Scanning and welding operation device based on six-axis arm robot

Abstract

The utility model belongs to the technical field of mechanical arms, and provides a first-scanning and second-welding operation device based on a six-axis arm robot, which comprises the six-axis arm robot, an industrial camera and a robot welding gun which are matched with the six-axis arm robot for use, and a track laid on the ground, the bottom plate is arranged on the track and can slide along the track, the support and the bottom plate are of an integrated structure, the supporting arm is vertically arranged at the top of the support, and the six-axis arm robot is installed at the front end of the supporting arm through a load lifting mechanism; a lead screw transmission mechanism used for driving the bottom plate to move along the track is arranged on the track. Movement of the robot arm can be achieved, the movement stroke of the robot arm is longer than that of a conventional portal frame, and the occupied area of the whole structure is smaller than that of a conventional portal frame structure; adjustment of the six-axis arm robot in the vertical direction can be achieved so that the six-axis arm robot can be matched with different welding machining heights.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, and in particular relates to a scanning-before-welding operation device based on a six-axis arm robot. Background Art

[0002] The robotic arm is the most widely used automated mechanical device in the field of robotic technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. The six-axis arm robot is a type of robotic arm. Compared with conventional robotic arms, it has a higher degree of freedom of movement.

[0003] In the application scenario of using a six-axis arm robot to weld large products and profiles, a gantry welding device is generally used for welding. In the prior art, the structure of the gantry welding device adopts a gantry frame, and the six-axis arm robot is hoisted on the moving crossbeam of the frame. The six-axis arm robot moves horizontally along the moving crossbeam of the frame to achieve the purpose of welding the products under the frame. For example, Chinese patent CN202221764713.1 discloses a gantry-type welding robot with multi-angle adjustment, including a gantry frame body, a mounting shell is arranged below the gantry frame body, and the interior of the mounting shell An adjusting motor is installed, the output shaft of the adjusting motor is connected to a fixed plate, a connecting rod is fixed to the outer wall of the fixed plate, a first adjusting motor is arranged at the end of the connecting rod, the output shaft of the first adjusting motor is connected to a connecting arm, a second adjusting motor is arranged below the connecting arm, and a fixed shell is arranged below the second adjusting motor; the above technical scheme mainly has the following deficiencies: (1) The structure of the gantry has great limitations, and the horizontal movement stroke of the welding robot is not only limited by the length of the crossbeam of the frame, but also the frame occupies a large area; (2) The welding robot cannot be adjusted in the vertical direction and cannot match different welding processing heights. Utility Model Content

[0004] The utility model aims to provide a scanning-before-welding operation device based on a six-axis arm robot to solve the technical problems existing in the prior art.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0006] A scanning-then-welding operation device based on a six-axis arm robot comprises the six-axis arm robot, an industrial camera and a robot welding gun used in conjunction with the six-axis arm robot, a track laid on the ground, a base plate arranged on the track and slidable along the track, a bracket in an integral structure with the base plate, and a support arm vertically arranged on the top of the bracket, the six-axis arm robot being mounted on the front end of the support arm via a load lifting mechanism; a screw transmission mechanism for driving the base plate to move along the track is arranged on the track.

[0007] Furthermore, the load lifting mechanism includes a base fixedly installed at the lower front end of the support arm, a guide mechanism symmetrically arranged on the left and right sides of the base, an electric telescopic rod symmetrically arranged in the base and located on the front and rear sides, and an installation panel fixedly connected to the guide mechanism on the left and right sides, and the end of the electric telescopic rod is fixedly connected to the bottom of the installation panel.

[0008] Furthermore, the guide mechanism includes a shell, a guide column arranged axially along the shell and fixedly connected to the upper and lower ends of the shell, and a guide block embedded in the shell, sleeved on the guide column and movable along the guide column, and the guide block is fixedly connected to the mounting panel.

[0009] Furthermore, a movable groove is provided on the side of the shell facing the installation panel along its longitudinal direction, and a protruding connecting block is provided on the end face of the guide block located on the side of the movable groove, and the connecting block is connected to the side of the installation panel.

[0010] Furthermore, the screw transmission mechanism includes a screw arranged along the track, a screw support seat arranged at both ends of the track and respectively connected to the two ends of the screw, and a screw slider sleeved on the screw, the left end of the screw is connected to a drive motor for driving the screw to rotate, and the screw slider is located at the bottom of the base plate and fixedly connected to it.

[0011] Furthermore, limiting grooves are arranged at the front and rear sides of the track and along its length direction, and limiting blocks are arranged at the bottom of the base plate, which are integrally structured with the base plate and embedded in the limiting grooves.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] The utility model is based on a six-axis arm robot, which is equipped with an industrial camera and a robot welding gun. When used, the industrial camera is first used for scanning, and the laser line scanning vision is used, and then the robot welding gun performs the welding operation. On this basis, a track, a bracket, a support arm, a screw transmission mechanism and a load lifting mechanism are provided; on the one hand, the bracket is controlled to move along the track by the screw transmission mechanism, so that the movement of the robot arm can be realized, and its moving stroke is longer than that of the conventional gantry, and the floor space occupied by the overall structure is smaller than that of the conventional gantry structure; on the other hand, the six-axis arm robot is installed on the support arm through the load lifting mechanism, so that the six-axis arm robot can be adjusted in the vertical direction to match different welding processing heights, thereby effectively solving the problems existing in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the utility model.

[0015] Figure 2 It is a structural schematic diagram of the load lifting mechanism in the utility model.

[0016] Figure 3 It is a structural schematic diagram of the guide mechanism in the utility model.

[0017] Figure 4 It is a side schematic diagram of the bottom plate of the utility model.

[0018] Among them, the names corresponding to the figure numbers are as follows: 1-six-axis arm robot; 2-track; 3-bottom plate; 4-bracket; 5-support arm; 6-load lifting mechanism; 7-base; 8-electric telescopic rod; 9-installation panel; 10-guide mechanism; 11-screw; 12-screw support seat; 13-screw slider; 14-limiting groove, 15-limiting block; 101-housing, 102-guide column, 103-guide block, 104-moving groove, 105-connecting block. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to have a clearer understanding and knowledge of the present invention, the present invention is further described in detail in conjunction with the following embodiments. It should be noted that the specific embodiments described below are only used to explain the present invention and facilitate understanding. The technical solutions provided by the present invention are not limited to the technical solutions provided by the following embodiments, and the technical solutions provided by the embodiments should not limit the protection scope of the present invention.

[0020] Unless otherwise defined, the technical terms or scientific terms used in the disclosure of this application shall have the usual meanings understood by persons with ordinary skills in the field to which the disclosure belongs. The words "include" or "comprise" and the like used in this application mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. The positional relationship words "upper", "lower", "left", "right", "front", "back", etc. are determined according to the layout direction of the drawings in the specification, and are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] Example

[0022] like Figures 1 to 4 As shown, the present embodiment provides a scanning-before-welding operation device based on a six-axis arm robot, including a six-axis arm robot, an industrial camera (an existing mature structure, not shown in the figure) and a robot welding gun (an existing mature structure, not shown in the figure) used in conjunction with the six-axis arm robot. The above structures can all adopt existing mature structures, so they are not described in detail here; when used, the six-axis arm robot first uses the industrial camera to scan, through laser line scanning vision, and then the robot welding gun performs the welding operation, thereby realizing scanning before welding.

[0023] In this embodiment, tracks are laid on the ground. The tracks are generally laid along the length direction of the processing plant. A base plate is provided on the track, and a bracket is provided on the base plate to form an integral structure therewith. A support arm is vertically provided on the top of the bracket and the two are fixedly connected. The six-axis arm robot is installed on the front end of the support arm through a load lifting mechanism. The support frame of the six-axis arm robot is formed by the above structure.

[0024] The support frame can move along the length direction of the track, and its movement is realized by a screw transmission mechanism. Specifically, the screw transmission mechanism includes a screw arranged along the track, a screw support seat arranged at both ends of the track and respectively connected to the two ends of the screw, and a screw slider sleeved on the screw, the left end of the screw is connected to a driving motor (not shown in the figure) for driving the screw to rotate, and the screw slider is located at the bottom of the base plate and fixedly connected thereto; through the above arrangement, the output shaft of the driving motor is connected to the left end of the screw through a coupling, and the driving motor is started to drive the screw to rotate, so that the screw slider moves along the track, and the screw slider drives the six-axis arm robot to move along the track through the base plate, the bracket and the support plate, thereby realizing the movement of the six-axis arm robot, and its moving stroke is longer than that of a conventional gantry, and the footprint of the overall structure is smaller than that of a conventional gantry structure.

[0025] In order to ensure the smoothness of movement, in a further preferred scheme, limiting grooves are arranged on the front and rear sides of the track and along its length direction, and a limiting block is arranged at the bottom of the base plate which is an integral structure with the base plate and embedded in the limiting groove. Through this arrangement, when the base plate moves along the track, it is limited by the limiting block and the limiting groove to avoid shaking or displacement in the front and rear directions.

[0026] In this embodiment, the six-axis arm robot is installed at the front end of the support arm through a load lifting mechanism; specifically, the load lifting mechanism includes a base fixedly installed at the lower front end of the support arm, a guide mechanism symmetrically arranged on the left and right sides of the base, an electric telescopic rod symmetrically arranged in the base and located on the front and rear sides, and a mounting panel fixedly connected to the guide mechanism on the left and right sides, the end of the electric telescopic rod is fixedly connected to the bottom of the mounting panel, and the end of the electric telescopic rod is fixed to the bottom of the mounting panel by bolts. Among them, the base and the support arm are fixedly connected, such as welding, bolt connection, the mounting panel should have a certain thickness to improve the installation and fixing effect, the base of the six-axis arm robot is installed on the mounting panel, preferably, the two are connected by bolts.

[0027] In this embodiment, the guide mechanism includes a shell, a guide column arranged axially along the shell and fixedly connected to the upper and lower ends of the shell, and a guide block embedded in the shell, sleeved on the guide column and movable along the guide column; wherein, the upper end of the shell is fixedly connected to the base, and preferably, the two are an integral structure; the guide block is fixedly connected to the mounting panel, and the implementation structure of the fixed connection between the two is as follows: a movable groove is provided on the side of the shell facing the mounting panel and along its longitudinal direction, and a protruding connecting block is provided on the end face of the guide block located on the side of the movable groove, and the connecting block is connected to the side of the mounting panel, wherein the movable groove is provided along the length direction of the shell to provide space for the movement of the guide block and the mounting panel.

[0028] Through the above-mentioned arrangement, the electric telescopic rod is controlled to perform telescopic movement, and the installation panel is driven to approach or move away from the base through the electric telescopic rod. During this process, the guide block in the guide mechanism is driven by the installation panel and is combined with structures such as guide columns to guide and limit the installation panel; through the movement of the installation panel approaching or moving away from the base, the six-axis arm robot installed on the installation panel is lifted and lowered in the vertical direction, so as to realize the height adjustment of the six-axis arm robot in the vertical direction.

[0029] The above is the preferred embodiment of the present invention. It should be noted that those skilled in the art can make several improvements without departing from the design principle and technical solution of the present invention, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. A scanning-before-welding operation device based on a six-axis arm robot, comprising a six-axis arm robot (1), an industrial camera and a robot welding gun used in conjunction with the six-axis arm robot (1), characterized in that: The invention also comprises a track (2) laid on the ground, a base plate (3) embedded in the track (2) and capable of sliding along the track, a bracket (4) having an integral structure with the base plate (3), a support arm (5) vertically arranged on the top of the bracket (4), and the six-axis arm robot (1) is installed on the front end of the support arm (5) through a load lifting mechanism (6); a screw transmission mechanism for driving the base plate (3) to move along the track (2) is arranged on the track (2).

2. The scanning-before-welding operation device based on a six-axis arm robot according to claim 1 is characterized in that: The load lifting mechanism (6) comprises a base (7) fixedly mounted at the lower front end of the support arm (5), a guide mechanism (10) symmetrically arranged on the left and right sides of the base (7), an electric telescopic rod (8) symmetrically arranged in the base (7) and located at the front and rear sides, and a mounting panel (9) fixedly connected to the guide mechanism (10) on the left and right sides, and the end of the electric telescopic rod (8) is fixedly connected to the bottom of the mounting panel (9).

3. The scanning-before-welding operation device based on a six-axis arm robot according to claim 2 is characterized in that: The guide mechanism (10) comprises a housing (101), a guide column (102) arranged axially along the housing (101) and fixedly connected to the upper and lower ends of the housing (101), and a guide block (103) embedded in the housing (101), sleeved on the guide column (102) and movable along the guide column (102), wherein the guide block (103) is fixedly connected to the mounting panel (9).

4. The scanning-before-welding operation device based on a six-axis arm robot according to claim 3 is characterized in that: A movable groove (104) is provided on the side of the housing (101) facing the mounting panel (9) along its longitudinal direction, and a protruding connecting block (105) is provided on the end surface of the guide block (103) located on the side of the movable groove (104), and the connecting block (105) is connected to the side of the mounting panel (9).

5. The scanning-before-welding operation device based on a six-axis arm robot according to claim 4 is characterized in that: The screw transmission mechanism comprises a screw (11) arranged along the track (2), a screw support seat (12) arranged at both ends of the track (2) and respectively connected to both ends of the screw (11), and a screw slider (13) sleeved on the screw (11), the left end of the screw (11) is connected to a driving motor for driving the screw (11) to rotate, and the screw slider (13) is located at the bottom of the base plate (3) and fixedly connected thereto.

6. The scanning-before-welding operation device based on a six-axis arm robot according to claim 5 is characterized in that: Limiting grooves (14) are arranged on the front and rear sides of the track (2) along its length direction, and limiting blocks (15) are arranged at the bottom of the base plate (3) and are integrally structured with the base plate (3) and embedded in the limiting grooves (14).

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