nozzle is connected to collection by hose
Dirt device, dust collect plant are arranged on turntable, and dust collect plant is provided with dust leg, and dust leg is connected to hose；Dust leg
Bypass has cigarette holder, cigarette holder to be fixed on the second mounting bracket, and cigarette holder is connected with flow control valve.
Preferably, control system includes controller, NI Vision Builder for Automated Inspection is connect with controller by conducting wire, the first electricity
Machine, the second motor, third motor, the 4th motor, the 5th motor, the 6th motor, cleaning motor and hammering cylinder are connected by conducting wire
It connects control, measures and be provided with displacement sensor on rack, measure the anti-collision switch that is provided at both ends with of rack stroke, described first
The top and bottom of mounting bracket are provided with the limit switch for controlling installation and adjustment plate or more stroke, support wheel and bottom plate elasticity
Contact.
Preferably, the NI Vision Builder for Automated Inspection includes machine vision alignment system and Machine Vision Inspecting System, control
Memory module, the signal pair that controller is transmitted according to machine vision alignment system and Machine Vision Inspecting System are provided in device processed
4th motor, the 6th motor, cleaning motor and hammering cylinder are controlled.
Preferably, being provided with trundle group below the bottom plate, trundle group includes drive wheel group and deflecting roller
Group, drive wheel group include driving wheel, and driving wheel drives axis connection by setting, the first driving gear, bottom are provided in drive shaft
The lower face of plate is provided with driving motor, and driving motor is connected with bottom plate, and driving motor is connected with the second driving gear, and first drives
Moving gear is engaged with the second driving gear, and driving motor is rotated by driving the second sliding tooth wheel to rotate driving driving wheel, wherein
Axis where drive shaft is vertical with straight line where the first guide rail group；The first guide shaft is fixed on first mounting bracket, the first guide shaft
Upper end is connected with the first mounting bracket, and lower end and the turntable of the first guide shaft are connected, and installation and adjustment sleeve-board is located on the first guide shaft, installation
Adjustable plate is internally provided with linear bearing, and linear bearing is matched with the first guide shaft.
Be composition gimbal structure between driven wheel and bottom plate preferably, deflecting roller group includes driven wheel, driven wheel with
Rotating bar is connected between bottom plate, the both ends of rotating bar are connect by universal joint with driven wheel.
The present invention uses above-mentioned technical proposal, has the advantages that：
Robot provided by the present invention can not only carry out simple weld job, while can be to the welding agent of attachment
Percussion removing is carried out, and the function work(of welding quality and subsequent cleaning welding slag can be detected using machine vision
Energy.It ensure that the stability of whole device transmission, accuracy, while easily controllable by the way of rack pinion.Entirely
Welder degree of freedom is high, can not only horizontal direction linear motion, while can ensure that welding mechanism has horizontal direction
Rotary freedom and vertical direction rotary freedom, meet the welding demand of different location solder joint.And all rotation fortune
The dynamic mode for being all made of gear engagement is controlled, and to ensure that being accurately positioned for position, while user can also be according to reality
Border demand is controlled.It, can also be according to specific welding demand Butt welding gun to weldering during carrying out rail linearity welding
Distance, angle and the height of part are finely adjusted.
Description of the drawings
Fig. 1 is the overall structure diagram of 1 robot of embodiment；
Fig. 2 is the enlarged drawing of the parts Fig. 1 I；
Fig. 3 is the enlarged drawing of the parts Fig. 2 II；
Fig. 4 is the enlarged drawing of the parts Fig. 2 III；
Fig. 5 is the rearview of Fig. 1；
Fig. 6 is the structural schematic diagram of embodiment 2.
The toponym that each number designation is referred in attached drawing is as follows：100 1 bottom plates, the 101 one the first racks, 102 one the
One guide rail group, 103 1 welding manipulators, 104 1 jigs, 105 1 first motors, 106 1 first gears, 107 1 installations
Bar, 108 1 support wheels, 109 1 turntables, 110 1 gear rings, 111 1 second gears, the 112 one the second motors, the 113 one the first peaces
Shelve, 114 1 active lead screws, 115 1 third motors, 116 1 weld assemblies, 117 1 installation and adjustment plates, 118 1 welding gun components,
119 one the second mounting brackets, 120 1 installation axles, 121 1 third gears, 122 1 gun racks, 123 1 the 4th gears, 124 1 supports
Plate, 125 1 the 4th motors, the 126 one the first guide shafts, 127 1 support legs, 200 1 measure racks, the 201 one the second guide rail, 202 1
Transmission gear, 203 1 transition gears, 204 1 driven lead screws, 205 1 driven gears, 206 1 NI Vision Builder for Automated Inspections, 207 one the
Five motors, the 208 one the first installation axles, 209 1 cameras, 210 1 hammering devices, 211 1 hammering mounting brackets, 212 1 electric rotatings
Machine, the 213 one the second installation axles, 214 1 hammering plates, 215 1 mounting plates, 216 1 hammering cylinders, 217 1 tap hammer, 218 blow
Gas nozzle, 219 1 cleaning devices, 220 1 cleaning motors, 221 1 rocking arms, 222 1 steel brushes, 223 1 the 6th motors, 224 1 dust suctions
Mouth, 225 1 hoses, 226 1 dust collect plants, 227 1 dust legs, 228 1 cigarette holders.
Specific implementation mode
Present invention is further described in detail with embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figures 1 to 5, a kind of multifunctional industrial robot for intelligence manufacture automatic production line, including with
In the robot body of automated production wire bonding and the control system moved for controlling robot body, robot body's packet
Bottom plate 100 is included, the first rack 101 and the first guide rail group 102, the first rack 101 and the first guide rail group are provided on bottom plate 100
The welding manipulator 103 to move along a straight line along the first guide rail group 102 is provided on 102；Welding manipulator 103 includes jig
104, the lower section of jig 104 is provided with support leg 127, and support leg 127 is slidably arranged in the first guide rail group 102, welding
The lower face of platform 104 is provided with walking power packages, and walking power packages include first motor 105, the output shaft of first motor 105
It is coaxially connected with first gear 106, first gear 106 and the intermeshing of the first rack 101, the side setting of first motor 105
There are mounting rod 107, the bottom of mounting rod 107 to be provided with support wheel 108, support wheel 108 is in rolling contact with bottom plate 100；Welding is flat
Turntable 109 is installed, the outer cover of turntable 109 is equipped with gear ring 110, medial surface and the turntable 109 of gear ring 110 on platform 104
Lateral surface interference fit, the side of gear ring 110 is engaged with second gear 111, and the other side, which is engaged with, measures rack 200, weldering
It connects and is provided with the second guide rail 201 on platform 104, the bottom for measuring rack 200 is arranged on the second guide rail 201 and along the second guide rail
201 slidings, are equipped with shaft in second gear 111, and shaft passes through jig 104, and the lower section of jig 104 is provided with the
The output shaft of two motors 112, the second motor 112 is coaxially connected with shaft and second gear 111 is driven to rotate, 110 He of gear ring
The engagement of second gear 111 drives turntable 109 to rotate；The first mounting bracket 113 is provided on turntable 109, on the first mounting bracket 113
Active lead screw 114 is installed, the upper end of active lead screw 114 is connected with the first mounting bracket 113, and lower end is connected with turntable 109, actively
The upper end of lead screw 114 is equipped with third motor 115, and third motor 115 is fixedly mounted on the first mounting bracket 113, active lead screw
114 upper end is provided with transmission gear 202, and the both sides of transmission gear 202 are engaged with transition gear 203, and transition gear 203 is fixed
On the first mounting bracket 113, it is additionally provided with two driven lead screws 204204 on the first mounting bracket 113 and is correspondingly arranged at respectively actively
The both sides of lead screw 114, one end of driven lead screw 204 are rotatablely connected with the first mounting bracket, and the other end is rotatablely connected with turntable, driven
The upper end of lead screw 204 is coaxially fixed with driven gear 205, and the center of circle of driven gear 205 and the center of circle of driving gear are located at same
Straight line and residing height is identical, driving gear is identical with the parameter of driven gear 205, and welding is arranged on active lead screw 114
Component 116, weld assembly 116 include installation and adjustment plate 117, installation and adjustment plate 117 and active lead screw 114,204 phase of driven lead screw
Coordinate, the third guide rail 250 of vertical direction is provided on the first mounting bracket 113, installation and adjustment plate 117 is fallen in third guide rail 250
Upper edge third guide rail 250 slides；Third motor 115 drives active lead screw 114, transmission gear 202 to rotate, and transmission gear 202 is logical
Crossing transition gear 203 drives driven gear 205 to rotate at the same speed, and driven gear 205 drives driven lead screw 204 to rotate, active lead screw
Identical with the parameter of driven lead screw 204, installation and adjustment plate is moved up and down by the drive of active lead screw and driven lead screw 204, peace
Welding gun component 118 is installed, welding gun component 118 includes the second mounting bracket 119, and the second mounting bracket 119 is fixed on dress adjustable plate 117
On installation and adjustment plate 117, installation axle 120, the both ends of installation axle 120 and the second mounting bracket are installed on the second mounting bracket 119
119 are rotatablely connected by bearing, and the gun rack 122 of third gear 121 and fixed welding gun, third tooth are provided in installation axle 120
Wheel 121 is engaged with the 4th gear 123, and support plate 124 is provided on the second mounting bracket 119, and the 4th electricity is equipped in support plate 124
Machine 125, the 4th motor 125 is connected with the 4th gear 123 drives the rotation of the 4th gear 123, and the upper end of the second mounting bracket is provided with
NI Vision Builder for Automated Inspection 206, NI Vision Builder for Automated Inspection 206 include the 5th motor 207, and the 5th motor 207 is connected with the first installation axle
208, camera 209 is provided in the first installation axle 208, the 5th motor 207 is taken the photograph by driving the rotation of the first installation axle 208 to drive
As head 209 carries out rotating angle movement；The side of welding gun component 118 is provided with hammering device 210, and hammering device 210 is mounted on installation
On adjustable plate 117, hammering device 210 includes hammering mounting bracket 211, and the top of hammering mounting bracket 211 is provided with electric rotating machine
212, electric rotating machine 212 is connected with the second installation axle 213, and set is provided with hammering plate 214 in the second installation axle 213, hammers plate 214
Hinged with the second installation axle 213, the end of the second installation axle 213 is fixedly installed horizontal mounting plate 215, on mounting plate 215
Upside be provided with hammering cylinder 216, hammer cylinder 216 piston rod pass through universal joint and hammering plate 214 connect, hammer plate
214 one end is fixed with percussion hammer 217, taps hammer 217 and hammering cylinder 216 is correspondingly arranged the two of the second installation axle 213 respectively
Side；Blowing nozzle 218 is additionally provided on mounting plate 215, blowing nozzle 218 is positioned close to tap the side of hammer 217；Welding gun component
118 other side is provided with cleaning device 219, and cleaning device 219 includes cleaning motor 220, and cleaning motor 220 is connected with rocking arm
221, cleaning motor 220 drives rocking arm 221 to be rotated, and one end of rocking arm 221 is provided with steel brush 222, and steel brush 222 is connected with the
Six motors 223, the 6th motor 223 drive steel brush 222 to rotate, and the side of steel brush 222 is provided with dust absorption nozzle 224, and dust absorption nozzle 224 is logical
It crosses hose 225 and is connected to dust collect plant 226, dust collect plant 226 is arranged on turntable, and dust collect plant 226 is provided with dust
Pipe 227, dust leg 227 are connected to hose 225；The bypass of dust leg 227 has cigarette holder 228, cigarette holder 228 to be fixed on second
On mounting bracket 119, cigarette holder 228 is connected with flow control valve.Control system includes controller, NI Vision Builder for Automated Inspection 206 and control
Device processed is connected by conducting wire, first motor, the second motor, third motor, the 4th motor, the 5th motor 207, the 6th motor 223,
Cleaning motor 220 connects control with hammering cylinder 216 by conducting wire, measures and is provided with displacement sensor on rack 200, measures tooth
200 stroke of item is provided at both ends with anti-collision switch, and the top and bottom of first mounting bracket 113 are provided with for controlling peace
The limit switch of adjustable plate stroke up and down is filled, 100 Elastic Contact of support wheel 108 and bottom plate is provided on the hammering plate 214
Vibration switch, vibration switch are connected to controller, and controller ventilates to blowing nozzle 218 according to the signal for receiving vibration switch
Operation, the vibrations sensitivity of wherein vibration switch is adjustable, ensures the promptness of blowing nozzle 218, avoids excessive waste of resource.
In the present embodiment, which is located in production line, then through the chain drive of assembly line or other biographies
Flowing mode drives movement, this kind of mode to be suitble to institute's workpiece to be not easy to be transported on assembly line, then robot is used to transport
It is dynamic that active transport is carried out to workpiece.It is provided with positioning system on the assembly line, since the bond pad locations of work piece are it is known that institute
The location information welded that carries out of work piece is carried out typing, for example using an origin is defined, then will
Each solder joint is entered into controller relative to the coordinate information of origin, and controller is according to the coordinate information of each solder joint, to first
Motor 105 is controlled, to control entire robot body close to or far from solder joint；Third motor 115 is controlled
Rotation, to complete the control to move up and down to entire installation and adjustment plate 117, then controller again controls the second motor
System, wherein since turntable is larger, ensures the angle that turntable 109 turns in order to be more accurate to control the angle of the rotation of turntable 109
Degree, the present embodiment is driven by gear ring 110 measures rack sliding, and the distance for then recording rack sliding turns over turntable 109
Angle measure, form feedback mechanism, while anti-collision switch ensure that 109 main body of turntable is not in because of chance failure
It crosses and turns to damage the equipment on turntable 109, ensure that the safety of equipment.Coordinate points where welding gun reaches solder joint
When, controller control is subjected to, and when the welding is completed, the positioning system of the machine vision of NI Vision Builder for Automated Inspection is to welding
The coating position of generation is captured, and then controller control electric rotating machine 212 reaches the position, taps the work of cylinder 216
Stopper rod stretches out, and drives and taps 217 1 tapping operation of progress of hammer, and the vibration switch during percussion on mounting plate 215 is shaken
Signal, and controller is transmitted the signal to, controller controls the electromagnetic switch valve that blowing nozzle 218 connects according to knocking,
The blowing operation of blowing nozzle 218 is controlled, while the welding of acquisition is completed picture transfer to controller by Machine Vision Inspecting System
And compared with the picture in memory, judge welding quality, repair welding operation is then carried out if there is rosin joint, solder skip, completes
After the welding of one solder joint, obtained pictorial information is transferred to controller by NI Vision Builder for Automated Inspection, and controller is according to pictorial information
Judge whether to produce welding slag, and the welding slag position generated, if generating welding slag, controller and control cleaning motor 220
Drive rocking arm 221 close to welding slag, then the 6th motor 223 drives steel brush to carry out slagging-off operation, while dust leg 227 to welding slag into
Row absorption；Cigarette holder 228 carries out always smoking event in entire welding process, ensure that the health of workshop condition.
It is wherein driven by the way of active lead screw 114 and driven lead screw 204, is capable of providing stable vertical direction
Carrying, the active lead screw 114 and driven lead screw 204 are identical lead screw, and three is triangle between each other.And
And the upper end of first guide shaft 126 is connected with the first mounting bracket 113, lower end and the turntable 109 of the first guide shaft 126 are connected,
Installation and adjustment plate 117 is set on the first guide shaft 126, and installation and adjustment plate 117 is internally provided with linear bearing, linear bearing with
First guide shaft 126 matches.
Motor used in the present embodiment is servo motor, wherein the direction of entire robot motion is always with first
102 place straight line of guide rail is vertical.
Embodiment 2
As shown in Figures 1 to 6, it is in place of the present embodiment and the difference of embodiment 1, the lower section of the bottom plate 100 is set
It is equipped with trundle group, trundle group includes drive wheel group 140 and deflecting roller group 141, and drive wheel group 140 includes driving wheel 142, is driven
Driving wheel 142 is connected by the way that drive shaft 143 is arranged, and the first driving gear 144, the lower face of bottom plate 100 are provided in drive shaft 143
It is provided with driving motor 145, driving motor 145 is connected with bottom plate 100, and driving motor 145 is connected with the second driving gear 146,
First driving gear 144 is engaged with the second driving gear 146, and driving motor 145 is by driving the second driving rotation of gear 146 to drive
Dynamic driving wheel 142 rotates, and wherein 143 place axis of drive shaft is vertical with 102 place straight line of the first guide rail group；First mounting bracket
The first guide shaft 126 is fixed on 113, deflecting roller group 141 includes automated navigation system, and the robot that the present embodiment is provided is applicable in
In the place that drive line is long or cost is excessively high, in order to ensure the correct walking of robot, factory should be arranged mutually to fit with wheel group
The track matched.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to impartial made by scope of the present invention patent
Variation and modification, should all belong to the covering scope of patent of the present invention.
Claims (6)
1. a kind of multifunctional industrial robot for intelligence manufacture automatic production line, it is characterised in that：It is automatic including being used for
The robot body of metaplasia producing line welding and the control system for controlling robot body's movement, robot body includes bottom plate
(100), the first rack (101) and the first guide rail group (102), the first rack (101) and the first guide rail are provided on bottom plate (100)
The welding manipulator (103) to move along a straight line along the first guide rail group (102) is provided in group (102)；Welding manipulator (103) includes
Jig (104) is provided with support leg (127) below jig (104), and support leg (127) is slidably arranged in first
In guide rail group (102), the lower face of jig (104) is provided with walking power packages, and walking power packages include first motor
(105), the output shaft of first motor (105) is coaxially connected with first gear (106), first gear (106) and the first rack
(101) it is intermeshed, the side of first motor (105) is provided with mounting rod (107), and the bottom of mounting rod (107) is provided with branch
Support wheel (108), support wheel (108) are in rolling contact with bottom plate (100)；Turntable (109), turntable are installed on jig (104)
(109) outer cover is equipped with gear ring (110), and the medial surface of gear ring (110) is interference fitted with the lateral surface of turntable (109),
The side of gear ring (110) is engaged with second gear (111), and the other side, which is engaged with, measures rack (200), jig (104)
On be provided with the second guide rail (201), the bottom for measuring rack (200) is arranged on the second guide rail (201) and along the second guide rail
(201) it slides, shaft is installed in second gear (111), shaft passes through jig (104), the lower section of jig (104)
It is provided with the second motor (112), the output shaft of the second motor (112) is coaxially connected with shaft and second gear (111) is driven to turn
Dynamic, the engagement of gear ring (110) and second gear (111) drives turntable (109) to rotate；Turntable is provided with the first peace on (109)
It shelves (113), active lead screw (114), the upper end of active lead screw (114) and the first installation is installed on the first mounting bracket (113)
Frame (113) is connected, and lower end is connected with turntable (109), and the upper end of active lead screw (114) is equipped with third motor (115), third electricity
Machine (115) is fixedly mounted on the first mounting bracket (113), and the upper end of active lead screw (114) is provided with transmission gear (202), is passed
The both sides of moving gear (202) are engaged with transition gear (203), and transition gear (203) is fixed on the first mounting bracket (113), the
It is additionally provided with two driven lead screws (204) (204) on one mounting bracket (113) and is correspondingly arranged at the two of active lead screw (114) respectively
Side, one end and the first mounting bracket of driven lead screw (204) are rotatablely connected, and the other end is rotatablely connected with turntable, driven lead screw (204)
Upper end be coaxially fixed with driven gear (205), the center of circle of driven gear (205) and the center of circle of driving gear are located at same straight line
And residing height is identical, driving gear is identical with the parameter of driven gear (205), and active lead screw is arranged with welding on (114)
Component (116), weld assembly (116) include installation and adjustment plate (117), installation and adjustment plate (117) with active lead screw (114), from
Dynamic lead screw (204) matches, and the third guide rail (250) of vertical direction, installation and adjustment plate are provided on the first mounting bracket (113)
(117) it falls and is slided in third guide rail (250) upper edge third guide rail (250)；Third motor (115) drives active lead screw (114), passes
Moving gear (202) rotates, and transmission gear (202) drives driven gear (205) to rotate at the same speed by transition gear (203), driven
Gear (205) drives driven lead screw (204) rotation, and active lead screw (114) is identical with the parameter of driven lead screw (204), and installation is adjusted
It saves plate (117) to move up and down by the drive of active lead screw and driven lead screw (204), installation and adjustment plate is equipped with weldering on (117)
Rifle component (118), welding gun component (118) include the second mounting bracket (119), and the second mounting bracket (119) is fixed on installation and adjustment plate
(117) on, installation axle (120), both ends and the second mounting bracket (119) of installation axle (120) are installed on the second mounting bracket (119)
It is rotatablely connected by bearing, the gun rack (122) of third gear (121) and fixed welding gun, third is provided in installation axle (120)
Gear (121) is engaged with the 4th gear (123), is provided with support plate (124) on the second mounting bracket (119), in support plate (124)
4th motor (125) is installed, the 4th motor (125) is connected with the 4th gear (123) drives the rotation of the 4th gear (123), the
The upper end of two mounting brackets is provided with NI Vision Builder for Automated Inspection (206), and NI Vision Builder for Automated Inspection (206) includes the 5th motor (207), and the 5th
Motor (207) is connected with the first installation axle (208), and camera (209), the 5th motor are provided in the first installation axle (208)
(207) camera (209) is driven to carry out rotating angle movement by driving the first installation axle (208) to rotate.
2. a kind of multifunctional industrial robot for intelligence manufacture automatic production line according to claim 1, special
Sign is：The side of welding gun component (118) is provided with hammering device (210), and hammering device (210) is mounted on installation and adjustment plate
(117) on, hammering device (210) includes hammering mounting bracket (211), and electric rotating machine is provided at the top of hammering mounting bracket (211)
(212), electric rotating machine (212) is connected with the second installation axle (213), and set is provided with hammering plate in the second installation axle (213)
(214), hingedly, the end of the second installation axle (213) is fixedly installed horizontal for hammering plate (214) and the second installation axle (213)
Mounting plate (215), the upside on mounting plate (215) are provided with hammering cylinder (216), and the piston rod of hammering cylinder (216) passes through
Universal joint and hammering plate (214) connect, and one end of hammering plate (214) is fixed with percussion hammer (217), tap hammer (217) and hammer into shape
Hit the both sides that cylinder (216) is correspondingly arranged the second installation axle (213) respectively；Mounting plate is additionally provided with blowing nozzle on (215)
(218), blowing nozzle (218) is positioned close to tap the side of hammer (217)；The other side of welding gun component (118) is provided with cleaning
Device (219), cleaning device (219) include cleaning motor (220), and cleaning motor (220) is connected with rocking arm (221), cleaning electricity
Machine (220) drives rocking arm (221) to be rotated, and one end of rocking arm (221) is provided with steel brush (222), and steel brush (222) is connected with the
Six motors (223), the 6th motor (223) drive steel brush (222) to rotate, and the side of steel brush (222) is provided with dust absorption nozzle (224),
Dust absorption nozzle (224) is connected to dust collect plant (226) by hose (225), and dust collect plant (226) is arranged on turntable, collection
Dirt device (226) is provided with dust leg (227), and dust leg (227) is connected to hose (225)；Dust leg (227) bypass has
Cigarette holder (228), cigarette holder (228) are fixed on the second mounting bracket (119), and cigarette holder (228) is connected with flow control valve.
3. a kind of multifunctional industrial robot for intelligence manufacture automatic production line according to claim 2, special
Sign is：Control system includes controller, and NI Vision Builder for Automated Inspection (206) is connect with controller by conducting wire, first motor, second
Motor, third motor, the 4th motor, the 5th motor (207), the 6th motor (223), cleaning motor (220) and hammering cylinder
(216) it is connected and is controlled by conducting wire, measured and be provided with displacement sensor on rack (200), measure the both ends of rack (200) stroke
It is provided with anti-collision switch, the top and bottom of first mounting bracket (113) are provided with for controlling installation and adjustment plate or more
The limit switch of stroke, support wheel (108) and bottom plate (100) Elastic Contact.
4. a kind of multifunctional industrial robot for intelligence manufacture automatic production line according to claim 3, special
Sign is：The NI Vision Builder for Automated Inspection (206) includes machine vision alignment system and Machine Vision Inspecting System, in controller
It is provided with memory module, the 4th electricity of signal pair that controller is transmitted according to machine vision alignment system and Machine Vision Inspecting System
Machine, the 6th motor (223), cleaning motor (220) and hammering cylinder (216) are controlled.
5. a kind of multifunctional industrial robot for intelligence manufacture automatic production line according to claim 1, special
Sign is：Trundle group is provided with below the bottom plate (100), trundle group includes drive wheel group (140) and deflecting roller
Group (141), drive wheel group (140) include driving wheel (142), and driving wheel (142) is connected by the way that drive shaft (143) is arranged, driving
The first driving gear (144) is provided on axis (143), the lower face of bottom plate (100) is provided with driving motor (145), driving electricity
Machine (145) is connected with bottom plate (100), and driving motor (145) is connected with the second driving gear (146), the first driving gear (144)
It is engaged with the second driving gear (146), driving motor (145) is by driving the second driving gear (146) to rotate driving driving wheel
(142) it rotates, wherein axis where drive shaft (143) is vertical with straight line where the first guide rail group (102)；First mounting bracket
(113) the first guide shaft (126) is fixed on, upper end and the first mounting bracket (113) of the first guide shaft (126) are connected, the first guide shaft
(126) lower end is connected with turntable (109), and installation and adjustment plate (117) is set on the first guide shaft (126), installation and adjustment plate
(117) be internally provided with linear bearing, linear bearing is matched with the first guide shaft (126).
6. a kind of multifunctional industrial robot for intelligence manufacture automatic production line according to claim 1, special
Sign is：Deflecting roller group (141) includes driven wheel (147), is the universal nodule of composition between driven wheel (147) and bottom plate (100)
Structure, driven wheel (147) are connected with rotating bar between bottom plate, and the both ends of rotating bar are connect by universal joint (148) with driven wheel.
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| CN201810575989.7A CN108436343B (en) | 2018-06-06 | 2018-06-06 | Multifunctional industrial robot for intelligent manufacturing automatic production line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810575989.7A CN108436343B (en) | 2018-06-06 | 2018-06-06 | Multifunctional industrial robot for intelligent manufacturing automatic production line |
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| CN108436343A true CN108436343A (en) | 2018-08-24 |
| CN108436343B CN108436343B (en) | 2020-11-13 |
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| CN109202237A (en) * | 2018-11-30 | 2019-01-15 | 南京奥源科技实业有限公司 | A kind of rosin joint leak inductance device for robot automatic arc stud welding machine |
| CN110102854A (en) * | 2019-04-16 | 2019-08-09 | 徐州工业职业技术学院 | A kind of welding tractor of anti-arc light and welding slag splashing |
| CN110509252A (en) * | 2019-10-24 | 2019-11-29 | 大连理工江苏研究院有限公司 | A kind of limit rail self-propelled charging robot |
| CN110528341A (en) * | 2019-08-13 | 2019-12-03 | 肇庆学院 | A kind of variable rail track |
| CN110524511A (en) * | 2019-08-08 | 2019-12-03 | 肇庆学院 | A kind of novel track robot general holder |
| CN111843347A (en) * | 2020-07-27 | 2020-10-30 | 盐城市昱博汽车零部件有限公司 | Vehicle body welding manipulator |
| CN112077556A (en) * | 2020-09-19 | 2020-12-15 | 广州市顺创科技有限公司 | Automatic assembly robot with adjustable height of wisdom mill |
| CN112658682A (en) * | 2020-12-30 | 2021-04-16 | 白玉东 | Propeller surfacing device for ship repair and surfacing process |
| CN114850141A (en) * | 2022-07-06 | 2022-08-05 | 山东乾通重工科技有限公司 | Steel construction welding slag self-cleaning equipment |
| CN115229810A (en) * | 2022-06-29 | 2022-10-25 | 安徽机电职业技术学院 | Automatic change quick visual detection robot |
| CN115394078A (en) * | 2022-08-18 | 2022-11-25 | 江苏省镔鑫钢铁集团有限公司 | Continuous detection device for parking space information of mobile trolley equipment |
| CN115519292A (en) * | 2022-11-29 | 2022-12-27 | 江苏迈威科技有限公司 | Welding mechanical arm for machining oil separator for central air conditioner |
| CN116890188A (en) * | 2023-09-01 | 2023-10-17 | 资阳建工建筑有限公司 | Welding machine for manufacturing steel structure supporting upright post |
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| CN110524511A (en) * | 2019-08-08 | 2019-12-03 | 肇庆学院 | A kind of novel track robot general holder |
| CN110528341A (en) * | 2019-08-13 | 2019-12-03 | 肇庆学院 | A kind of variable rail track |
| CN110509252A (en) * | 2019-10-24 | 2019-11-29 | 大连理工江苏研究院有限公司 | A kind of limit rail self-propelled charging robot |
| CN111843347A (en) * | 2020-07-27 | 2020-10-30 | 盐城市昱博汽车零部件有限公司 | Vehicle body welding manipulator |
| CN112077556A (en) * | 2020-09-19 | 2020-12-15 | 广州市顺创科技有限公司 | Automatic assembly robot with adjustable height of wisdom mill |
| CN112077556B (en) * | 2020-09-19 | 2022-08-19 | 北京炎凌嘉业机电设备有限公司 | Automatic assembly robot with adjustable height of wisdom mill |
| CN112658682A (en) * | 2020-12-30 | 2021-04-16 | 白玉东 | Propeller surfacing device for ship repair and surfacing process |
| CN115229810A (en) * | 2022-06-29 | 2022-10-25 | 安徽机电职业技术学院 | Automatic change quick visual detection robot |
| CN115229810B (en) * | 2022-06-29 | 2023-09-15 | 珠海市龙健电子有限公司 | Automatic change quick visual inspection robot |
| CN114850141A (en) * | 2022-07-06 | 2022-08-05 | 山东乾通重工科技有限公司 | Steel construction welding slag self-cleaning equipment |
| CN114850141B (en) * | 2022-07-06 | 2022-09-20 | 山东乾通重工科技有限公司 | Steel construction welding slag self-cleaning equipment |
| CN115394078A (en) * | 2022-08-18 | 2022-11-25 | 江苏省镔鑫钢铁集团有限公司 | Continuous detection device for parking space information of mobile trolley equipment |
| CN115394078B (en) * | 2022-08-18 | 2023-12-26 | 江苏省镔鑫钢铁集团有限公司 | Continuous detection device for parking space information of mobile trolley equipment |
| CN115519292A (en) * | 2022-11-29 | 2022-12-27 | 江苏迈威科技有限公司 | Welding mechanical arm for machining oil separator for central air conditioner |
| CN116890188A (en) * | 2023-09-01 | 2023-10-17 | 资阳建工建筑有限公司 | Welding machine for manufacturing steel structure supporting upright post |
| CN116890188B (en) * | 2023-09-01 | 2023-12-08 | 资阳建工建筑有限公司 | Welding machine for manufacturing steel structure supporting upright post |
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Effective date of registration: 20201026 Address after: 252000 No.69 Huaihe Road, high tech Industrial Development Zone, Liaocheng City, Shandong Province Applicant after: Liaocheng Ruili Machinery Equipment Co., Ltd Address before: 414300 Tongzi paving street, tando Township, Linxiang City, Yueyang, Hunan Applicant before: Chen Yan |
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