A multi-degree-of-freedom positioning device for welding robots

Abstract

This utility model relates to the field of welding robot technology and discloses a multi-degree-of-freedom positioning device for welding robots, including a base, a rotating mechanism mounted on the base, a multi-joint robotic arm system, a welding execution end, and a control system. The rotating mechanism includes a rotating seat and a rotary servo motor that drives the rotating seat. The multi-joint robotic arm system includes a robot base, joint arm one, joint arm two, and joint arm three connected in sequence. Each joint arm is driven by a corresponding joint servo motor and is equipped with a corresponding joint displacement sensor. By setting high-precision joint displacement sensors at each joint of the multi-joint robotic arm system and combining them with a controller to achieve closed-loop control, the angle and position of each joint can be monitored and precisely adjusted in real time, effectively solving the problem of insufficient accuracy of traditional positioning devices, ensuring the accuracy of the welding path, and thus significantly improving the welding quality.

Description

Technical Field

[0001] This utility model relates to the field of welding robot technology, specifically a multi-degree-of-freedom positioning device for welding robots. Background Technology

[0002] With the increasing level of industrial automation, welding robots are being used more and more widely in manufacturing, especially in the automotive and aerospace industries. The welding process demands extremely high precision from robots, particularly in high-precision, high-efficiency production environments, where the positioning system of the welding robot has a significant impact on the quality of the entire welding process. Existing welding robots mostly employ fixed welding arms and single positioning devices. While these can meet routine welding needs, they often suffer from insufficient positioning accuracy, poor operational flexibility, and poor adaptability when faced with complex welding tasks.

[0003] Traditional welding robot positioning devices typically suffer from the following problems: 1) Insufficient positioning accuracy, leading to unstable welding quality; 2) Limited degrees of freedom, unable to cope with complex welding workpiece shapes; 3) Complex mechanical structure and large size, making it difficult to adapt to various working conditions.

[0004] Therefore, based on the above-mentioned technical problems, it is necessary for those skilled in the art to develop a multi-degree-of-freedom positioning device for welding robots. Utility Model Content

[0005] The purpose of this invention is to provide a multi-degree-of-freedom positioning device for welding robots to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A technical solution for a multi-degree-of-freedom positioning device for welding robots includes a base, a rotating mechanism mounted on the base, a multi-joint robotic arm system, a welding execution end, and a control system;

[0008] The rotating mechanism includes a rotating base and a rotating servo motor that drives the rotating base;

[0009] The multi-joint robotic arm system includes a robot base, joint arm one, joint arm two, and joint arm three connected in sequence.

[0010] Each articulated arm is driven by a corresponding joint servo motor and is equipped with a corresponding joint displacement sensor;

[0011] The welding execution end is a welding head located at the three ends of the articulated arm;

[0012] The control system includes a controller, which is electrically connected to each servo motor and each displacement sensor.

[0013] As a preferred technical solution, the robot base is equipped with a base displacement sensor.

[0014] As a preferred technical solution, the articulated arm is driven by a joint servo motor and is equipped with a joint displacement sensor.

[0015] As a preferred technical solution, the second articulated arm is driven by a second articulated servo motor and is equipped with a second articulated displacement sensor.

[0016] As a preferred technical solution, the articulated arm three is driven by a joint servo motor three and is equipped with a joint displacement sensor three.

[0017] As a preferred technical solution, the articulated arm three is also equipped with a vision sensor.

[0018] Compared with the prior art, the beneficial effects of this utility model are: by setting high-precision joint displacement sensors at each joint of the multi-joint robotic arm system and combining them with a controller to achieve closed-loop control, the angle and position of each joint can be monitored and precisely adjusted in real time, effectively solving the problem of insufficient accuracy of traditional positioning devices, ensuring the accuracy of the welding path, and thus significantly improving the welding quality.

[0019] The multi-degree-of-freedom structure design, which combines a rotating base with multiple articulated arms, enables the welding head to flexibly adjust its position and orientation within a large spatial range. This allows it to easily adapt to welding tasks with complex workpiece shapes and different spatial angles, greatly enhancing the equipment's application range and process adaptability.

[0020] Integrated vision sensors can identify and locate workpieces, providing real-time feedback to the controller. Combined with precise multi-axis motion control, this enables automatic planning and accurate execution of the welding process, reducing reliance on tooling fixtures and manual intervention, and improving automation levels and production efficiency. Attached Figure Description

[0021] Figure 1 A three-dimensional structural diagram of a multi-degree-of-freedom positioning device for a welding robot;

[0022] Figure 2 This is a side view of a multi-degree-of-freedom positioning device for a welding robot.

[0023] Figure 3 This is a front structural diagram of a multi-degree-of-freedom positioning device for welding robots.

[0024] In the attached diagram, the following are the reference numerals: 1. Base; 2. Rotary base; 21. Rotary servo motor; 3. Controller; 4. Robot base; 41. Base displacement sensor; 5. Joint arm one; 51. Joint servo motor one; 52. Joint displacement sensor one; 6. Joint arm two; 61. Joint servo motor two; 62. Joint displacement sensor two; 7. Joint arm three; 71. Joint servo motor three; 72. Joint displacement sensor three; 73. Vision sensor; 8. Welding head. Detailed Implementation

[0025] The features and exemplary embodiments of various aspects of this utility model will now be described in detail. To make the objectives, technical solutions, and advantages of this utility model clearer, the following description, in conjunction with the accompanying drawings and specific embodiments, will provide a further detailed description. For those skilled in the art, this utility model can be implemented without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of this utility model by illustrating examples.

[0026] like Figure 1 , Figure 2 and Figure 3 As shown, this utility model provides a technical solution for a multi-degree-of-freedom positioning device for welding robots: it includes a base 1, which serves as the supporting foundation for the entire device. A rotating seat 2 is fixedly mounted on its upper surface. The rotating seat 2 is connected to the base 1 via a high-precision bearing to ensure that the rotating seat 2 can rotate smoothly and with low friction. A rotary servo motor 21 is installed inside or on the side of the base 1, and its output shaft is directly connected to the rotation shaft of the rotating seat 2 via a coupling, thereby driving the rotating seat 2 to perform precise angular rotation.

[0027] The robot base 4 is fixedly mounted on the upper surface of the rotating base 2, and the two are fastened together by bolts to ensure that the robot base 4 and the rotating base 2 rotate synchronously. The robot base 4 is equipped with a base displacement sensor 41, which is fixed to the side or bottom of the robot base 4 by threaded connection or snap-fit, and is used to monitor the displacement of the robot base 4 in real time.

[0028] The multi-joint robotic arm system consists of a robot base 4, articulated arm 5, articulated arm 6, and articulated arm 7 connected sequentially. One end of articulated arm 5 is connected to the robot base 4 via a hinge or bearing. A joint servo motor 51 is installed inside or on the side of the robot base 4, and its output shaft is connected to the rotation axis of articulated arm 5 via a reducer, driving articulated arm 5 to rotate. A joint displacement sensor 52 is installed at the connection between articulated arm 5 and the robot base 4 to monitor the rotation angle of articulated arm 5.

[0029] One end of articulated arm 2 6 is connected to the other end of articulated arm 1 5 via a hinge or bearing. Articulated servo motor 2 61 is installed inside or on the side of articulated arm 1 5, and its output shaft is connected to the rotation shaft of articulated arm 2 6 via a reducer, driving articulated arm 2 6 to rotate. Articulated displacement sensor 2 62 is installed at the connection between articulated arm 2 6 and articulated arm 1 5 to monitor the rotation angle of articulated arm 2 6.

[0030] One end of articulated arm 3 (7) is connected to the other end of articulated arm 2 (6) via a hinge or bearing. Articulated servo motor 3 (71) is installed inside or on the side of articulated arm 2 (6), and its output shaft is connected to the rotation shaft of articulated arm 3 (7) via a reducer, driving articulated arm 3 (7) to rotate. Articulated displacement sensor 3 (72) is installed at the connection between articulated arm 3 (7) and articulated arm 2 (6) to monitor the rotation angle of articulated arm 3 (7). In addition, articulated arm 3 (7) is also equipped with a vision sensor 73, which is fixed to the side or end of articulated arm 3 (7) via a threaded connection or snap-fit, for workpiece identification and positioning.

[0031] The welding execution end is the welding head 8 located at the end of the articulated arm 3 7. The welding head 8 is fixedly connected to the end of the articulated arm 3 7 via a threaded connection or a quick-change device to ensure that the welding head 8 can perform welding operations stably and accurately.

[0032] The control system includes a controller 3, which is installed inside or on the side of the base 1. The controller 3 is electrically connected to each servo motor (rotary servo motor 21, joint servo motor 1 51, joint servo motor 2 61, joint servo motor 3 71) and each displacement sensor (base displacement sensor 41, joint displacement sensor 1 52, joint displacement sensor 2 62, joint displacement sensor 3 72) and vision sensor 73 via cables to realize real-time data transmission and accurate issuance of control commands.

[0033] The device is started by controller 3 and initialization settings are performed, including zero-position calibration of each servo motor, zero-point adjustment of each displacement sensor, and parameter settings of vision sensor 73.

[0034] According to the requirements of the welding task, the welding path, welding parameters, and workpiece identification information are input into the controller 3.

[0035] The welding program is started. The controller 3 controls the rotary servo motor 21 to drive the rotary seat 2 to rotate to the specified angle according to the input instructions and the data fed back by the sensors. At the same time, it controls the servo motors of each joint to drive the corresponding joint arms to rotate and adjust, so that the welding head 8 moves to the welding starting point.

[0036] During the welding process, the vision sensor 73 monitors the position and orientation of the workpiece in real time and feeds the data back to the controller 3. The controller 3 adjusts the welding path and welding parameters in real time based on the feedback data to ensure the stability and consistency of the welding quality.

[0037] After welding is completed, controller 3 controls welding head 8 to move to a safe position and shuts down all servo motors and sensors, thus ending the welding task.

[0038] Through the above connection method and usage process, the multi-degree-of-freedom positioning device for welding robots of this utility model can achieve high-precision and high-flexibility welding operations, effectively solving the problems of insufficient accuracy, limited degrees of freedom, and complex mechanical structure of traditional positioning devices.

[0039] The working principle and usage process of this utility model: After assembling each component of this solution in sequence, work according to the above implementation methods according to actual needs to complete all working steps.

[0040] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

[0041] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0042] The embodiments described above are not exhaustive, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the above description. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the invention, enabling those skilled in the art to effectively utilize the invention and its modifications. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the protection scope of the invention.

Claims

1. A multi-degree of freedom positioning device for a welding robot, characterized in that, It includes a base (1), a rotating mechanism mounted on the base (1), a multi-joint robotic arm system, a welding actuator, and a control system; The rotating mechanism includes a rotating base (2) and a rotating servo motor (21) that drives the rotating base (2); The multi-joint robotic arm system includes a robot base (4), joint arm one (5), joint arm two (6) and joint arm three (7) connected in sequence; Each articulated arm is driven by a corresponding joint servo motor and is equipped with a corresponding joint displacement sensor; The welding execution end is the welding head (8) located at the end of the articulated arm (7); The control system includes a controller (3), which is electrically connected to each servo motor and each displacement sensor.

2. The multi-degree-of-freedom positioning device for a welding robot according to claim 1, characterized in that: A base displacement sensor (41) is provided on the robot base (4).

3. A multi-degree-of-freedom positioning device for a welding robot according to claim 2, characterized in that: The articulated arm (5) is driven by a joint servo motor (51) and is equipped with a joint displacement sensor (52).

4. A multi-degree-of-freedom positioning device for a welding robot according to claim 3, characterized in that: The articulated arm 2 (6) is driven by the articulated servo motor 2 (61) and is equipped with the articulated displacement sensor 2 (62).

5. A multi-degree-of-freedom positioning device for a welding robot according to claim 4, characterized in that: The articulated arm three (7) is driven by the articulated servo motor three (71) and is equipped with the articulated displacement sensor three (72).

6. A multi-degree-of-freedom positioning device for a welding robot according to claim 5, characterized in that: A vision sensor (73) is also provided on the articulated arm three (7).

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