阅读说明：本技术 一种高精度单臂机器人焊接系统 (High-precision single-arm robot welding system ) 是由 吴长青 杨长高 于 2021-08-19 设计创作，主要内容包括：本发明公开了一种高精度单臂机器人焊接系统,包括电控箱,电控箱的顶端设置有保护结构、CCD结构和预警结构,CCD结构和预警结构均与电控箱内的单片机连接,电控箱的顶端设置有焊接结构和执行结构,焊接结构设置于执行结构的末端,CCD结构设置于焊接结构的一端,预警结构设置于执行结构的顶端,焊接头产生的大量烟气,可以通过两端的侧板吸入,之后通过多组滤板对烟气进行吸附过滤,之后通过烟气管向外排放,保证工作环境的干净整洁,而在长时间的使用之后,使用可以通过顶板和滤板拆卸下,进行更换和清洗,其中的顶板,可以在烟气在收集仓内汇集时,残留的颗粒状固体在顶板与收集仓内汇集,同样达到去除的效果,提高去除烟气的效果。(The invention discloses a high-precision single-arm robot welding system, which comprises an electric cabinet, wherein a protection structure, a CCD (charge coupled device) structure and an early warning structure are arranged at the top end of the electric cabinet, the CCD structure and the early warning structure are connected with a single chip microcomputer in the electric cabinet, a welding structure and an execution structure are arranged at the top end of the electric cabinet, the welding structure is arranged at the tail end of the execution structure, the CCD structure is arranged at one end of the welding structure, the early warning structure is arranged at the top end of the execution structure, a large amount of smoke generated by a welding head can be sucked through side plates at two ends, then the smoke is adsorbed and filtered through a plurality of groups of filter plates, then the smoke is discharged outwards through a smoke pipe, the cleanness and tidiness of a working environment are ensured, after long-time use, the smoke can be detached through a top plate and is replaced and cleaned, and the top plate can be used for collecting residual granular solids in the top plate and a collecting bin when the smoke is collected in the collecting bin, the effect of removing is achieved, and the effect of removing the smoke is improved.)

1. The utility model provides a high accuracy single-arm robot welding system, includes electric cabinet (1), its characterized in that: the top of electric cabinet (1) is provided with protection architecture (4), CCD structure (5) and early warning structure (6) all are connected with the singlechip in electric cabinet (1), the top of electric cabinet (1) is provided with welded structure (2) and execution structure (3), welded structure (2) set up in the end of execution structure (3), CCD structure (5) set up in the one end of welded structure (2), early warning structure (6) set up in the top of execution structure (3).

2. A high precision single arm robotic welding system as defined in claim 1, wherein: the welding structure (2) comprises a welding pipe (21) and a welding head (22), and two ends of the welding pipe (21) are respectively connected with the welding head (22) and an external structure.

3. A high precision single arm robotic welding system as defined in claim 1, wherein: the executing structure (3) comprises a first joint shaft (31), a vertical arm (32), a cross arm (33) and a joint plate (34), wherein the first joint shaft (31), the vertical arm (32), the cross arm (33) and the joint plate (34) are movably fixed, and the cross arm (33) and the joint plate (34) are movably fixed through a second joint shaft (331).

4. A high precision single arm robotic welding system as defined in claim 1, wherein: including collecting storehouse (41), curb plate (42) and flue gas pipe (43) in protection architecture (4), outwards open on the inner wall of collecting storehouse (41) and be equipped with recess (411), two sets of the both sides of curb plate (42) all are fixed with slider (421), flue gas pipe (43) and one side intercommunication on collection storehouse (41) top, be provided with roof (45) in collecting storehouse (41), the hole groove structure has been seted up to one side of roof (45), be fixed with multiunit filter plate (44) between roof (45) and the bottom of collecting storehouse (41).

5. A high precision single arm robotic welding system as defined in claim 2 wherein: including adjustment structure (51) and CCD camera (52) in CCD structure (5), CCD camera (52) set up in the bottom of adjustment structure (51), CCD camera (52) and electric cabinet (1) electric connection, the slot structure has been seted up at the middle part of adjustment structure (51), and is provided with driving shaft (511) in the dead slot structure, the one end and the external motor transmission of driving shaft (511) are fixed, the outside surface cover of driving shaft (511) is equipped with wane (512), wane (512) are the V style of calligraphy, the end and soldered connection (22) fixed connection of wane (512), CCD camera (52) are in the rear end of soldered connection (22), the top of adjustment structure (51) is provided with joint ring (53), the pot head of welded pipe (21) is established in joint ring (53).

6. A high precision single arm robotic welding system as defined in claim 1, wherein: including bee calling organ (61) and state display lamp (62) in early warning structure (6), bee calling organ (61) are fixed in the top one side of collecting storehouse (41), state display lamp (62) are the polychrome, just state display lamp (62) and bee calling organ (61) all with electric cabinet (1) electric connection.

7. A high precision single arm robotic welding system as defined in claim 5, wherein: the control system in the electric cabinet (1) adopts a single chip microcomputer control system, and the control system is composed of a central processing unit CPU, a program memory ROM, a data memory RAM, a data port, a data converter, a data calculator, a timing counter, external interruption and serial communication, wherein a data analysis and comparison module is arranged in the data calculator, the CCD camera (52) and the early warning structure (6) are connected with the input end of the data memory RAM, the output end of the data memory RAM is connected with the data converter, the data converter is connected with the data calculator, and the program memory ROM, the data memory RAM, the data port, the data converter, the data calculator, a grid plate database, the timing counter, the external interruption and the serial communication are all electrically connected with the central processing unit CPU.

Technical Field

The invention relates to the field of welding devices, in particular to a high-precision single-arm robot welding system.

Background

With the rapid development of social economy, the rhythm of life and work of people is accelerated continuously, so is the production of enterprises, and most enterprises adopt mechanical automation to gradually replace manual operation.

The carbon dioxide gas of the steel grating plate is mainly used for the edge sealing work of the steel grating plate, most enterprises for welding still adopt the manual welding mode to weld, the workload of work is very large, most of the people rely on naked eyes to weld in the welding process, the quality of welding is not stable enough, the controllability of people is poor, therefore, the quality of welding is difficult to keep consistent, because the welding point is denser, the technical requirement for the welding worker is higher, the welding position and parameter matching are difficult to keep the best, the false welding often can occur in the welding process, the problem of missing welding, and the gas generated in the welding process can have certain damage to the human body, therefore, the manual welding is replaced and will become necessary, therefore the existing robot welding technology still remains to be improved.

Disclosure of Invention

The invention provides a high-precision single-arm robot welding system, aiming at overcoming the defects that the welding quality in the prior art is not stable enough and gas generated in the welding process can cause certain damage to a human body.

In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a high accuracy single-armed robot welding system, includes the electric cabinet, the top of electric cabinet is provided with protection architecture, CCD structure and early warning structure all are connected with the singlechip in the electric cabinet, the top of electric cabinet is provided with welded structure and execution structure, welded structure sets up in execution structure's end, the CCD structure sets up in welded structure's one end, the early warning structure sets up in execution structure's top.

As a preferred technical scheme of the invention, the welding structure comprises a welding pipe and a welding head, and two ends of the welding pipe are respectively connected with the welding head and the external connection structure.

In a preferred embodiment of the present invention, the executing structure includes a first joint shaft, a vertical arm, a horizontal arm, and a joint plate, the first joint shaft, the vertical arm, the horizontal arm, and the joint plate are all movably fixed, and the horizontal arm and the joint plate are movably fixed by a second joint shaft.

As a preferred technical scheme, the protective structure comprises a collecting bin, side plates and a flue gas pipe, a groove is formed in the inner wall of the collecting bin outwards, sliding blocks are fixed to two sides of each of the two groups of side plates, the flue gas pipe is communicated with one side of the top end of the collecting bin, a top plate is arranged in the collecting bin, a hole groove structure is formed in one side of the top plate, and a plurality of groups of filter plates are fixed between the top plate and the bottom end of the collecting bin.

As a preferred technical scheme of the present invention, the CCD structure includes an adjustment structure and a CCD camera, the CCD camera is disposed at a bottom end of the adjustment structure, the CCD camera is electrically connected to the electric cabinet, a hole groove structure is formed in a middle portion of the adjustment structure, a driving shaft is disposed in the hollow groove structure, one end of the driving shaft is fixed to an external motor in a transmission manner, a rocker is sleeved on an outer side surface of the driving shaft, the rocker is V-shaped, a tip of the rocker is fixedly connected to the welding head, the CCD camera is located at a rear end of the welding head, a clamping ring is disposed at a top end of the adjustment structure, and one end of the welding pipe is sleeved in the clamping ring.

As a preferred technical scheme of the invention, the early warning structure comprises a buzzer and a state display lamp, the buzzer is fixed on one side of the top end of the collecting bin, the state display lamp is multicolor, and the state display lamp and the buzzer are both electrically connected with the electric cabinet.

As a preferred technical scheme of the invention, a control system in the electric cabinet adopts a single chip microcomputer control system, and the control system is composed of a central processing unit CPU, a program memory ROM, a data memory RAM, a data port, a data converter, a data calculator, a timing counter, external interrupt and serial communication, wherein the data calculator is internally provided with a data analysis comparison module, the CCD camera and the early warning structure are connected with the input end of the data memory RAM, the output end of the data memory RAM is connected with the data converter, the data converter is connected with the data calculator, and the program memory ROM, the data memory RAM, the data port, the data converter, the data calculator, a grid plate database, the timing counter, the external interrupt and the serial communication are all electrically connected with the central processing unit CPU.

Compared with the prior art, the invention can achieve the following beneficial effects:

1. according to the invention, through the arranged protection structure, in the welding process of the mechanical arm, a large amount of smoke generated by the welding head can be sucked through the side plates at the two ends, then the smoke is adsorbed and filtered through the multiple groups of filter plates, then the smoke is discharged outwards through the smoke pipe, the cleanness and tidiness of the working environment are ensured, after long-time use, the smoke can be detached through the top plate and the filter plates for replacement and cleaning, and the top plate can collect residual granular solids in the top plate and the collection bin when the smoke is collected in the collection bin, so that the removal effect is achieved, and the smoke removal effect is improved.

2. According to the invention, through the arranged CCD structure, a user can observe the position of the butt joint at a terminal, after welding is finished, the CCD camera can shoot the specified position and store the shot position in the data memory RAM, and can compare the shot position with a standard picture, if welding missing, insufficient welding and missing welding occur, the buzzer and the state display lamp are used for prompting the user, the specified position is checked, the user can conveniently check the welding effect of the mechanical arm, defective products are avoided, and the yield and the structural strength are improved.

3. According to the invention, through the arranged adjusting structure, a user can control the error, after comparison is carried out through the CCD camera, the driving shaft can be driven by the external motor to move, the driving shaft drives the wane to deflect, and further the welding head is driven to move.

4. According to the invention, through the arranged actuating mechanism, a plurality of groups of joint shafts can facilitate the welding structure to work in a small space, the welding structure has 5 degrees of freedom in directions, can complete welding work which is difficult and has high requirements, improves the working efficiency, and avoids the problems caused by manual welding, wherein the joint plates can be bent inwards, and the welding structure is rotated to the lower part of the cross arm to be conveniently folded.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a welded structure according to the present invention;

FIG. 3 is a schematic view of the internal structure of the adjustment structure according to the present invention;

FIG. 4 is a schematic structural diagram of a protective structure according to the present invention;

FIG. 5 is a schematic diagram of a disassembled structure of the protection structure of the present invention;

FIG. 6 is a schematic diagram of the electrical structure connection of the present invention.

Wherein: 1. an electric cabinet; 2. welding a structure; 21. welding the pipe; 22. welding a head; 3. an execution structure; 31. a first joint axis; 32. a vertical arm; 33. a cross arm; 331. a second joint axis; 34. a joint plate; 4. a protective structure; 41. a collection bin; 411. a groove; 42. a side plate; 421. a slider; 43. a flue gas pipe; 44. filtering the plate; 45. a top plate; 5. a CCD structure; 51. adjusting the structure; 511. a drive shaft; 512. a seesaw; 52. a CCD camera; 53. a snap ring; 6. an early warning structure; 61. a buzzer; 62. and a status display lamp.

Detailed Description

The present invention will be further described with reference to specific embodiments for the purpose of facilitating an understanding of technical means, characteristics of creation, objectives and functions realized by the present invention, but the following embodiments are only preferred embodiments of the present invention, and are not intended to be exhaustive. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention. The experimental methods in the following examples are conventional methods unless otherwise specified, and materials, reagents and the like used in the following examples are commercially available unless otherwise specified.

Example (b):

as shown in fig. 1-6, the invention provides a high-precision single-arm robot welding system, which comprises an electric cabinet 1, wherein a protection structure 4, a CCD structure 5 and an early warning structure 6 are arranged at the top end of the electric cabinet 1, the CCD structure 5 and the early warning structure 6 are both connected with a single chip microcomputer in the electric cabinet 1, a welding structure 2 and an execution structure 3 are arranged at the top end of the electric cabinet 1, the welding structure 2 is arranged at the tail end of the execution structure 3, the CCD structure 5 is arranged at one end of the welding structure 2, and the early warning structure 6 is arranged at the top end of the execution structure 3.

In other embodiments, the welding structure 2 includes a welding pipe 21 and a welding head 22, and both ends of the welding pipe 21 are connected to the welding head 22 and the circumscribed structure, respectively.

In other embodiments, the executing structure 3 includes a first joint shaft 31, a vertical arm 32, a horizontal arm 33 and a joint plate 34, the first joint shaft 31, the vertical arm 32, the horizontal arm 33 and the joint plate 34 are all movably fixed, and the horizontal arm 33 and the joint plate 34 are movably fixed through a second joint shaft 331.

Wherein multiunit articulated axle can make things convenient for welded structure 2 to carry out work in less space, has 5 ascending degrees of freedom in side, can accomplish comparatively difficult, the higher weldment work that requires, improves work efficiency, avoids the problem that manual welding appears, and articulated plate 34 wherein can inwards buckle, turns around welded structure 2 to xarm 33 down, conveniently folds up.

In other embodiments, the protection structure 4 includes a collection bin 41, side plates 42 and a flue gas pipe 43, a groove 411 is formed in the inner wall of the collection bin 41 outward, sliding blocks 421 are fixed to two sides of two groups of side plates 42, the flue gas pipe 43 is communicated with one side of the top end of the collection bin 41, a top plate 45 is arranged in the collection bin 41, a hole and groove structure is formed in one side of the top plate 45, and a filter plate 44 is fixed between the top plate 45 and the bottom end of the collection bin 41.

Through the protection architecture 4 who sets up, at the welded in-process of arm, a large amount of flue gases that soldered connection 22 produced, can inhale through the curb plate 42 at both ends, later adsorb the filtration through multiunit filter plate 44 to the flue gas, later outwards discharge through flue gas pipe 43, guarantee operational environment's clean and tidy, and after long-time use, the use can be dismantled down through roof 45 and filter plate 44, change and wash, roof 45 wherein, can collect when the flue gas collects in collecting the storehouse 41, remaining graininess solid collects in roof 45 and collection storehouse 41, and then reach the effect of getting rid of, the effect of flue gas is got rid of in the improvement.

In other embodiments, the CCD structure 5 includes an adjusting structure 51 and a CCD camera 52, the CCD camera 52 is disposed at the bottom end of the adjusting structure 51, the CCD camera 52 is electrically connected to the electric cabinet 1, a hole groove structure is disposed in the middle of the adjusting structure 51, a driving shaft 511 is disposed in the hollow groove structure, one end of the driving shaft 511 is fixed to an external motor in a transmission manner, a seesaw 512 is sleeved on the outer side surface of the driving shaft 511, the seesaw 512 is V-shaped, the end of the seesaw 512 is fixedly connected to the welding head 22, the CCD camera 52 is located at the rear end of the welding head 22, a clamping ring 53 is disposed at the top end of the adjusting structure 51, and one end of the welding pipe 21 is sleeved in the clamping ring 53.

Through the set CCD structure, a user can observe the position of the welding head 22 through the terminal, after welding is finished, the CCD camera 52 can shoot a designated position and store the designated position in the data storage RAM, and can compare the designated position with a standard picture, if welding missing, insufficient and missing occur, the user is prompted through the buzzer 61 and the state display lamp 62, the designated position is checked, the user can conveniently check the designated position, the welding effect of the mechanical arm is further improved, defective products are avoided, the yield and the structural strength are improved, through the set adjusting structure 51, the user can control the error, after comparison through the CCD camera 52, the driving shaft 511 can be driven by the external motor to move, the driving shaft 511 drives the warping plate 512 to deflect, and then the welding head 22 is driven to move, because a gear structure is not used, and the driving device is a small motor, compared with the traditional welding device, the error is controlled within the minimum range by the transmission force, the welding effect is improved, and finally, the transmission comparison through the CCD camera 52 is convenient for a user to check.

In other embodiments, the early warning structure 6 includes a buzzer 61 and a status display lamp 62, the buzzer 61 is fixed on one side of the top end of the collecting bin 41, the status display lamp 62 is multi-colored, and both the status display lamp 62 and the buzzer 61 are electrically connected to the electric cabinet 1.

Early warning structure 6 can the person of facilitating the use carry out the behavior of direct observation arm to make things convenient for the arm to monitor and inspect the effect of welding, improve the yield, avoid lacking the condition of welding, rosin joint.

In other embodiments, the control system in the electric cabinet 1 is a single chip microcomputer control system, and the control system is composed of a central processing unit CPU, a program memory ROM, a data memory RAM, a data port, a data converter, a data calculator, a timing counter, an external interrupt and serial communication, wherein the data calculator is provided with a data analysis and comparison module, the CCD camera 52 and the early warning structure 6 are connected with an input end of the data memory RAM, an output end of the data memory RAM is connected with the data converter, the data converter is connected with the data calculator, and the program memory ROM, the data memory RAM, the data port, the data converter, the data calculator, a grid plate database, the timing counter, the external interrupt and the serial communication are all electrically connected with the central processing unit CPU.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.