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A technology of welding robots and encoders, which is applied in the direction of program control manipulators, welding equipment, auxiliary welding equipment, etc., can solve problems such as unintelligible programming and affect the promotion and use of robots, so as to reduce the influence of human factors and improve work efficiency , the effect of simple structure
Inactive Publication Date: 2014-12-03
单文博
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However, robot programming has always been a complicated job, and programming is jerky and difficult to understand. Ordinary people need to learn professional knowledge or undergo special training before they can operate welding robots, which affects the promotion and use of robots.
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[0020] The present invention will be further described below in conjunction with accompanying drawing.
[0021] Depend on figure 1 , 2 , 3, it can be seen that the programming-free welding robot of the present invention is mainly composed of a welding torch 1, a light emitter 2, a wrist 3, a servo motor Ⅰ 4, an encoder 5, a small arm 6, a large arm 7, a servo motor Ⅲ 8, a machine base 9, and a turntable 10. Servo motor Ⅳ11, column 12, servo motor Ⅴ13, base 14, grating ruler 15, optical switch 16, servo motor Ⅱ17, rack 18, driver Ⅰ19, driver Ⅱ20, computer 21, driver Ⅲ22, driver Ⅳ23, cable 24, The driver V25 is composed.
[0022] A servomotor V13 is arranged in the bottom of the column 12, and a gear is connected to the shaft of the servomotor V13. A grating ruler 15 is also installed on one side of the base 14 , and the grating ruler 15 is connected with a computer 21 . Servo motor IV11 is housed inside the top of column 12, and the upper end of column 12 is movably connect...
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Abstract
The invention discloses a programming-free welding robot and a control method. The welding robot comprises a welding torch, an illuminator, servo motors, encoders, a wrist, a forearm, an upper arm, an engine base, a turntable, a pillar, a base, a grating ruler, a computer and drivers, wherein the servo motor V is arranged inside the pillar, and a gear is connected onto the shaft of the servo motor V and meshed with the rack of the base provided with the grating ruler; the turntable at the upper end of the pillar is connected with the servo motor IV; the engine base and the upper arm, the upper arm and the forearm, as well as the forearm and the wrist are connected through the servo motors respectively; the welding torch, the illuminator and an optical switch are arranged at the front end of the wrist; each encoder is mounted on the corresponding servo motor; the drivers and the encoders are connected with the computer. According to the invention, the welding robot is manually moved to perform the whole set of operations such as moving, welding and returning, and the computer studies and saves all the motion tracks of the welding robot and then copies and inherits the motion tracks, so that the whole process including starting, moving, aligning, welding and returning can be completed; the difficulty that a robot is needed to be programmed is solved, the automatic welding can be implemented, and the operating efficiency and the welding quality are improved.
Description
technical field [0001] The invention belongs to the field of mechanical control, in particular to a welding robot capable of realizing automatic welding without programming and a control method thereof. Background technique [0002] At present, robots have been widely used in various operations and operations in various fields, and have played an irreplaceable role in improving operating efficiency and reducing production costs. However, robot programming has always been a complicated job, and programming is jerky and difficult to understand. Ordinary people need to learn professional knowledge or undergo special training to operate welding robots, which affects the promotion and use of robots. Contents of the invention [0003] The invention aims to provide a programming-free welding robot and its control method which can realize the automatic welding operation of the welding robot without programming, thereby improving the working efficiency and the welding quality of wo...
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