CN209256157U - Welding robot is automatically moved on a large scale - Google Patents
Welding robot is automatically moved on a large scale Download PDFInfo
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- CN209256157U CN209256157U CN201821193876.2U CN201821193876U CN209256157U CN 209256157 U CN209256157 U CN 209256157U CN 201821193876 U CN201821193876 U CN 201821193876U CN 209256157 U CN209256157 U CN 209256157U
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- 238000003466 welding Methods 0.000 title claims abstract description 77
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 230000003028 elevating effect Effects 0.000 claims description 6
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- 230000009471 action Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
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- 230000008859 change Effects 0.000 description 1
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- 239000003595 mist Substances 0.000 description 1
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Abstract
Welding robot is automatically moved on a large scale the utility model relates to a kind of, including wheel type traveling mechanism, six axis welding robots, stereo vision camera and laser aiming radar, wheel type traveling mechanism is the four-wheel drive platform of Omni-mobile, it is provided with six-joint robot on wheel type traveling mechanism, is provided with welding gun on six-joint robot；It include car body and wheel on wheel type traveling mechanism；The upper surface middle part of car body is arranged in the six-joint robot；The front center of car body is provided with the stereo vision camera for obtaining three-dimensional data: being provided with three-dimensional laser scanners in the middle part of the rear end of car body；Four angles of the upper surface of car body are respectively arranged with laser aiming radar；Lifting device is provided in the middle part of the car body；Six axis welding robots are arranged on lifting device.The utility model automatically moves welding robot on a large scale, is provided with lifting device, and lifting device and wheel type traveling mechanism can be adjusted simultaneously, improve welding robot working range, improve work efficiency.
Description
Technical field
The utility model relates to a kind of welders, specifically, being to be related to one kind to automatically move welding robot on a large scale
People.
Background technique
Relatively long distance welding at present is all robot welding to be carried by small rail car and to the coherence request of welding product height
And walk by rail linearity, and welding region level span cannot the welding gun on too big otherwise the 6th axis of robot do not reach
Welding position, and usually straight line is walked and controlled by orbital distance, at the same to larger workpiece and weight it is very heavy and at family
It is outer without drive a vehicle and welding revolving platform manually manual welding entirely.
The prior art, which lacks any direction, to walk, the big welding equipment of radius of action.
Utility model content
In view of the deficiency of the prior art, it is simple to provide a kind of structure for the utility model, improves welding robot
Working range, what is improved work efficiency automatically moves welding robot on a large scale.
Technical solution adopted in the utility model is:
It is a kind of to automatically move welding robot on a large scale, comprising: wheel type traveling mechanism, six axis welding robots, stereopsis
Feel camera and laser aiming radar:
Wheel type traveling mechanism is the four-wheel drive platform of Omni-mobile, is provided with six-joint robot on wheel type traveling mechanism,
Welding gun is provided on six-joint robot；
It include car body and wheel on wheel type traveling mechanism；
The upper surface middle part of car body is arranged in the six-joint robot；
The front center of car body is provided with the stereo vision camera for obtaining three-dimensional data:
Three-dimensional laser scanners are provided in the middle part of the rear end of car body；
Four angles of the upper surface of car body are respectively arranged with laser aiming radar；
It is determined using several witness markers that laser scanner identification is arranged in wheel type traveling mechanism scope of activities
Wheel type traveling mechanism coordinate position simultaneously calculates self space positional distance, it is ensured that wheel type traveling mechanism is moved along fixed route.
Preferably, lifting device is provided in the middle part of the car body；Six-joint robot is arranged on lifting device.
In any of the above-described scheme preferably, cavity is provided in the middle part of car body, lifting device is arranged in cavity.
In any of the above-described scheme preferably, the upper opening of cavity.
In any of the above-described scheme preferably, lifting device includes hoistable platform and elevating mechanism；Hoistable platform lower part
Connect elevating mechanism.
In any of the above-described scheme preferably, elevating mechanism includes fore-stock and after-poppet；
The lower part of fore-stock and after-poppet is arranged on chassis；
The top of fore-stock and after-poppet is connected with hoistable platform；
Fore-stock includes main front strut and secondary fore-stock；
After-poppet includes main after-poppet and secondary after-poppet；
Main front strut is connected by hinge axis respectively with secondary fore-stock and main after-poppet with secondary after-poppet；
The lower part of main front strut and main after-poppet is provided with the lower connecting rod of connection main front strut and main after-poppet；
The top of secondary fore-stock and secondary after-poppet is provided with the upper connecting rod of auxiliary connection fore-stock and secondary after-poppet；
Upper connecting rod is connected in the middle part of lower connecting rod by hydraulic cylinder；Lower connecting rod is connected with hydraulic cylinder body, on
Connecting rod is connected with hydraulic cylinder piston rod；
Chassis is provided with chassis slideway, be provided in chassis slideway with main front strut, secondary fore-stock, main after-poppet, it is secondary after
The idler wheel that bracket is connected；
The lower end of main after-poppet and secondary after-poppet is fixedly connected with chassis.
In any of the above-described scheme preferably, hoistable platform upper surface and car body upper surface are in same plane.
In any of the above-described scheme preferably, the middle part of lifting device is arranged in six axis welding robots.
In any of the above-described scheme preferably, the chassis of lifting device is connected by bolt with car body.
In any of the above-described scheme preferably, the quantity of laser aiming radar is 8, wherein direction of advance 2, two sides
Each 2, tail portion 2.
In any of the above-described scheme preferably, the direction of advance of car body and the tail of car body is arranged in three-dimensional laser scanners
Portion.
In any of the above-described scheme preferably, stereo vision camera is arranged on rotating base.
The utility model compared with the prior art the utility model has the advantages that
The utility model automatically moves welding robot on a large scale, is provided with lifting device, lifting device and running on wheels
Mechanism can be adjusted simultaneously, improve welding robot working range, improve work efficiency.
The utility model automatically moves welding robot on a large scale, stabilizes and increases welding quality, guarantees its homogeneity.Weldering
Connecing parameter such as welding current, voltage, speed of welding and stem elongation amount etc. has decisive action to welding result.It is welded using robot
When connecing, the welding parameter of every weld seam be all it is constant, weldquality is affected by human factors smaller, reduces to worker operation
The requirement of technology, therefore welding quality stable.And when human weld, speed of welding, stem elongation amount etc. are all variations, are difficult to do
To the homogeneity of quality.
Improve working condition.Using robot welding, worker only needs workpiece loading and unloading, far from welding arc light, bright mist
With splash etc..For spot welding, worker does not need to carry bulky manual soldering turret, solves worker from high-intensitive manual labor
It takes off.
It raises labour productivity.Robot can continuous production for 24 hours.With the application of high-speed and high-efficiency welding technique, using machine
Device people welding, efficiency improve to become apparent.
Production life cycle is clear, is easy to control product yield.The productive temp of robot is therefore the meter of arranging production with fixed
It draws very clear.
Shorten the period that product remodeling is regenerated, reduces corresponding equipment investment.The welding that be pilot can be achieved is automatic
Change.The maximum difference of robot and special plane is exactly that the production of different workpieces can be adapted to by modification program.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the utility model automatically moves welding robot on a large scale；
Fig. 2 is the structural schematic diagram for the lifting device that the utility model automatically moves welding robot on a large scale.
Main component symbol description in attached drawing:
In figure:
1, wheel type traveling mechanism 2, six axis welding robots
3, stereo vision camera 4, laser aiming radar
5, welding gun 6, car body
7, wheel 8, three-dimensional laser scanners
21, hoistable platform 22, main front strut
23, secondary fore-stock 24, main after-poppet
25, secondary after-poppet 26, hinge axis
27, lower connecting rod 28, upper connecting rod
29, hydraulic cylinder 210, idler wheel
211, chassis 212, chassis slideway.
Specific embodiment
Referring to the drawings and the utility model is described in detail in embodiment:
Attached drawing 1-2 is it is found that a kind of automatically move welding robot on a large scale, comprising: wheel type traveling mechanism 1, the welding of six axis
Robot 2, stereo vision camera 3 and laser aiming radar 4,
Wheel type traveling mechanism is the four-wheel drive platform of Omni-mobile, is provided with six-joint robot 2 on wheel type traveling mechanism,
Welding gun 5 is provided on six-joint robot 2；
Can within the scope of cable length autonomous, wherein AGV trolley power be robot outside walking axle (referred to as
7th axis), for example, with Ku Ka robot just with library card servo motor, An Chuan robot just watch motor with peace river, pass through machine
Axle module control makes trolley and machine artificially with entirety outside device people control system.
Weldment radius is unable to reach in robot to be made up by the movement of AGV trolley, and trolley movement, welding may be implemented together
Step.It is able to achieve continuous welding and does not stop and guarantee welding consistency, situations such as reducing fluctuating point, avoid solder skip.
It include car body 6 and wheel 7 on wheel type traveling mechanism；
The upper surface middle part of car body is arranged in the six-joint robot；
The front center of car body is provided with the stereo vision camera for obtaining three-dimensional data:
Workpiece three-dimensional data is transmitted to system by stereo vision camera, adjustment control robot welding posture avoids sky
Between on interference, while manually can visual field conditions at a distance.
Three-dimensional laser scanners 8 are provided in the middle part of the rear end of car body 7；
Four angles of the upper surface of car body 7 are respectively arranged with laser aiming radar 4；
It is determined using several witness markers that laser scanner identification is arranged in wheel type traveling mechanism scope of activities
Wheel type traveling mechanism coordinate position simultaneously calculates self space positional distance, it is ensured that wheel type traveling mechanism is moved along fixed route.
Lifting device is provided in the middle part of the car body；
The lifting device includes fore-stock and after-poppet；
The lower part of fore-stock and after-poppet is arranged on chassis 211；
The top of fore-stock and after-poppet is connected with hoistable platform 21；
Fore-stock includes main front strut 22 and secondary fore-stock 23；
After-poppet includes main after-poppet 24 and secondary after-poppet 25；
Main front strut 22 is connected by hinge axis 26 respectively with secondary fore-stock 23 and main after-poppet 24 with secondary after-poppet 25
It connects；
The lower part of main front strut 22 and main after-poppet 24 is provided with the lower connection of connection main front strut 22 and main after-poppet 24
Bar 27；
The top of secondary fore-stock 23 and secondary after-poppet 25 is provided with the upper connection of auxiliary connection fore-stock 23 and secondary after-poppet 25
Bar 28；
Upper connecting rod 28 is connected in the middle part of lower connecting rod 27 by hydraulic cylinder 29；Lower connecting rod 27 and hydraulic cylinder body phase
Connection, upper connecting rod 28 are connected with hydraulic cylinder piston rod；
Chassis 211 is provided with chassis slideway 212, be provided in chassis slideway 212 with main front strut 22, secondary fore-stock 23,
The idler wheel 210 that main after-poppet 24, secondary after-poppet 25 are connected.
The lower end of main after-poppet 24 and secondary after-poppet 25 is fixedly connected with chassis 213.
The middle part of lifting device is arranged in the six axis welding robot.
The chassis 213 of the lifting device is connected by bolt with car body.
The utility model automatically moves welding robot on a large scale, is provided with lifting device, lifting device and running on wheels
Mechanism can be adjusted simultaneously, improve welding robot working range, improve work efficiency.
The utility model automatically moves welding robot on a large scale, stabilizes and increases welding quality, guarantees its homogeneity.Weldering
Connecing parameter such as welding current, voltage, speed of welding and stem elongation amount etc. has decisive action to welding result.It is welded using robot
When connecing, the welding parameter of every weld seam be all it is constant, weldquality is affected by human factors smaller, reduces to worker operation
The requirement of technology, therefore welding quality stable.And when human weld, speed of welding, stem elongation amount etc. are all variations, are difficult to do
To the homogeneity of quality.
The above descriptions are merely preferred embodiments of the present invention, not makees to the structure of the utility model any
Formal limitation.It is any simple modification made by the above technical examples according to the technical essence of the present invention, equivalent
Variation and modification, belong within the scope of the technical solution of the utility model.
Claims (12)
1. a kind of automatically move welding robot on a large scale, comprising: wheel type traveling mechanism, six axis welding robots, stereoscopic vision
Camera and laser aiming radar, it is characterised in that:
Wheel type traveling mechanism is the four-wheel drive platform of Omni-mobile, is provided with six-joint robot, six axis on wheel type traveling mechanism
Welding gun is provided in robot；
It include car body and wheel on wheel type traveling mechanism；
The upper surface middle part of car body is arranged in the six-joint robot；
The front center of car body is provided with the stereo vision camera for obtaining three-dimensional data:
Three-dimensional laser scanners are provided in the middle part of the rear end of car body；
Four angles of the upper surface of car body are respectively arranged with laser aiming radar；
Several witness markers being arranged in wheel type traveling mechanism scope of activities using laser scanner identification are wheeled to determine
Walking mechanism coordinate position simultaneously calculates self space positional distance, it is ensured that wheel type traveling mechanism is moved along fixed route.
2. automatically moving welding robot on a large scale according to claim 1, it is characterised in that:
Lifting device is provided in the middle part of the car body；Six-joint robot is arranged on lifting device.
3. automatically moving welding robot on a large scale according to claim 2, it is characterised in that:
Cavity is provided in the middle part of the car body, the lifting device is arranged in cavity.
4. automatically moving welding robot on a large scale according to claim 3, it is characterised in that:
The upper opening of the cavity.
5. automatically moving welding robot on a large scale according to claim 4, it is characterised in that:
The lifting device includes hoistable platform and elevating mechanism；Hoistable platform lower part connects elevating mechanism.
6. automatically moving welding robot on a large scale according to claim 5, it is characterised in that:
The elevating mechanism includes fore-stock and after-poppet；
The lower part of fore-stock and after-poppet is arranged on chassis；
The top of fore-stock and after-poppet is connected with hoistable platform；
Fore-stock includes main front strut and secondary fore-stock；
After-poppet includes main after-poppet and secondary after-poppet；
Main front strut is connected by hinge axis respectively with secondary fore-stock and main after-poppet with secondary after-poppet；
The lower part of main front strut and main after-poppet is provided with the lower connecting rod of connection main front strut and main after-poppet；
The top of secondary fore-stock and secondary after-poppet is provided with the upper connecting rod of auxiliary connection fore-stock and secondary after-poppet；
Upper connecting rod is connected in the middle part of lower connecting rod by hydraulic cylinder；Lower connecting rod is connected with hydraulic cylinder body, upper connection
Bar is connected with hydraulic cylinder piston rod；
Chassis is provided with chassis slideway, is provided in chassis slideway and main front strut, secondary fore-stock, main after-poppet, secondary after-poppet
The idler wheel being connected；
The lower end of main after-poppet and secondary after-poppet is fixedly connected with chassis.
7. automatically moving welding robot on a large scale according to claim 6, it is characterised in that:
Hoistable platform upper surface and car body upper surface are in same plane.
8. automatically moving welding robot on a large scale according to claim 7, it is characterised in that:
The middle part of lifting device is arranged in the six axis welding robot.
9. automatically moving welding robot on a large scale according to claim 8, it is characterised in that:
The chassis of the lifting device is connected by bolt with car body.
10. automatically moving welding robot on a large scale according to claim 9, it is characterised in that:
The quantity of laser aiming radar is 8, wherein direction of advance 2, each 2 of two sides, tail portion 2.
11. automatically moving welding robot on a large scale according to claim 10, it is characterised in that:
The direction of advance of car body and the tail portion of car body is arranged in three-dimensional laser scanners.
12. automatically moving welding robot on a large scale according to claim 11, it is characterised in that: stereo vision camera setting
On rotating base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821193876.2U CN209256157U (en) | 2018-07-26 | 2018-07-26 | Welding robot is automatically moved on a large scale |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821193876.2U CN209256157U (en) | 2018-07-26 | 2018-07-26 | Welding robot is automatically moved on a large scale |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209256157U true CN209256157U (en) | 2019-08-16 |
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ID=67557182
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821193876.2U Active CN209256157U (en) | 2018-07-26 | 2018-07-26 | Welding robot is automatically moved on a large scale |
Country Status (1)
| Country | Link |
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| CN (1) | CN209256157U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390439A (en) * | 2020-03-31 | 2020-07-10 | 北京博清科技有限公司 | Welding seam detection method and device, welding robot and storage medium |
| CN112692837A (en) * | 2021-01-11 | 2021-04-23 | 成都海瑞斯轨道交通设备有限公司 | Welding robot system and welding method for overhauling wagon body of railway wagon |
-
2018
- 2018-07-26 CN CN201821193876.2U patent/CN209256157U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390439A (en) * | 2020-03-31 | 2020-07-10 | 北京博清科技有限公司 | Welding seam detection method and device, welding robot and storage medium |
| CN111390439B (en) * | 2020-03-31 | 2021-11-05 | 北京博清科技有限公司 | Welding seam detection method and device, welding robot and storage medium |
| CN112692837A (en) * | 2021-01-11 | 2021-04-23 | 成都海瑞斯轨道交通设备有限公司 | Welding robot system and welding method for overhauling wagon body of railway wagon |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230420 Address after: 618300 No. 74 Taizhong Road, Guanghan City, Deyang City, Sichuan Province Patentee after: Sichuan Shang Yang Electromechanical Equipment Co.,Ltd. Address before: Section 2, Shenzhen Road East, Guanghan Economic Development Zone, Deyang City, Sichuan Province Patentee before: Xiao Yilin |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231123 Address after: Building 6, No.1 Road 3, Aviation Power Industry Functional Zone, Lichun Town, Pengzhou City, Chengdu City, Sichuan Province, 611930 Patentee after: Chengdu Renxin Shangyang Robot Technology Co.,Ltd. Address before: 618300 No. 74 Taizhong Road, Guanghan City, Deyang City, Sichuan Province Patentee before: Sichuan Shang Yang Electromechanical Equipment Co.,Ltd. |
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| TR01 | Transfer of patent right |