CN109514030A - A kind of automatic welding machine people - Google Patents
A kind of automatic welding machine people Download PDFInfo
- Publication number
- CN109514030A CN109514030A CN201710843867.7A CN201710843867A CN109514030A CN 109514030 A CN109514030 A CN 109514030A CN 201710843867 A CN201710843867 A CN 201710843867A CN 109514030 A CN109514030 A CN 109514030A
- Authority
- CN
- China
- Prior art keywords
- robot body
- automatic welding
- machine people
- welding machine
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of automatic welding machine people, including robot body, welder and clamping device；The robot body is that 6 axis joint formulas of servo motor driving operate machine；Welder is mounted on the robot mechanical arm end；The clamping device is for clamping welded structure.Automatic welding machine people of the invention can stabilize and increase welding quality, can reflect welding quality in the form of numerical value；Improve labor intensity of workers, can work under hostile environment；The requirement to worker operation technology is reduced, is with a wide range of applications.
Description
Technical field
The present invention relates to automation equipment fields, and in particular to a kind of automatic welding machine people.
Background technique
One of the important signs that and emerging technology industry of the industrial robot as Developing Trends of Modern Manufacturing Technology, have been common people
It is accepted.And each field of face Modern High-Tech industry produces great influence down to people's lives.
Since releasing First Unimate type in the world and Versatra type industrial robot from the U.S. in 1962, root
Statistics according to international association, robot by the end of the end of the year 1996 successively has 840,000, existing about 680,000 industry
Robot is served in the industry of countries in the world.It expects 2000, industrial robot sum will be more than 950,000.
China's industrial machine man-based development is started late, but has been made fast progress since the 80's of 20th century, and 1985
Year magnificent font arc welding robot is succeeded in developing, succeeds in developing within 1987 No. 1, No. 2, Shanghai arc welding robot, 1987
Magnificent font spot welding robot is succeeded in developing again, is all tentatively commercialized, it can small lot production.1989, China was with home-made machine
The automotive welding production line that device is artificially led puts into production, and indicates the beginning of China's industrial robot practical stage.
Welding robot is the industrial robot for being engaged in welding (including cutting and spraying).According to International Organization for standardization
(ISO) industrial robot belongs to the definition of standard welding robot, and industrial robot is a kind of multiduty, repeatable programming
It automatically controls operation machine (Manipulator), there are three or more programmable axis, be used for industrial automation.In order to
Adapt to different purposes, the mechanical interface of the last one axis of robot, usually a connecting flange, can be hinged with different tools or
Claim end effector.Welding robot makes it in the last shaft flange attaching soldering turret or weldering (cutting) rifle of industrial robot
It is welded, cutting or thermal spraying.
It is the revolutionary advancement of Automation of Welding using robot welding, it breaches traditional welding rigidity automation side
Formula has opened up a kind of flexible automation new paragon.Rigid automatic welding equipment is typically dedicated, be commonly used in, it is big
The automated production of batch welding product, thus in, in be pilot welding production, welding electrode arc welding is still main welding
Mode, welding robot make it possible that the automatic welding of be pilot produces.With regard to current teaching playback bonding machine
For device people, welding robot completes a weld task, only needs people to do a teaching to it, it can accurately reproduce teaching
Every single stepping, such as want robot to do another work, without any hardware is changed, as long as trying again teaching i.e. to it
It can.Therefore, on a robot line for welding, several weldment can be produced automatically simultaneously.
But welding robot in the prior art is at high cost, and the degree of automation is not also high, it is also necessary to artificial monitoring.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of automatic welding machine people.
Technical solution:
A kind of automatic welding machine people, including robot body, welder and clamping device；The robot body is to watch
Take motor-driven 6 axis joint formula operation machine；Welder is mounted on the robot mechanical arm end；The clamping device is used
In clamping welded structure.
The robot body includes executing agency, driving mechanism and control system；Executing agency end setting welding dress
It sets；The movement mechanism makes executing agency complete various rotations, movement or compound motion to realize defined movement；The control
System processed is that all information during handling machine is manually made is acted with its whole is controlled.
The control system is made of single-chip microcontroller or dsp microcontroller chip, realizes wanted function by programming to it.
The structure of the robot body designs specifically: after first the structure of robot body is designed, is analyzed
To each mechanism part；Then it is assembled using SolidWorks 3 d modeling software to obtain mechanism overall model.
After establishing the model of robot body, welder welding track is obtained by simulation analysis, and repair as needed
Just.
Automatic welding machine people of the invention has the following beneficial effects:
1) welding quality is stabilized and increased, welding quality can be reflected in the form of numerical value；
2) it raises labour productivity；
3) improve labor intensity of workers, can work under hostile environment；
4) requirement to worker operation technology is reduced；
5) preparatory period that product remodeling is regenerated is shortened, corresponding equipment investment is reduced.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
Automatic welding machine people of the invention includes robot body, control system, welder and clamping device.Institute
Robot body is stated to connect with control system.Robot body is the 6 axis joint formulas operation machine of servo motor driving, it is by executing
Welder is arranged in mechanism, driving mechanism and control system three parts composition, executing agency end.Movement mechanism makes to execute
Mechanism completes various rotations (swing), movement or compound motion to realize defined movement.The lifting of movement mechanism, flexible, rotation
Turn to wait self-movements mode, the referred to as freedom degree of robot body.Freedom degree is more, and the flexibility of robot is bigger, versatility
Wider, structure is also more complicated.Control system is by the control of the motor to each freedom degree of robot, to complete specific move
Make.The information of receiving sensor feedback simultaneously, forms stable closed-loop control.The core of control system be usually by single-chip microcontroller or
The microcontroller chips such as dsp are constituted, and realize wanted function by programming to it.The driver drives the manipulator of the robot
Movement.The task of robot body is accurately to guarantee position, posture and motion profile required by arm end (brave rifle).
Control system is the nerve center of robot system, including computer hardware, software and some special circuits, is responsible for handling machine
All information during artificial work is acted with its whole is controlled.Welder is mounted on the robot mechanical arm end.Institute
Clamping device is stated for clamping welded structure.
After obtaining each mechanism part after the structure to robot body is designed, analyzes, SolidWorks tri- is utilized
Dimension modeling software assembles it to obtain mechanism overall model.In order to ensure the unicity of data when analysis, utilize
The kinematics simulation analysis plug-in unit SolidworksMotion that SolidWorks itself is integrated, and by defining each kinematic pair
The Kinematics Simulation of entire mechanical structure is realized in the sequence of operations such as forms of motion and driving method, direction；In addition, in order to subtract
Few analytical calculation amount need to carry out necessary simplification to entire assembly, remove to the lesser components of analyzing influence, concurrently set
Welding robot welds and rotates clockwise welding one week from minimum light of saddle-shaped seam.It can extract each portion by simulation analysis
The necessary time plot such as angular displacement, the angular speed of part is exported and is post-processed to these data graphs, can be with
It is concluded that welding gun and wrist output kinematic similitude, speed, displacement curve are almost the same；The movement of welding gun and lifting arm
The movement of input shaft is essentially identical, after only solder joint reaches welding highest point from, has small size fluctuation, is that wrist is being adjusted at this time
The position and attitude of whole welding gun, then the movement of the two is essentially identical；The curve of output of telescopic arm and rotating shaft is in addition to starting to adjust
Difference when whole bond pad locations, is held essentially constant later.To sum up, finally obtained welding gun welding track, and according to need
It corrects.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of automatic welding machine people, it is characterised in that: including robot body, welder and clamping device；It is described
Robot body is that 6 axis joint formulas of servo motor driving operate machine；Welder is mounted on the robot mechanical arm end；
The clamping device is for clamping welded structure.
2. automatic welding machine people according to claim 1, it is characterised in that: the robot body includes execution machine
Structure, driving mechanism and control system；Welder is arranged in executing agency end；The movement mechanism completes executing agency each
Rotation, movement or compound motion are planted to realize defined movement；The control system is complete during handling machine is manually made
Portion's information is acted with its whole is controlled.
3. automatic welding machine people according to claim 1, it is characterised in that: the control system is by single-chip microcontroller or dsp
Microcontroller chip is constituted, and realizes wanted function by programming to it.
4. automatic welding machine people according to claim 1, it is characterised in that: the structure of the robot body designs tool
Body are as follows: each mechanism part is obtained after first the structure of robot body is designed, is analyzed；Then three-dimensional using SolidWorks
Modeling software assembles it to obtain mechanism overall model.
5. automatic welding machine people according to claim 4, it is characterised in that: after establishing the model of robot body, lead to
It crosses simulation analysis and obtains welder welding track, and correct as needed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710843867.7A CN109514030A (en) | 2017-09-19 | 2017-09-19 | A kind of automatic welding machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710843867.7A CN109514030A (en) | 2017-09-19 | 2017-09-19 | A kind of automatic welding machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109514030A true CN109514030A (en) | 2019-03-26 |
Family
ID=65769003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710843867.7A Pending CN109514030A (en) | 2017-09-19 | 2017-09-19 | A kind of automatic welding machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109514030A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3053699A1 (en) * | 2015-01-21 | 2016-08-10 | Audi Ag | Device for joining components |
| DE102015208155A1 (en) * | 2015-05-04 | 2016-11-10 | Bayerische Motoren Werke Aktiengesellschaft | Test device and method for testing welded joints |
| CN106984891A (en) * | 2017-04-27 | 2017-07-28 | 上海电力股份有限公司吴泾热电厂 | Mobile robot's TIG weld system |
| CN206415757U (en) * | 2016-12-31 | 2017-08-18 | 合肥和瑞机械制造有限公司 | A kind of fixture for arc welding robot |
-
2017
- 2017-09-19 CN CN201710843867.7A patent/CN109514030A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3053699A1 (en) * | 2015-01-21 | 2016-08-10 | Audi Ag | Device for joining components |
| DE102015208155A1 (en) * | 2015-05-04 | 2016-11-10 | Bayerische Motoren Werke Aktiengesellschaft | Test device and method for testing welded joints |
| CN206415757U (en) * | 2016-12-31 | 2017-08-18 | 合肥和瑞机械制造有限公司 | A kind of fixture for arc welding robot |
| CN106984891A (en) * | 2017-04-27 | 2017-07-28 | 上海电力股份有限公司吴泾热电厂 | Mobile robot's TIG weld system |
Non-Patent Citations (4)
| Title |
|---|
| 《职业技能培训MES系列教材》编委会: "《焊工技能》", 31 May 2008 * |
| 何杏兴: ""利用SOLIDWORKS实现焊接机器人设计和仿真"", 《CAD/CAM与制造业信息化》 * |
| 杨永平: "《遥控机器人技术在核退役工程中的应用实践教程》", 31 December 2016 * |
| 陈歆: ""焊接机器人技术的应用研究"", 《价值工程》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107309882B (en) | Robot teaching programming system and method | |
| CN107253084B (en) | Efficient high-precision robot milling automatic system in aircraft digital assembly | |
| CN107876333B (en) | A kind of glue spreader control method and device | |
| EP3272473B1 (en) | Teaching device and method for generating control information | |
| CN106238969A (en) | Non-standard part automatic welding processing system based on structured light vision | |
| CN205650975U (en) | Non-standard part automatic welding processing system based on structured light vision | |
| CN106112216A (en) | A kind of weld seam automatic recognition and tracking device applying two-dimensional laser displacement transducer | |
| CN204524503U (en) | A kind of Novel girth welding device controlled based on weld seam Intelligent Measurement | |
| CN106003066B (en) | A kind of robot program's control system | |
| CN106392238A (en) | High-precision multi-axis motion three-dimensional micro-welding robot | |
| CN110449750A (en) | A kind of round tube cutting process method and system based on six-shaft industrial robot | |
| CN111993423A (en) | Modular intelligent assembling system | |
| CN204724990U (en) | A kind of integrated four axle fully-automatic intelligent argon arc welding machines | |
| CN114227681A (en) | Robot off-line virtual teaching programming method based on infrared scanning tracking | |
| CN113634871A (en) | Robot friction stir welding track planning method based on offline programming | |
| CN107457156A (en) | A kind of fixed 3D point gum machines | |
| CN109514030A (en) | A kind of automatic welding machine people | |
| CN106041382A (en) | Operating method of intelligent automatic welding manipulator | |
| CN109128439A (en) | CAD diagram paper technology guided robot automatic soldering method | |
| CN103100796A (en) | Laser welding system and laser welding method thereof | |
| CN204843296U (en) | Chain equipment is knitted to beads automatic welding machine | |
| CN205869766U (en) | Four -axis welding machines hand | |
| CN105880881A (en) | Intelligent welding robot device | |
| CN114147724B (en) | Robot power control shaft hole assembly method and system | |
| CN214291574U (en) | Automatic tracking welding device for corrugated plate of robot carriage plate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190326 |
|
| RJ01 | Rejection of invention patent application after publication |