CN207840503U - U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system - Google Patents
U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system Download PDFInfo
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- CN207840503U CN207840503U CN201820113697.7U CN201820113697U CN207840503U CN 207840503 U CN207840503 U CN 207840503U CN 201820113697 U CN201820113697 U CN 201820113697U CN 207840503 U CN207840503 U CN 207840503U
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Abstract
The utility model discloses a kind of U-shaped beam inner reinforced plate numerically controlled intelligent robot welding systems, it contains jig and walking guide rail, sliding collet is provided in the walking guide rail, it is provided with pedestal on the sliding collet, it is provided with industrial robot on the pedestal, the industrial robot is provided with manipulator, it is provided with welding gun on the manipulator, it is provided with walking actuating unit between sliding collet and the walking guide rail, laser is installed on the welding gun and seeks level sensor, laser displacement sensor is installed on the pedestal, the laser is sought level sensor and laser displacement sensor and is connect respectively with the controller in switch board, the switch board is fixed on the sliding collet, one end of the walking guide rail is provided with clear rifle device.The utility model first detects the position of welded piece before welding, and then welding robot can seek the deviation that position detects weld seam starting point by laser, and adjust automatically welding track realizes adaptive and high-precision welding.
Description
Technical field：
The utility model is related to a kind of welding systems, are welded more particularly to a kind of U-shaped beam inner reinforced plate numerically controlled intelligent robot
Welding system.
Background technology：
The large-scale U-shaped internal gusset of beam welding, since workpiece configurations size is big, welding position is distributed in inside beam body, weld seam
It is long and deep, it is welded by artificial or ease of Use equipment, weld job is carried out inside beam body since operator will enter,
Welding operational hazards are big and efficiency is low, and can not ensure welding quality.To the welding structure of this depth, robot welding is generally adopted
Manually after the positioning of spot welding gusset, completed by the way of robot full weld.Since bars position precision can not meet robot
The needs of welding, conventional robot welding system can not accomplish resetting；In terms of programming, if to welding workpiece each time
A teaching is all carried out, welding efficiency is greatly reduced.
Utility model content：
Technical problem to be solved in the utility model is：Overcome the deficiencies of the prior art and provide a kind of reasonable design, fixed
Position is accurate, can improve the U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system of part processing quality and efficiency.
The technical solution of the utility model is：
A kind of U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system, containing jig and walking guide rail, the walking
It is provided with sliding collet on guide rail, is provided with pedestal on the sliding collet, industrial robot is provided on the pedestal, it is described
Industrial robot is provided with manipulator, and welding gun is provided on the manipulator, is arranged between sliding collet and the walking guide rail
There is walking actuating unit, laser is installed on the welding gun and seeks level sensor, laser displacement sensor, institute are installed on the pedestal
It states laser and seeks level sensor and laser displacement sensor and connect respectively with the controller in switch board, the switch board is fixed on institute
It states on sliding collet, one end of the walking guide rail is provided with clear rifle device.
The walking actuating unit includes driving servo motor, driving gear and drive rack, the drive rack setting
In the inside of the walking guide rail and parallel with the walking guide rail, the driving servo motor is set to the sliding collet
Upper and output shaft is connect with the driving gear, and the driving gear is engaged with the drive rack, and the sliding collet is done
X-axis straight line moving.
Arc sensor is installed on the welding gun, using by swing weld caused by arc length variations, from weld seam or
Groove width detects irrelevance and corrects welding gun in the horizontal direction.
The utility model has the beneficial effects that：
1, the utility model first detects the position of welded piece before welding, on robot ambulation to correct position；
Then welding robot can seek the deviation that position detects weld seam starting point by laser, and adjust automatically welding track is realized certainly
Adaptation and high-precision welding weld practical problem to solve the U-shaped beam inner reinforced plate of robot.
2, the utility model laser is sought level sensor and is installed on welding gun, and the image that level sensor acquisition is sought according to laser is sought
Position welding initial point position, starts to weld, and in the welding process, laser seeks level sensor and monitors welding circuit at any time, ensures weldering
Rifle movement locus.
3, the utility model laser displacement sensor is for emitting laser to the location of workpiece（Test position）, and acquire measurement
Information shows and is arranged on station integrated machine, to control robot running gear walking to correct welding position.
4, the utility model is collided using the electric current of motor or the torque of feedback to detect：Without additionally adding sensing
Device, and detection range can cover the whole surface of robot.
5, the utility model is designed reasonably, have good positioning, part processing quality and efficiency can be improved, it is applied widely,
It is with good economic efficiency.
Description of the drawings：
Fig. 1 is the structural schematic diagram of U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system；
Fig. 2 is the vertical view of U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system shown in Fig. 1.
Specific implementation mode：
Embodiment：Referring to Fig. 1-Fig. 2, in figure, 1- clear rifle devices, 2- welding machines, 3- industrial robots, 4- pedestals, 5- switch boards,
6- master control cabinets, 7- walking tracks, 8- workpiece, 9- slide collet, 10- jigs.
U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system, contains jig 10 and walking guide rail 7, walking guide rail 7
On be provided with sliding collet 9, slide collet 9 on be provided with pedestal 4, industrial robot 3, industrial robot 3 are provided on pedestal 4
It is provided with manipulator, welding gun is provided on manipulator, slides and is provided with walking actuating unit between collet 9 and walking guide rail 7,
In：Laser is installed on welding gun and seeks level sensor, laser displacement sensor is installed, laser seeks level sensor and laser on pedestal 4
Displacement sensor is connect with the controller in switch board 5 respectively, and switch board 5 is fixed on sliding collet 9, and the one of walking guide rail 7
End is provided with clear rifle device 1.Welding gun and welding machine 2 connect, and welding machine 2 is mounted on sliding collet 9.
Walking actuating unit includes that driving servo motor, driving gear and drive rack, drive rack are set to walking and lead
The inside of rail 7 and parallel with walking guide rail 7, driving servo motor is set on sliding collet 9 and output shaft and driving gear
Connection, driving gear are engaged with the drive rack, and sliding collet 9 does X-axis straight line moving.
Arc sensor is installed on welding gun, caused arc length variations are welded using by swinging, from weld seam or groove
Width detection goes out irrelevance and corrects welding gun in the horizontal direction.
When work, operating personnel open power supply, air source；Workpiece 8 to be processed is hung on jig 10 with driving；It adjusts
Start button is pressed with corresponding welding procedure；Laser displacement sensor detects 8 position of workpiece；Industrial robot 3 is clamped welding gun and arrives
Start laser up to weld seam beginning and seeks position welding starting point；Welding robot is run according to pre-set program；Welding workpiece
Terminate, welding robot resets, and welding robot back to zero position carries out clear rifle；The lower workpiece 8 of operating personnel's handling, was entirely welded
Journey terminates.
The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model
Limitation, it is every according to any simple modification made by the technical essence of the utility model, still fall within the utility model technology
In the range of scheme.
Claims (3)
1. a kind of U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system, containing jig and walking guide rail, the walking is led
It is provided with sliding collet on rail, is provided with pedestal on the sliding collet, industrial robot, the work is provided on the pedestal
Industry robot is provided with manipulator, and welding gun is provided on the manipulator, is provided between sliding collet and the walking guide rail
Walking actuating unit, it is characterized in that：Laser is installed on the welding gun and seeks level sensor, laser displacement biography is installed on the pedestal
Sensor, the laser are sought level sensor and laser displacement sensor and are connect respectively with the controller in switch board, the switch board
It is fixed on the sliding collet, one end of the walking guide rail is provided with clear rifle device.
2. U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system according to claim 1, it is characterized in that：The walking
Actuating unit includes that driving servo motor, driving gear and drive rack, the drive rack are set to the walking guide rail
Inside and parallel with the walking guide rail, the driving servo motor is set on the sliding collet and output shaft and institute
Driving gear connection is stated, the driving gear is engaged with the drive rack, and the sliding collet does X-axis straight line moving.
3. U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system according to claim 1, it is characterized in that：The welding gun
On arc sensor is installed, using by swing weld caused by arc length variations, detected partially from weld seam or groove width
Correct from degree and in the horizontal direction welding gun.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820113697.7U CN207840503U (en) | 2018-01-24 | 2018-01-24 | U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820113697.7U CN207840503U (en) | 2018-01-24 | 2018-01-24 | U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207840503U true CN207840503U (en) | 2018-09-11 |
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ID=63416060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820113697.7U Active CN207840503U (en) | 2018-01-24 | 2018-01-24 | U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434252A (en) * | 2018-10-12 | 2019-03-08 | 中船澄西船舶修造有限公司 | A kind of welding wire deposited metal test plate (panel) automatic soldering device and welding method |
| CN110181204A (en) * | 2019-05-25 | 2019-08-30 | 招商局重工（江苏）有限公司 | The station layout structure of packaged type large size flat section T row welding equipment robot |
| CN111266773A (en) * | 2020-03-03 | 2020-06-12 | 开异智能技术(上海)有限公司 | Flexible robot welding system and welding method thereof |
| CN113996982A (en) * | 2021-12-17 | 2022-02-01 | 贵阳淦鑫钢模制造有限公司 | Walking type tracking welding device for steel die |
| CN114654146A (en) * | 2022-03-31 | 2022-06-24 | 成都熊谷加世电器有限公司 | Welding workstation |
| CN114833144A (en) * | 2022-05-10 | 2022-08-02 | 中国航空制造技术研究院 | Laser cleaning device and cleaning method for aircraft skin panel before welding |
| CN115351476A (en) * | 2022-07-26 | 2022-11-18 | 山东省公路桥梁建设集团有限公司 | Automatic welding robot for splicing steel box girders and using method |
-
2018
- 2018-01-24 CN CN201820113697.7U patent/CN207840503U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434252A (en) * | 2018-10-12 | 2019-03-08 | 中船澄西船舶修造有限公司 | A kind of welding wire deposited metal test plate (panel) automatic soldering device and welding method |
| CN109434252B (en) * | 2018-10-12 | 2020-10-30 | 中船澄西船舶修造有限公司 | Automatic welding device and welding method for welding wire deposited metal test plate |
| CN110181204A (en) * | 2019-05-25 | 2019-08-30 | 招商局重工（江苏）有限公司 | The station layout structure of packaged type large size flat section T row welding equipment robot |
| CN111266773A (en) * | 2020-03-03 | 2020-06-12 | 开异智能技术(上海)有限公司 | Flexible robot welding system and welding method thereof |
| CN113996982A (en) * | 2021-12-17 | 2022-02-01 | 贵阳淦鑫钢模制造有限公司 | Walking type tracking welding device for steel die |
| CN113996982B (en) * | 2021-12-17 | 2024-05-28 | 贵阳淦鑫钢模制造有限公司 | Walking type tracking welding device for steel die |
| CN114654146A (en) * | 2022-03-31 | 2022-06-24 | 成都熊谷加世电器有限公司 | Welding workstation |
| CN114654146B (en) * | 2022-03-31 | 2024-05-14 | 成都熊谷加世电器有限公司 | Welding workstation |
| CN114833144A (en) * | 2022-05-10 | 2022-08-02 | 中国航空制造技术研究院 | Laser cleaning device and cleaning method for aircraft skin panel before welding |
| CN115351476A (en) * | 2022-07-26 | 2022-11-18 | 山东省公路桥梁建设集团有限公司 | Automatic welding robot for splicing steel box girders and using method |
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