CN206966904U - Welding robot system based on ROS frameworks - Google Patents
Welding robot system based on ROS frameworks Download PDFInfo
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- CN206966904U CN206966904U CN201720234386.1U CN201720234386U CN206966904U CN 206966904 U CN206966904 U CN 206966904U CN 201720234386 U CN201720234386 U CN 201720234386U CN 206966904 U CN206966904 U CN 206966904U
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- welding robot
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Abstract
The utility model discloses a kind of welding robot system based on ROS frameworks, including frame, frame includes work top, the supporting leg for support works table top, and the end of supporting leg is provided with adjustable for height support feet；Supporting leg is hollow；Illuminator is additionally provided with work top；Work top is provided with least two welding manipulators, and electroplating equipment wielding machine is provided with welding gun and welding controller on hand, and the opening of welding manipulator control welding gun is to be welded；Temperature element, pressure sensor are additionally provided with welding gun；Welding controller uses ROS systems;Each welding controller is designed with bluetooth module；Each bluetooth module all with Bluetooth base. station bluetooth connection；High-definition camera is additionally provided with frame, high-definition camera is connected with a projecting apparatus, and the image of the welding manipulator photographed is delivered on metope by high-definition camera by projecting apparatus in real time.The welding system is easy to be managed collectively, and overall structure is simple, practical, use easy to spread.
Description
Technical field
It the utility model is related to Technology of Welding Robot field, especially a kind of welding robot system based on ROS frameworks
System.
Background technology
Welding robot is the industrial robot for being engaged in welding.According to International Organization for standardization (ISO) industrial robot
The definition of terminology standard:Industrial robot is that a kind of multiduty, repeatable programming automatically controls operation machine, has three
Or more programmable axle, for industrial automation.In order to adapt to different purposes, the machinery of last axle of robot
Interface is typically an adpting flange, can be hinged with different instruments or end effector.Welding robot is exactly in industrial machine
The flange attaching soldering turret of people end axle welds (cutting) rifle, makes it to be welded, cutting or thermal spraying.Welding robot is machine
Main force in Qi Ren families, it can continuously be worked under rugged environment and stable welding quality can be provided, not only increased
Operating efficiency and the labor intensity for alleviating worker, reduce production cost and the requirement to operation technology.China
The history about more than 20 year is carried out in welding robot academic research and application work, and advanced skill is introduced with other industry
The process of art is the same, and the welding robot in China has passed by one from introducing, digesting to the process voluntarily developed, and China exists at present
Although welding robot is studied and application aspect is with certain scale, international most advanced level has been even up in some aspects,
But still obvious deficiency be present.
And multiple welding robot systems are not easy to be managed collectively and find its operation irregularity, the problems demand solves.
The content of the invention
Prior art can not meet the needs of people, and to make up prior art deficiency, the utility model aims to provide.
To achieve the above object, the utility model uses following technical scheme：A kind of welding robot based on ROS frameworks
System, including,
Frame, the frame include work top, the supporting leg for supporting the work top, the end of the supporting leg
End is provided with adjustable for height support feet；The supporting leg is hollow；Illuminator is additionally provided with the work top；
The work top is provided with least two welding manipulators, and the electroplating equipment wielding machine is provided with welding gun on hand and welding is controlled
Device processed, the welding manipulator control the opening of the welding gun to be welded；Temperature element, pressure are additionally provided with the welding gun
Sensor；The welding controller uses ROS systems;
Each welding controller is designed with bluetooth module；
Each bluetooth module all with Bluetooth base. station bluetooth connection；
High-definition camera is additionally provided with the frame, the high-definition camera is connected with a projecting apparatus, the high-definition camera
The image of the welding manipulator photographed is delivered on metope by head by projecting apparatus in real time.
Preferably, the welding manipulator includes pedestal, and the pedestal is provided with three linking arms being sequentially connected, described
Joint is provided between linking arm, is additionally provided with motor on the joint transport two linking arms being joined directly together with joint
Dynamic, the free end of the linking arm is provided with adpting flange, and the adpting flange is detachably connected with welding gun.
Preferably, the pedestal is made of stainless steel.
Preferably, the linking arm outer surface is provided with refractory ceramics layer.
Preferably, in addition to a cooling unit, the cooling unit are used for the welding robot and welding controller
Cooled down.
Preferably, in addition to a gas shield unit, the gas shield unit include gas cylinder, escape pipe, located at outlet
Gate on pipe, the end of the escape pipe are provided with nozzle, titanium net are additionally provided with the nozzle.
Preferably, in addition to electric power system, the electric power system include fuel cell, inverter and the mistake using graphene
Flow protector.
Preferably, the temperature element is armoured thermal resistance.
Preferably, the armoured thermal resistance is armouring copper thermistor.
Preferably, the Bluetooth base. station connects with intelligent terminal communication；The work top is dull surface；The frame
Side is additionally provided with dustbin；The work top is closed by titanium alloy flaggy, nonwoven layer, pearl cotton layer, nickel successively from top to bottom
Golden steel plate layer is formed.
Compared with prior art, the beneficial effects of the utility model are：The utility model overall structure is simple, practicality
By force, use easy to spread.The utility model, can be by the state of multiple welding manipulators by setting high-definition camera, projecting apparatus
Project on metope, and then be advantageous to staff and be managed collectively multiple welding robot systems, each welding robot system
Several welding manipulators are included again, and so, an operating personnel can manage many welding manipulators, greatly improve
Production efficiency.Also allow for finding the abnormal state situation of each welding manipulator.The utility model is by using bluetooth module, bluetooth
Base station and intelligent terminal（Such as smart mobile phone either tablet personal computer or PDA）Several welding robot systems are formed into Internet of Things,
And then the working condition of several welding manipulators of synchronous adjustment can be realized, such as speed of its welding of synchronous adjustment.So
Just without being adjusted respectively to each welding robot, production efficiency is improved.The identical work that these welding manipulators are completed
The welding manipulator of work.Further, it is also possible to by intelligent terminal be turned on or off welding manipulator one or more of,
So as to timely adjust the prouctiveness of welding system, it is more favorable to save.
Brief description of the drawings
Fig. 1 is the overall structure diagram of an embodiment in the utility model；
Fig. 2 is schematic block circuit diagram of the present utility model；
Reference：
Frame 10；
Welding manipulator 101；
High-definition camera 102；
Projecting apparatus 103；
Welding controller 20；
Bluetooth module 201；
Welding gun 40；
Pressure sensor 401；
Temperature element 402；
Bluetooth base. station 50；
Intelligent terminal 60.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The all other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1 to Fig. 2 is referred to, Fig. 1 is the overall structure diagram of an embodiment in the utility model；Fig. 2 is this practicality
New schematic block circuit diagram.A kind of welding robot system based on ROS frameworks, including frame 10, the frame 10 include
Work top, the supporting leg for supporting the work top, the end of the supporting leg are provided with adjustable for height support feet；Institute
It is hollow to state supporting leg；Illuminator is additionally provided with the work top；The work top is provided with least two electroplating equipment wielding machines
Hand 101, the welding manipulator 101 are provided with welding gun 40 and welding controller 20, and the welding manipulator 101 controls the weldering
The opening of rifle 40 is to be welded；Temperature element 402, pressure sensor 401 are additionally provided with the welding gun 40；The welding control
Device 20 uses ROS systems；Each welding controller 20 is designed with bluetooth module 201；Each bluetooth module 201 all with
The bluetooth connection of Bluetooth base. station 50；High-definition camera 102 is additionally provided with the frame 10, the high-definition camera 102 and one projects
Instrument 103 is connected, and the high-definition camera 102 transmits the image of the welding manipulator 101 photographed by projecting apparatus 103 in real time
Onto metope.
As one embodiment of the present utility model, the welding manipulator 101 includes pedestal, and the pedestal is provided with three
The individual linking arm being sequentially connected, joint is provided between the linking arm, is additionally provided with motor on the joint to make and close
The two linking arms motion being joined directly together is saved, the free end of the linking arm is provided with adpting flange, the adpting flange and welding gun 40
It is detachably connected.
As one embodiment of the present utility model, the pedestal is made of stainless steel.
As one embodiment of the present utility model, the linking arm outer surface is provided with refractory ceramics layer.
As one embodiment of the present utility model, in addition to a cooling unit, the cooling unit is used for the weldering
Welding robot and welding controller 20 are cooled down.
As one embodiment of the present utility model, in addition to a gas shield unit, the gas shield unit includes
Gas cylinder, escape pipe, the gate on escape pipe, the end of the escape pipe are provided with nozzle, titanium net are additionally provided with the nozzle.
As one embodiment of the present utility model, in addition to electric power system, the electric power system includes using graphene
Fuel cell, inverter and overcurrent protector.
As one embodiment of the present utility model, the temperature element 402 is armoured thermal resistance.
As one embodiment of the present utility model, the armoured thermal resistance is armouring copper thermistor.
As one embodiment of the present utility model, the Bluetooth base. station 50 connects with the communication of intelligent terminal 60；The work
It is dull surface to make table top；The side of the frame 10 is additionally provided with dustbin；The work top is from top to bottom successively by titanium alloy
Flaggy, nonwoven layer, pearl cotton layer, nickel alloy steel flaggy are formed.
Compared with prior art, the beneficial effects of the utility model are：The utility model overall structure is simple, practicality
By force, use easy to spread.The utility model, can be by multiple welding manipulators by setting high-definition camera 102, projecting apparatus 103
101 state, as projected is advantageous to staff and is managed collectively multiple welding robot systems, each bonding machine on metope
Device people system includes several welding manipulators 101 again, and so, an operating personnel can manage many welding manipulators
101, greatly improve production efficiency.Also allow for finding the abnormal state situation of each welding manipulator 101.The utility model leads to
Cross and use bluetooth module 201, Bluetooth base. station 50 and intelligent terminal 60（Such as smart mobile phone either tablet personal computer or PDA）If will
Dry welding robot system composition Internet of Things, and then the working condition of several welding manipulators 101 of synchronous adjustment can be realized, such as
Speed of its welding of synchronous adjustment etc..Thus without being adjusted respectively to each welding robot, production efficiency is improved.
The welding manipulator 101 for the identical work that these welding manipulators 101 are completed.Further, it is also possible to opened by intelligent terminal 60
One or more of or closing welding manipulator 101, so as to timely adjust the prouctiveness of welding system, also more have
Beneficial to energy-conservation.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type limits by appended claims rather than described above, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as limitation
Involved claim.
Described above, preferred embodiment only of the present utility model is every according to this not to limit the utility model
Any trickle amendment, equivalent substitution and the improvement that the technical spirit of utility model is made to above example, it should be included in this
Within the protection domain of utility model technical scheme.
Claims (10)
- A kind of 1. welding robot system based on ROS frameworks, it is characterised in that including,Frame, the frame include work top, the supporting leg for supporting the work top, and the end of the supporting leg is set There is adjustable for height support feet；The supporting leg is hollow；Illuminator is additionally provided with the work top；The work top is provided with least two welding manipulators, and the electroplating equipment wielding machine is provided with welding gun on hand and welding controls Device, the welding manipulator control the opening of the welding gun to be welded；Temperature element is additionally provided with the welding gun, pressure passes Sensor；The welding controller uses ROS systems;Each welding controller is designed with bluetooth module；Each bluetooth module all with Bluetooth base. station bluetooth connection；High-definition camera is additionally provided with the frame, the high-definition camera is connected with a projecting apparatus, and the high-definition camera will The image of the welding manipulator photographed is delivered on metope by projecting apparatus in real time.
- 2. the welding robot system according to claim 1 based on ROS frameworks, it is characterised in that the electroplating equipment wielding machine Hand includes pedestal, and the pedestal is provided with three linking arms being sequentially connected, joint, the joint are provided between the linking arm On be additionally provided with motor move two linking arms that are joined directly together with joint, the free end of the linking arm is provided with connection Flange, the adpting flange are detachably connected with welding gun.
- 3. the welding robot system according to claim 2 based on ROS frameworks, it is characterised in that the pedestal uses Stainless steel is made.
- 4. the welding robot system according to claim 2 based on ROS frameworks, it is characterised in that outside the linking arm Surface is provided with refractory ceramics layer.
- 5. the welding robot system according to claim 1 based on ROS frameworks, it is characterised in that also including a cooling Unit, the cooling unit are used to cool down the welding robot and welding controller.
- 6. the welding robot system according to claim 1 based on ROS frameworks, it is characterised in that also including a gas Protection location, the gas shield unit include gas cylinder, escape pipe, the gate on escape pipe, the end of the escape pipe Provided with nozzle, titanium net is additionally provided with the nozzle.
- 7. the welding robot system according to claim 1 based on ROS frameworks, it is characterised in that also include power supply system System, the electric power system include fuel cell, inverter and the overcurrent protector using graphene.
- 8. the welding robot system according to claim 1 based on ROS frameworks, it is characterised in that the temperature element For armoured thermal resistance.
- 9. the welding robot system according to claim 8 based on ROS frameworks, it is characterised in that the armouring thermoelectricity Hinder for armouring copper thermistor.
- 10. the welding robot system according to claim 1 based on ROS frameworks, it is characterised in that the Bluetooth base. station Communicate and connect with intelligent terminal；The work top is dull surface；The side of the frame is additionally provided with dustbin；The workbench Face is made up of titanium alloy flaggy, nonwoven layer, pearl cotton layer, nickel alloy steel flaggy successively from top to bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720234386.1U CN206966904U (en) | 2017-03-13 | 2017-03-13 | Welding robot system based on ROS frameworks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720234386.1U CN206966904U (en) | 2017-03-13 | 2017-03-13 | Welding robot system based on ROS frameworks |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206966904U true CN206966904U (en) | 2018-02-06 |
Family
ID=61415350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720234386.1U Expired - Fee Related CN206966904U (en) | 2017-03-13 | 2017-03-13 | Welding robot system based on ROS frameworks |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206966904U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108828967A (en) * | 2018-06-20 | 2018-11-16 | 上海电力学院 | A kind of smart home management and control system based on ROS |
| CN112872639A (en) * | 2021-01-21 | 2021-06-01 | 日照中意华坤金属制造有限公司 | Iron art decoration preparation process allotment system |
| CN113172372A (en) * | 2021-04-25 | 2021-07-27 | 中铁十四局集团有限公司 | Intelligent cutting data and welding data processing system |
| CN114101850A (en) * | 2021-09-14 | 2022-03-01 | 福州大学 | Intelligent welding system based on ROS platform and working method thereof |
-
2017
- 2017-03-13 CN CN201720234386.1U patent/CN206966904U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108828967A (en) * | 2018-06-20 | 2018-11-16 | 上海电力学院 | A kind of smart home management and control system based on ROS |
| CN112872639A (en) * | 2021-01-21 | 2021-06-01 | 日照中意华坤金属制造有限公司 | Iron art decoration preparation process allotment system |
| CN112872639B (en) * | 2021-01-21 | 2023-10-20 | 日照中意华坤金属制造有限公司 | Iron art decoration manufacturing process allotment system |
| CN113172372A (en) * | 2021-04-25 | 2021-07-27 | 中铁十四局集团有限公司 | Intelligent cutting data and welding data processing system |
| CN114101850A (en) * | 2021-09-14 | 2022-03-01 | 福州大学 | Intelligent welding system based on ROS platform and working method thereof |
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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: 20180206 Termination date: 20190313 |
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| CF01 | Termination of patent right due to non-payment of annual fee |