CN206105195U - Complicated special -shaped workpiece automatic welding system - Google Patents
Complicated special -shaped workpiece automatic welding system Download PDFInfo
- Publication number
- CN206105195U CN206105195U CN201621087332.9U CN201621087332U CN206105195U CN 206105195 U CN206105195 U CN 206105195U CN 201621087332 U CN201621087332 U CN 201621087332U CN 206105195 U CN206105195 U CN 206105195U
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- welding
- air cylinder
- workpiece
- master control
- abnormal shape
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Abstract
The utility model discloses a complicated special -shaped workpiece's automatic welding system, be in including base, setting work piece dress clamp system on the base, welding execution systems, master control system and touch -sensitive screen, work piece dress clamp system include that cylinder support, vertical setting are in the last lower air cylinder of cylinder support, connect air cylinder down the draw back plate, the second anchor clamps that set up in draw back plate bottom are rotated through thrust bearing, welding execution systems include rotation mechanism, cross sliding table mechanism for drive welder and work piece and carry out corresponding run -in motion, accomplish the profile welding, master control system and rotation mechanism and cross sliding table mechanism circuit are connected for according to the work piece shape, carry out run -in calculation, and send the motion pulse extremely welding execution systems. The utility model discloses advantages such as welding quality height, production efficiency height, job stabilization, welding quality are good, adaptation work piece kind is many.
Description
Technical field
This utility model is related to automatic welding technique, more particularly to a kind of complicated abnormal shape workpiece robot welding system.
Background technology
Automatic welding technique is widely used and is improved in industry and manufacture field, and the development of solder technology is more next
More paid close attention to by commercial production and manufacturing enterprise；Nowadays, occurred in that on market much automatic for a certain specific productss
Welder, for example, weld the welding dress of the automatic soldering device and spot welding vehicle frame appearance profile of the long weld seam of van container door-plate
Put.This automatic soldering device production efficiency height, working stability, welding quality are good, can be suitable for various complex environments.
Occur big stress deformation in complicated abnormal shape thin-wall workpiece welding process, need artificial spot welding is adopted in front operation
The positioning of workpiece is completed, this will cause the deformation of position error and thin-wall workpiece appearance profile, the welding of traditional teaching playback
Mode is no longer suitable for.For the problem, it is proposed that a kind of complicated abnormal shape thin-wall workpiece automatic welding based on path interpolation
System.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, and on the one hand this utility model proposes a kind of with suitable
Answer the robot welding system of the complicated abnormal shape workpiece of the advantages of workpiece species is more, generation track is fast, welding quality is high.
Above-mentioned advantage is achieved through the following technical solutions：
A kind of robot welding system of complicated abnormal shape workpiece, including base, the clamping workpiece system being arranged on the base
System, welding execution system, master control system and touch screen,
Described clamping workpiece system includes air cylinder support, the lower air cylinder being vertically arranged on the air cylinder support, connects
The draw back plate for connecing lower air cylinder is, the second fixture that draw back plate bottom is rotatably arranged on by thrust bearing；
Described welding execution system includes being arranged at slew gear immediately below the lower air cylinder, drives welding gun along flat
The cross slid platform mechanism of face Nei YanXY directions movement, for the motor command that sends according to master control system and pulse, drives weldering
Rifle and workpiece carry out corresponding moving interpolation, complete profile welding；
The touch screen is arranged on the base side, is connected with master control system circuit, for adjusting welding procedure ginseng
Number；
The master control system is connected with slew gear and cross slid platform mechanism circuit, for according to workpiece shapes, carrying out
Interpolation is calculated, and sends motion impulse to described welding execution system.
Further, described slew gear includes the first servomotor, to be connected to the first servomotor upper end defeated
The first fixture on shaft.
Further, described cross slid platform mechanism includes the linear module of Y-direction driven by the second servomotor, by the 3rd
To linear module, the welding gun is connected to the slide block of linear module with X the X that servomotor drives by adjustable connection structure
Connect.
Further, described adjustable connection structure includes that connecting the X connects to the slide unit of the slide block of linear module
Plate, the Z-direction locating rod being vertically fixed on the slide unit connecting plate by fixed seat, it is movably disposed at the Z-direction positioning
Z-direction slide block on bar, the locking knob for adjusting and locking Z-direction slide block Z-direction position, the Z-direction slide block are connected by welding gun
Plate is connected with the welding gun.
Further, in described cross slid platform mechanism, limit switches are set.
Further, first fixture is rotatably arranged in the lower air cylinder by thrust bearing.
Compared to existing technology, advantage of the present utility model：Using lower air cylinder and fixture collective effect and welding workpiece, increase
The big accuracy of welding workpiece positioning；Different path interpolation schemes can be changed, inhomogeneity is realized according to different workpiece
The welding of type welding workpiece；Combined using welding gun plane motion and workpiece rotational motion, simplify complicated abnormal shape workpiece path, carry
High welding quality.
Description of the drawings
Robot welding system structural representations of the Fig. 1 for this utility model embodiment.
Fig. 2 is close-up schematic view at A in Fig. 1.
Schematic diagrams of the Fig. 3 for this utility model welding workpiece example.
Fig. 4 is arc section interpolation schematic diagram.
Shown in figure it is：1- air cylinder supports；The first fixtures of 2-；The first servomotors of 3-；4- welding guns；The second servos of 5- electricity
Machine；The 3rd servomotors of 6-；7-X is to linear module；8- cross Linear slide platforms；9-Y is to linear module；10- bases；11- second
Fixture；12- lower air cylinders；13- welding gun connecting plates；14- fixed seats；15- slide unit connecting plates；16- locking knobs；17-Z is to cunning
Block；18-Z is to locating rod.
Specific embodiment
The purpose of this utility model is described in further detail below by specific embodiment, embodiment is unable to here
Repeat one by one, but therefore embodiment of the present utility model is not defined in following examples.
As shown in figure 1, a kind of robot welding system of complicated abnormal shape workpiece, including base 10, it is arranged on the base 10
On clamping workpiece system, welding execution system, master control system and touch screen (be not drawn in figure, ordinary skill people
Member can be configured according to actual needs),
The lower air cylinder that described clamping workpiece system includes air cylinder support 1, is vertically arranged on the air cylinder support 1
12nd, connect the draw back plate 11 of lower air cylinder 12, the second fixture of 11 bottom of draw back plate is rotatably arranged on by thrust bearing；
Described welding execution system includes being arranged at slew gear immediately below the lower air cylinder 12, drives welding gun 4
Along plane along the movement of XY directions cross slid platform mechanism 8, for the motor command that sent according to master control system and pulse, band
Dynamic welding gun 4 and workpiece carry out corresponding moving interpolation, complete profile welding；
The touch screen is arranged on 10 side of the base, is connected with master control system circuit, for adjusting welding procedure
Parameter；
The master control system is connected with slew gear and 8 circuit of cross slid platform mechanism, for according to workpiece shapes, carrying out
Interpolation is calculated, and sends motion impulse to described welding execution system.
Specifically, described slew gear includes the first servomotor 3, is connected to 3 upper end of the first servomotor
The first fixture 2 on output shaft.
Specifically, the linear module 9 of Y-direction that described cross slid platform mechanism 8 includes being driven by the second servomotor 5, by
To linear module 7, the welding gun 4 passes through the cunning of adjustable connection structure and X to linear module 7 to the X that 3rd servomotor drives
Block is connected.
As shown in Fig. 2 described adjustable connection structure includes that connecting the X connects to the slide unit of the slide block of linear module 7
Fishplate bar 15, the Z-direction locating rod 18 being vertically fixed on the slide unit connecting plate 15 by fixed seat, be movably disposed at it is described
Z-direction slide block 17 in Z-direction locating rod 18, for adjusting and locking locking knobs 16 of the Z-direction slide block 17Z to position, the Z-direction is slided
Block 17 is connected with the welding gun 4 by welding gun connecting plate 13, before welding, can be back-outed locking knob 16 as needed, be adjusted Z
To position of the slide block 17 in Z-direction locating rod 18, welding gun 4 and the weld seam of workpiece is located on same level height, then tighten
Locking knob 16, Z-direction slide block 17 is fixed.
In another embodiment of the present utility model, limit switches are set in described cross slid platform mechanism 8, can be limited
The cross slid platform mechanism 8 carries out the planar movement of X, Y-direction in safety range.
A kind of automatic soldering method of the complicated abnormal shape workpiece based on the system, including step：
(1) weld seam of welding workpiece is divided into into some key points A-J, forms some arc sections, setting welding sequence is (as schemed
3)；
(2) solve the interpolating method of every section of arc section；
(3) master control system sends motion impulse according to required interpolating method and holds to clamping workpiece system and welding
Row system, drives welding gun 4 and workpiece to carry out corresponding moving interpolation by the welding sequence of setting, completes profile welding；
Specifically, the step (2) specifically includes：
(21) beginning and end of arbitrary arc section AB is set, using parametric equation, the institute on arc section AB a little can be with
It is represented by the following formula：
The known line segment central coordinate of circle O'(x0,y0), starting point coordinate A (ax,ay), terminal point coordinate B (bx,by), welding move
Dynamic speedAngle, θ corresponding to sampling time Δ t, the center of circle angle theta of arc section AB, radius R, A point of line segment AB1(-180
＜ θ1≤ angle, θ 180), corresponding to B points2(- 180 ＜ θ2≤ 180), wherein θ1For straight line AO' and the angle of X-direction, θ2For straight
The angle (shown in Fig. 4) of line BO' and X-direction；
(22) by speedDetermine every a sampling period Δ t with sampling time Δ t, need the center of circle O ' around line segment to turn
Angle delta θ crossed：
(23) number of the discrete point included by each section of arc section is set as n, then n can be tried to achieve according to following formula：
(24) all of discrete point P of arc section AB are tried to achievet(xt,yt) coordinate be：
(25) according to xtAnd ytThe motion impulse number of each motor of each interpolation cycle can be obtained.
Specifically, described step (3) is specifically included:
(31) lower air cylinder 12 is pushed, and realizes clamping and the positioning of welding workpiece, and then welding gun 4 moves to setting and welds suitable
The starting point of sequence；
(32) master control system sends motion impulse to clamping workpiece system and welding according to required interpolating method
Execution system, drives first servomotor 3, the second servomotor 5, the 3rd servomotor 6, welding gun 4 is inserted by required
Compensating method is welded along welding track；
(33), after the completion of welding, lift in lower air cylinder 12, workpiece discharging.
Specifically, the welding gun 4 by required interpolating method along welding track welded when, the welding gun 4 is located at
In the normal orientation of pad, so as to being further ensured that and improving welding quality.
So, the welding process of whole workpiece is realized by above-mentioned steps, workpiece species is more, weld matter with adapting to
The advantages of measuring high, production efficiency height, working stability, welding quality are good, can be suitable for various complex environments.
Above-described embodiment of the present utility model is only intended to clearly illustrate this utility model example, and is not
Restriction to embodiment of the present utility model.For those of ordinary skill in the field, on the basis of described above
On can also make other changes in different forms.There is no need to be exhaustive to all of embodiment.
All any modification, equivalent and improvement made within spirit of the present utility model and principle etc., should be included in this reality
Within new scope of the claims.
Claims (6)
1. a kind of robot welding system of complicated abnormal shape workpiece, including base（10）, be arranged on the base（10）On workpiece
Mounting and clamping system, welding execution system, master control system and touch screen,
Described clamping workpiece system includes air cylinder support（1）, be vertically arranged in the air cylinder support（1）On lower air cylinder
（12）, connection lower air cylinder（12）Draw back plate（11）, draw back plate is rotatably arranged on by thrust bearing（11）The second of bottom
Fixture；
Described welding execution system includes being arranged at the lower air cylinder（12）The slew gear of underface, driving welding gun（4）
The cross slid platform mechanism moved along XY directions along plane（8）, for the motor command that sent according to master control system and pulse,
Drive welding gun（4）Corresponding moving interpolation is carried out with workpiece, profile welding is completed；
The touch screen is arranged on the base（10）Side, is connected with master control system circuit, for adjusting welding procedure ginseng
Number；
The master control system and slew gear and cross slid platform mechanism（8）Circuit connects, for according to workpiece shapes, being inserted
Mend and calculate, and motion impulse is sent to described welding execution system.
2. the robot welding system of complicated abnormal shape workpiece according to claim 1, it is characterised in that：Described slew gear
Including the first servomotor（3）, be connected to first servomotor（3）The first fixture on the output shaft of upper end（2）.
3. the robot welding system of complicated abnormal shape workpiece according to claim 1, it is characterised in that：Described cross slid platform
Mechanism（8）Including by the second servomotor（5）The linear module of Y-direction of driving（9）, the X that driven from the 3rd servomotor is to linear
Module（7）, the welding gun（4）By adjustable connection structure with X to linear module（7）Slide block be connected.
4. the robot welding system of complicated abnormal shape workpiece according to claim 3, it is characterised in that：Described adjustable company
Binding structure includes connecting the X to linear module（7）Slide block slide unit connecting plate（15）, institute is vertically fixed on by fixed seat
State slide unit connecting plate（15）On Z-direction locating rod（18）, be movably disposed at the Z-direction locating rod（18）On Z-direction slide block
（17）, for adjusting and lock Z-direction slide block（17）The locking knob of Z-direction position（16）, the Z-direction slide block（17）Connected by welding gun
Fishplate bar（13）With the welding gun（4）It is connected.
5. the robot welding system of complicated abnormal shape workpiece according to claim 1, it is characterised in that：Described cross slid platform
Mechanism（8）Upper setting limit switches.
6. the robot welding system of complicated abnormal shape workpiece according to claim 2, it is characterised in that：First fixture
（2）The lower air cylinder is rotatably arranged on by thrust bearing（12）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621087332.9U CN206105195U (en) | 2016-09-27 | 2016-09-27 | Complicated special -shaped workpiece automatic welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621087332.9U CN206105195U (en) | 2016-09-27 | 2016-09-27 | Complicated special -shaped workpiece automatic welding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206105195U true CN206105195U (en) | 2017-04-19 |
Family
ID=58522134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621087332.9U Expired - Fee Related CN206105195U (en) | 2016-09-27 | 2016-09-27 | Complicated special -shaped workpiece automatic welding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206105195U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106425178A (en) * | 2016-09-27 | 2017-02-22 | 华南理工大学 | Automatic welding system and automatic welding method for complicated special-shaped work piece |
| CN107649818A (en) * | 2017-11-08 | 2018-02-02 | 铭镭激光智能装备（河源）有限公司 | Grip device for the welding of metal plate door-plate |
-
2016
- 2016-09-27 CN CN201621087332.9U patent/CN206105195U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106425178A (en) * | 2016-09-27 | 2017-02-22 | 华南理工大学 | Automatic welding system and automatic welding method for complicated special-shaped work piece |
| CN106425178B (en) * | 2016-09-27 | 2018-06-22 | 华南理工大学 | A kind of complicated abnormal shape workpiece robot welding system and method |
| CN107649818A (en) * | 2017-11-08 | 2018-02-02 | 铭镭激光智能装备（河源）有限公司 | Grip device for the welding of metal plate door-plate |
| CN107649818B (en) * | 2017-11-08 | 2024-03-26 | 铭镭激光智能装备（河源）有限公司 | Clamp device for welding sheet metal door plate |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170419 Termination date: 20200927 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |