CN112605576A - Automatic robot for multi-point welding and working method thereof - Google Patents
Automatic robot for multi-point welding and working method thereof Download PDFInfo
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- CN112605576A CN112605576A CN202011474436.6A CN202011474436A CN112605576A CN 112605576 A CN112605576 A CN 112605576A CN 202011474436 A CN202011474436 A CN 202011474436A CN 112605576 A CN112605576 A CN 112605576A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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Abstract
The invention discloses an automatic robot for multipoint welding and a working method, wherein the automatic robot comprises a workpiece welding clamping device, a welding module I and a welding module II; welding module I and welding module two all include horizontal running gear, rotation driving device and welding robot, rotation driving device is fixed to be set up on horizontal running gear, the welding robot is fixed to be set up on rotation driving device, rotation driving device can drive 360 rotations of welding robot, horizontal running gear can drive rotation driving device and remove along the horizontal direction. The automatic robot for multi-point welding can clamp a workpiece with a larger size, can quickly adjust the position of a welding gun for a workpiece to be welded with the larger size, increases the stroke of the welding gun, greatly improves the working efficiency and reduces the labor intensity. The working principle is simple and easy to implement, the automation degree of the working process is high, the required manpower is low, the production efficiency is improved, and the method is suitable for industrial large-scale application.
Description
Technical Field
The invention belongs to the field of advanced manufacturing and automation, and particularly relates to an automatic robot for multi-point welding. The invention also relates to a working method of the automatic robot for multipoint welding.
Background
As is known, a welding robot is an industrial robot that engages in welding (including cutting and painting). An industrial robot is a versatile, reprogrammable, automatically controlled Manipulator (Manipulator) with three or more programmable axes for use in the field of industrial automation, according to the international organization for standardization (ISO) which is a definition of standard welding robots. To accommodate different applications, the mechanical interface of the last axis of the robot, usually a connecting flange, may be used to attach different tools or end effectors. The welding robot is that a welding clamp or a welding (cutting) gun is arranged on a tail shaft flange of an industrial robot, so that the welding robot can carry out welding, cutting or thermal spraying.
Current welding robot can realize semi-automatization welding operation, has improved welded work efficiency, but current welding robot generally can't realize position control on a large scale, generally when welding length and the great article of width, needs the position of manual regulation welding robot or reinforcing bar frame, and it is big to have intensity of labour, influences its welded work efficiency's problem, secondly has certain potential safety hazard, so can not satisfy user's demand.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects, the invention aims to provide an automatic robot for multi-point welding, which solves the problem that the normal use is influenced due to the fact that the moving position of a welding robot is limited in the prior art and a large limitation is caused to a large workpiece during welding. This structural design is reasonable, easily production, and degree of automation is high, reduces the hand labor volume, has improved work efficiency, uses in a flexible way. The invention also provides a working method of the automatic robot for multi-point welding, which has the advantages of simple and feasible working principle, high automation degree in the working process, less manpower requirement, improved production efficiency and suitability for industrial large-scale application.
The technical scheme is as follows: an automatic robot for multi-point welding comprises a workpiece welding and clamping device, a first welding module and a second welding module, wherein the first welding module and the second welding module are symmetrically arranged on two sides of the workpiece welding and clamping device, and the first welding module and the second welding module can weld workpieces clamped on the workpiece welding and clamping device; wherein, welding module I and welding module II all include horizontal running gear, rotation driving device and welding robot, rotation driving device is fixed to be set up on horizontal running gear, the welding robot is fixed to be set up on rotation driving device, rotation driving device can drive 360 rotations of welding robot, horizontal running gear can drive rotation driving device and remove along the horizontal direction. The automatic robot for multi-point welding can adjust the position in a large range so as to meet the requirement of welding an object with a larger size, reduce the labor intensity and improve the working efficiency.
Further, the horizontal walking device comprises a first horizontal driving motor, a second horizontal driving motor, a first rack, a second rack, a first gear, a second gear, a first sliding plate, a second sliding plate, a supporting base and a supporting cross beam, wherein the first rack and the second rack are fixedly arranged on the upper end surface of the supporting base and are arranged in parallel, the first sliding plate and the second sliding plate are respectively in sliding connection with the supporting base and are symmetrically arranged, the first horizontal driving motor is arranged on the first sliding plate, a rotating shaft of the first horizontal driving motor is connected with the first gear, the first gear is meshed with the first rack, the second horizontal driving motor is arranged on the second sliding plate, a rotating shaft of the second horizontal driving motor is connected with the second gear, the second gear is meshed with the second rack, the supporting cross beam is erected on the first sliding plate and the second sliding plate, and two ends of the supporting beam are respectively and fixedly connected with the first sliding plate and the second sliding plate.
Furthermore, the automatic robot for multipoint welding is characterized in that a first guide rail and a second guide rail are arranged on the supporting base, the first guide rail is located on one side of the first rack and is parallel to the first rack, the second guide rail is located on one side of the second rack and is parallel to the second rack, the first sliding plate is connected with the first guide rail in a sliding mode, and the second sliding plate is connected with the second guide rail in a sliding mode.
Further, foretell an automated machine people for multiple spot welding, rotary driving device includes rotating support seat, rotatory slip table, hydraulic buffer, thrust ball bearing and carousel, the fixed setting of rotating support seat is on supporting beam's up end, rotatory slip table and thrust ball bearing all set up on rotating support seat to rotatory slip table and thrust ball bearing are connected, hydraulic buffer and thrust ball bearing are connected, carousel and thrust ball bearing are connected, the fixed setting of welding robot is on the carousel.
Furthermore, the automatic robot for multipoint welding comprises a first driving motor, a shaft coupling, a first rotating shaft, a first driving wheel, a second driving wheel, a first driven wheel, a second driven wheel, a first belt, a second rotating shaft, a third rotating shaft, a first right-angle supporting plate, a second right-angle supporting plate, a supporting frame, a group of workpiece clamping components and a supporting base plate, wherein the first right-angle supporting plate and the second right-angle supporting plate are fixedly arranged on the supporting base plate and are symmetrically arranged, the first driving motor is fixedly arranged on the first right-angle supporting plate, the rotating shaft of the first driving motor is connected with the first rotating shaft through the shaft coupling, the first driving wheel and the second driving wheel are respectively arranged at two ends of the first rotating shaft, the first rotating shaft is arranged on the lower end parts of the first right-angle supporting plate and the second right-angle supporting plate, the utility model discloses a work piece clamping assembly, including right angle backup pad two, pivot three-way cross bearing, belt two and pivot three-symmetry, pivot two sets up on the upper end of right angle backup pad two, pivot two and pivot three-symmetry set up, from the drive wheel one with pivot two-way cross key-type connection, from drive wheel two and pivot three-way cross key-type connection, the belt is one set up at action wheel one and from the drive wheel one, the belt two sets up at action wheel two and from the drive wheel two on, braced frame sets up between pivot two and pivot three to braced frame's both ends respectively with pivot two and three fixed connection in pivot, a set of work piece clamping assembly is fixed to be set up on braced frame's inner wall to braced frame's cross-.
Further, foretell an automated machine people for multiple spot welding, work piece centre gripping subassembly includes centre gripping cylinder, keysets, a set of coupling assembling, clamping jaw cylinder connecting plate and a set of clamping jaw cylinder, the centre gripping cylinder is fixed to be set up on braced frame, the piston rod of keysets and centre gripping cylinder is connected, clamping jaw cylinder connecting plate is connected through a set of coupling assembling and keysets, a set of clamping jaw cylinder is fixed to be set up on clamping jaw cylinder connecting plate, a set of clamping jaw cylinder can carry out the centre gripping of work piece.
Further, foretell an automated machine people for multiple spot welding, coupling assembling includes double-screw bolt, nut and spring, be equipped with the through-hole on the keysets, the double-screw bolt passes the through-hole to the through-hole is stretched out at the both ends of double-screw bolt, the one end fixed connection of clamping jaw cylinder connecting plate and double-screw bolt, nut and double-screw bolt threaded connection, the spring housing is established on the double-screw bolt, and the spring is located between clamping jaw cylinder connecting plate and the keysets.
The invention also provides a working method of the automatic robot for multipoint welding, which comprises the following steps:
s1, clamping the parts to be welded on a group of clamping jaw cylinders respectively, and then splicing the parts with welding into a whole;
s2, welding the parts to be welded by the first welding module, wherein the welding robot of the first welding module is positioned at one end of the horizontal walking device at the beginning;
s2-1, welding one end of each part to be welded on the supporting frame by the welding robot of the welding module I, and finishing welding;
s2-2, starting the first horizontal driving motor and the second horizontal driving motor at the same time, and driving the first sliding plate and the second sliding plate to slide along the supporting base through transmission of a gear and a rack, so that the welding robot of the first supporting beam and the welding module is driven to slide along the supporting base;
s2-3, starting a driving motor I, and driving a supporting frame to rotate a certain angle through a rotating shaft I, a driving wheel II, a driven wheel I, a driven wheel II, a belt I, a belt II, a rotating shaft II and a rotating shaft III, so that each part to be welded on the supporting frame rotates a certain angle;
s2-4, adjusting the rotation of the welding robot of the first welding module to a welding angle by the rotation driving device, and welding the welding positions of all parts to be welded by the welding robot of the first welding module;
s2-5, repeating the steps S2-2-S2-4, and finishing all welding of the parts to be welded on one side of the welding module;
s3, after the welding of the first welding module is finished, welding the parts to be welded by the second welding module, and initially, positioning the welding robot of the second welding module at one end of the horizontal walking device;
s3-1, welding one end of each part to be welded on the supporting frame by the welding robot of the welding module II, and finishing welding;
s3-2, starting the first horizontal driving motor and the second horizontal driving motor at the same time, and driving the first sliding plate and the second sliding plate to slide along the supporting base through transmission of a gear and a rack, so that the welding robot of the first supporting beam and the welding module is driven to slide along the supporting base;
s3-3, starting a driving motor I, and driving a supporting frame to rotate a certain angle through a rotating shaft I, a driving wheel II, a driven wheel I, a driven wheel II, a belt I, a belt II, a rotating shaft II and a rotating shaft III, so that each part to be welded on the supporting frame rotates a certain angle;
s3-4, adjusting the rotation of the welding robot of the second welding module to a welding angle by the rotation driving device, and welding the welding position of each part to be welded by the welding robot of the second welding module.
S3-5, repeating the steps S3-2-S3-4, completing all welding of the parts to be welded on one side of the welding module, completing all welding of the parts to be welded, releasing the clamping jaw cylinders, and taking down the welded workpiece from the supporting frame.
The working method of the automatic robot for multi-point welding is simple and easy in working principle, high in automation degree in the working process, less in required manpower, capable of improving the production efficiency and suitable for industrial large-scale application.
The technical scheme shows that the invention has the following beneficial effects: the automatic robot for multi-point welding has reasonable structural design and easy production, can clamp a workpiece with larger size, can quickly adjust the position of a welding gun for a workpiece to be welded with larger size, increases the stroke of the welding gun, greatly improves the working efficiency and reduces the labor intensity. The automatic robot for multi-point welding has the advantages of high automation degree, high working efficiency and flexible application. The working method of the automatic robot for multi-point welding is simple and easy in working principle, high in automation degree in the working process, less in required manpower, capable of improving the production efficiency and suitable for industrial large-scale application.
Drawings
FIG. 1 is a top view of an automated robot for multi-spot welding according to the present invention;
FIG. 2 is a front view of an automated robot for multi-spot welding according to the present invention;
FIG. 3 is a schematic structural view of the horizontal running gear of the present invention;
FIG. 4 is a partially enlarged view of the horizontal running gear of the present invention;
FIG. 5 is a schematic structural diagram of a rotary driving apparatus according to the present invention;
FIG. 6 is a schematic structural view of a workpiece welding and clamping device according to the present invention;
fig. 7 is a schematic structural view of a workpiece clamping assembly according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
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.
Examples
The automatic robot for multi-point welding shown in fig. 1 and 2 comprises a workpiece welding and clamping device 1, a welding module I2 and a welding module II 3, wherein the welding module I2 and the welding module II 3 are symmetrically arranged at two sides of the workpiece welding and clamping device 1, and the welding module I2 and the welding module II 3 can weld workpieces clamped on the workpiece welding and clamping device 1; the welding module I2 and the welding module II 3 both comprise a horizontal walking device 21, a rotary driving device 22 and a welding robot 23, the rotary driving device 22 is fixedly arranged on the horizontal walking device 21, the welding robot 23 is fixedly arranged on the rotary driving device 22, the rotary driving device 22 can drive the welding robot 23360-degree rotation, and the horizontal walking device 21 can drive the rotary driving device 22 to move along the horizontal direction.
The horizontal running gear 21 shown in fig. 3 and 4 comprises a first horizontal driving motor 211, a second horizontal driving motor 212, a first rack 213, a second rack 214, a first gear, a second gear, a first sliding plate 215, a second sliding plate 216, a supporting base 217 and a supporting beam 218, wherein the first rack 213 and the second rack 214 are fixedly arranged on the upper end surface of the supporting base 217, the first rack 213 and the second rack 214 are arranged in parallel, the first sliding plate 215 and the second sliding plate 216 are respectively connected with the supporting base 217 in a sliding manner, the first sliding plate 215 and the second sliding plate 216 are symmetrically arranged, the first horizontal driving motor 211 is arranged on the first sliding plate 215, the rotating shaft of the first horizontal driving motor 211 is connected with the first gear, the first gear is meshed with the first rack 213, the second horizontal driving motor 212 is arranged on the second sliding plate 216, the rotating shaft of the second horizontal driving motor 212 is connected with the second gear, the second gear is meshed with the second rack 214, the supporting beam 218 is erected on the first sliding plate 215 and the second sliding plate 216, and two ends of the supporting beam 218 are fixedly connected with the first sliding plate 215 and the second sliding plate 216 respectively. The support base 217 is provided with a first guide rail 219 and a second guide rail 2110, the first guide rail 219 is positioned on one side of the first rack 213, the first guide rail 219 is parallel to the first rack 213, the second guide rail 2110 is positioned on one side of the second rack 214, the second guide rail 2110 is parallel to the second rack 214, the first sliding plate 215 is slidably connected with the first guide rail 219, and the second sliding plate 216 is slidably connected with the second guide rail 2110.
The rotary drive device 22 shown in fig. 5 includes a rotary support base 221, a rotary slide table 222, a hydraulic buffer 223, a thrust ball bearing 224, and a turntable 225, the rotary support base 221 is fixedly provided on the upper end face of the support beam 218, the rotary slide table 222 and the thrust ball bearing 224 are both provided on the rotary support base 221, and the rotary slide table 222 and the thrust ball bearing 224 are connected, the hydraulic buffer 223 and the thrust ball bearing 224 are connected, the turntable 225 and the thrust ball bearing 224 are connected, and the welding robot 23 is fixedly provided on the turntable 225.
The workpiece welding and clamping device 1 shown in fig. 6 comprises a first driving motor 11, a coupling 12, a first rotating shaft 13, a first driving wheel 14, a second driving wheel 15, a first driven wheel 16, a second driven wheel 17, a first belt 18, a second belt 19, a second rotating shaft 110, a third rotating shaft 111, a first right-angle supporting plate 112, a second right-angle supporting plate 113, a supporting frame 114, a group of workpiece clamping components 115 and a supporting base plate 116, wherein the first right-angle supporting plate 112 and the second right-angle supporting plate 113 are fixedly arranged on the supporting base plate 116, the first right-angle supporting plate 112 and the second right-angle supporting plate 113 are symmetrically arranged, the first driving motor 11 is fixedly arranged on the first right-angle supporting plate 112, the rotating shaft of the first driving motor 11 is connected with the first rotating shaft 13 through the coupling 12, the first driving wheel 14 and the second driving wheel 15 are respectively arranged at two ends of the first rotating shaft 13, the first rotating, two 110 of pivot pass through the bearing setting on the upper end of right angle backup pad 112, three 111 of pivot pass through the bearing setting on the upper end of two 113 of right angle backup pad to two 110 of pivot and three 111 symmetry settings of pivot, follow first 16 of driving wheel and two 110 of pivot pass through the key-type connection, follow two 17 of driving wheel and three 111 of pivot pass through the key-type connection, 18 covers of belt are established on first 14 of driving wheel and follow first 16 of driving wheel, two 19 covers of belt are established on two 15 of driving wheel and follow second 17 of driving wheel, braced frame 114 sets up between two 110 of pivot and three 111 of pivot to braced frame 114's both ends respectively with two 110 of pivot and three 111 fixed connection of pivot, a set of work piece centre gripping subassembly 115 is fixed to be set up on braced frame 114's inner wall, and braced frame 114's.
The workpiece clamping assembly 115 shown in fig. 7 comprises a clamping cylinder 117, an adapter plate 118, a group of connecting assemblies 119, a clamping jaw cylinder connecting plate 1110 and a group of clamping jaw cylinders 1111, wherein the clamping cylinder 117 is fixedly arranged on the supporting frame 114, the adapter plate 118 is connected with a piston rod of the clamping cylinder 117, the clamping jaw cylinder connecting plate 1110 is connected with the adapter plate 118 through the group of connecting assemblies 119, the group of clamping jaw cylinders 1111 is fixedly arranged on the clamping jaw cylinder connecting plate 1110, and the group of clamping jaw cylinders 1111 can clamp a workpiece. Connecting component 119 includes stud 1112, nut 1113 and spring 1114, be equipped with through-hole 1115 on the keysets 118, stud 1112 passes through-hole 1115 to the through-hole 1115 is stretched out at the both ends of stud 1112, the one end fixed connection of clamping jaw cylinder connecting plate 1110 and stud 1112, nut 1113 and stud 1112 threaded connection, spring 1114 overlaps on stud 1112, and spring 1114 is located between clamping jaw cylinder connecting plate 1110 and keysets 118.
Based on the structure, the working method of the automatic robot for multi-point welding comprises the following steps:
s1, clamping the parts to be welded on a group of clamping jaw cylinders 1111 respectively, and then splicing the parts with welding into a whole;
s2, welding the parts to be welded by the welding module I2, wherein the welding robot 23 of the welding module I2 is positioned at one end of the horizontal walking device 21 at the beginning;
s2-1, welding one end of each part to be welded on the supporting frame 114 by the welding robot 23 of the welding module I2, and finishing welding;
s2-2, the first horizontal driving motor 211 and the second horizontal driving motor 212 are started simultaneously, and the first sliding plate 215 and the second sliding plate 216 are driven to slide along the supporting base 217 through the transmission of the gear and the rack, so that the supporting beam 218 and the welding robot 23 of the first welding module 2 are driven to slide along the supporting base 217;
s2-3, starting a driving motor I11, and driving a supporting frame 114 to rotate a certain angle through a rotating shaft I13, a driving wheel I14, a driving wheel II 15, a driven wheel I16, a driven wheel II 17, a belt I18, a belt II 19, a rotating shaft II 110 and a rotating shaft III 111, so that each part to be welded on the supporting frame 114 rotates a certain angle;
s2-4, the rotation driving device 22 adjusts the welding robot 23 of the welding module I2 to rotate to a welding angle, and the welding robot 23 of the welding module I2 carries out welding on the welding positions of all parts to be welded;
s2-5, repeating the steps S2-2-S2-4, and finishing all welding of the parts to be welded on one side of the welding module I2;
s3, after the welding of the first welding module 2 is finished, welding the parts to be welded by the second welding module 3, and initially, the welding robot 23 of the second welding module 3 is positioned at one end of the horizontal walking device 21;
s3-1, welding one end of each part to be welded on the supporting frame 114 by the welding robot 23 of the welding module II 3, and finishing welding;
s3-2, the first horizontal driving motor 211 and the second horizontal driving motor 212 are started simultaneously, and the first sliding plate 215 and the second sliding plate 216 are driven to slide along the supporting base 217 through the transmission of the gear and the rack, so that the supporting beam 218 and the welding robot 23 of the first welding module 2 are driven to slide along the supporting base 217;
s3-3, starting a driving motor I11, and driving a supporting frame 114 to rotate a certain angle through a rotating shaft I13, a driving wheel I14, a driving wheel II 15, a driven wheel I16, a driven wheel II 17, a belt I18, a belt II 19, a rotating shaft II 110 and a rotating shaft III 111, so that each part to be welded on the supporting frame 114 rotates a certain angle;
s3-4, the rotation driving device 22 adjusts the welding robot 23 of the welding module II 3 to rotate to a welding angle, and the welding robot 23 of the welding module II 3 carries out welding at the welding position of each part to be welded.
S3-5, repeating the steps S3-2-S3-4, completing all welding of the parts to be welded on one side of the welding module II 3, completing all welding of the parts to be welded, releasing the group of clamping jaw cylinders 1111, and taking down the welded workpiece from the supporting frame 114.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.
Claims (8)
1. An automated robot for multipoint welding, characterized by: the welding device comprises a workpiece welding and clamping device (1), a welding module I (2) and a welding module II (3), wherein the welding module I (2) and the welding module II (3) are symmetrically arranged on two sides of the workpiece welding and clamping device (1), and the welding module I (2) and the welding module II (3) can weld workpieces clamped on the workpiece welding and clamping device (1);
wherein, welding module (2) and welding module two (3) all include horizontal running gear (21), rotation driving device (22) and welding robot (23), rotation driving device (22) are fixed to be set up on horizontal running gear (21), welding robot (23) are fixed to be set up on rotation driving device (22), rotation driving device (22) can drive welding robot (23) 360 rotatory, horizontal running gear (21) can drive rotation driving device (22) and move along the horizontal direction.
2. The automated robot for multipoint welding according to claim 1, wherein: the horizontal walking device (21) comprises a horizontal driving motor I (211), a horizontal driving motor II (212), a rack I (213), a rack II (214), a gear I, a gear II, a sliding plate I (215), a sliding plate II (216), a supporting base (217) and a supporting cross beam (218), wherein the rack I (213) and the rack II (214) are fixedly arranged on the upper end surface of the supporting base (217), the rack I (213) and the rack II (214) are arranged in parallel, the sliding plate I (215) and the sliding plate II (216) are respectively in sliding connection with the supporting base (217), the sliding plate I (215) and the sliding plate II (216) are symmetrically arranged, the horizontal driving motor I (211) is arranged on the sliding plate I (215), a rotating shaft of the horizontal driving motor I (211) is connected with the gear I, the gear I is meshed with the rack I (213), and the horizontal driving motor II (212) is arranged on the sliding plate II (216), and the rotating shaft of the horizontal driving motor II (212) is connected with the gear II, the gear II is meshed with the rack II (214), the supporting beam (218) is erected on the sliding plate I (215) and the sliding plate II (216), and two ends of the supporting beam (218) are fixedly connected with the sliding plate I (215) and the sliding plate II (216) respectively.
3. The automated robot for multipoint welding according to claim 2, wherein: the support base (217) is provided with a first guide rail (219) and a second guide rail (2110), the first guide rail (219) is positioned on one side of the first rack (213), the first guide rail (219) is parallel to the first rack (213), the second guide rail (2110) is positioned on one side of the second rack (214), the second guide rail (2110) is parallel to the second rack (214), the first sliding plate (215) is slidably connected with the first guide rail (219), and the second sliding plate (216) is slidably connected with the second guide rail (2110).
4. Automated robot for multipoint welding according to claim 3, characterized in that: the rotary driving device (22) comprises a rotary supporting seat (221), a rotary sliding table (222), a hydraulic buffer (223), a thrust ball bearing (224) and a rotary table (225), wherein the rotary supporting seat (221) is fixedly arranged on the upper end face of a supporting cross beam (218), the rotary sliding table (222) and the thrust ball bearing (224) are both arranged on the rotary supporting seat (221), the rotary sliding table (222) is connected with the thrust ball bearing (224), the hydraulic buffer (223) is connected with the thrust ball bearing (224), the rotary table (225) is connected with the thrust ball bearing (224), and the welding robot (23) is fixedly arranged on the rotary table (225).
5. The automated robot for multipoint welding according to claim 4, wherein: the workpiece welding and clamping device (1) comprises a driving motor I (11), a coupler (12), a rotating shaft I (13), a driving wheel I (14), a driving wheel II (15), a driven wheel I (16), a driven wheel II (17), a belt I (18), a belt II (19), a rotating shaft II (110), a rotating shaft III (111), a right-angle supporting plate I (112), a right-angle supporting plate II (113), a supporting frame (114), a group of workpiece clamping components (115) and a supporting base plate (116), wherein the right-angle supporting plate I (112) and the right-angle supporting plate II (113) are fixedly arranged on the supporting base plate (116), the right-angle supporting plate I (112) and the right-angle supporting plate II (113) are symmetrically arranged, the driving motor I (11) is fixedly arranged on the right-angle supporting plate I (112), and the rotating shaft I (11) is connected with the rotating shaft I (13) through, the utility model discloses a take turns to the driving wheel (14) and take turns to two (15) and set up respectively at the both ends of pivot one (13), pivot one (13) pass through the bearing setting on the lower tip of right angle backup pad one (112) and right angle backup pad two (113), pivot two (110) pass through the bearing setting on the upper end of right angle backup pad one (112), pivot three (111) pass through the bearing setting on the upper end of right angle backup pad two (113) to pivot two (110) and pivot three (111) symmetry set up, follow driving wheel one (16) and pivot two (110) pass through the key-type connection, follow driving wheel two (17) and pivot three (111) pass through the key-type connection, belt one (18) cover is established on drive wheel one (14) and follow driving wheel one (16), belt two (19) cover is established on drive wheel two (15) and follow driving wheel two (17), braced frame (114) set up between pivot two (110) and pivot three (111), and two ends of the supporting frame (114) are respectively and fixedly connected with the second rotating shaft (110) and the third rotating shaft (111), the group of workpiece clamping assemblies (115) are fixedly arranged on the inner wall of the supporting frame (114), and the section of the supporting frame (114) is rectangular.
6. The automated robot for multipoint welding according to claim 5, wherein: workpiece clamping subassembly (115) includes centre gripping cylinder (117), adapter plate (118), a set of coupling assembling (119), clamping jaw cylinder connecting plate (1110) and a set of clamping jaw cylinder (1111), centre gripping cylinder (117) are fixed to be set up on braced frame (114), the piston rod of adapter plate (118) and centre gripping cylinder (117) is connected, clamping jaw cylinder connecting plate (1110) are connected through a set of coupling assembling (119) and adapter plate (118), a set of clamping jaw cylinder (1111) are fixed to be set up on clamping jaw cylinder connecting plate (1110), the centre gripping of work piece can be carried out to a set of clamping jaw cylinder (1111).
7. The automated robot for multipoint welding according to claim 6, wherein: coupling assembling (119) include double-screw bolt (1112), nut (1113) and spring (1114), be equipped with through-hole (1115) on keysets (118), through-hole (1115) are passed in double-screw bolt (1112) to through-hole (1115) are stretched out at the both ends of double-screw bolt (1112), the one end fixed connection of clamping jaw cylinder connecting plate (1110) and double-screw bolt (1112), nut (1113) and double-screw bolt (1112) threaded connection, spring (1114) cover is established on double-screw bolt (1112), and spring (1114) are located between clamping jaw cylinder connecting plate (1110) and keysets (118).
8. Method of working of an automated robot for multipoint welding according to claim 7, characterized in that: the method comprises the following steps:
s1, clamping the parts to be welded on a group of clamping jaw cylinders (1111) respectively, and then splicing the parts with welding into a whole;
s2, firstly, welding each part to be welded by the welding module I (2), and initially, positioning the welding robot (23) of the welding module I (2) at one end of the horizontal walking device (21);
s2-1, welding one end of each part to be welded on the supporting frame (114) by the welding robot (23) of the welding module I (2) at first, and finishing welding;
s2-2, starting a first horizontal driving motor (211) and a second horizontal driving motor (212) simultaneously, and driving a first sliding plate (215) and a second sliding plate (216) to slide along the supporting base (217) through transmission of a gear and a rack, so that the supporting beam (218) and the welding robot (23) of the first welding module (2) are driven to slide along the supporting base (217);
s2-3, starting a driving motor I (11), and driving a supporting frame (114) to rotate a certain angle through a rotating shaft I (13), a driving wheel I (14), a driving wheel II (15), a driven wheel I (16), a driven wheel II (17), a belt I (18), a belt II (19), a rotating shaft II (110) and a rotating shaft III (111), so that each part to be welded on the supporting frame (114) rotates a certain angle;
s2-4, adjusting the rotation of the welding robot (23) of the welding module I (2) to a welding angle by the rotation driving device (22), and welding the welding positions of the parts to be welded by the welding robot (23) of the welding module I (2);
s2-5, repeating the steps S2-2-S2-4, and finishing all welding of the parts to be welded on one side of the welding module I (2);
s3, after the welding of the first welding module (2), the second welding module (3) welds the parts to be welded, and initially, a welding robot (23) of the second welding module (3) is located at one end of the horizontal walking device (21);
s3-1, welding one end of each part to be welded on the supporting frame (114) by the welding robot (23) of the welding module II (3) and finishing welding;
s3-2, starting a first horizontal driving motor (211) and a second horizontal driving motor (212) simultaneously, and driving a first sliding plate (215) and a second sliding plate (216) to slide along the supporting base (217) through transmission of a gear and a rack, so that the supporting beam (218) and the welding robot (23) of the first welding module (2) are driven to slide along the supporting base (217);
s3-3, starting a driving motor I (11), and driving a supporting frame (114) to rotate a certain angle through a rotating shaft I (13), a driving wheel I (14), a driving wheel II (15), a driven wheel I (16), a driven wheel II (17), a belt I (18), a belt II (19), a rotating shaft II (110) and a rotating shaft III (111), so that each part to be welded on the supporting frame (114) rotates a certain angle;
s3-4, adjusting the welding robot (23) of the welding module II (3) to rotate to a welding angle by the rotation driving device (22), and welding the welding positions of all parts to be welded by the welding robot (23) of the welding module II (3);
s3-5, repeating the steps S3-2-S3-4, completing all welding of the parts to be welded on one side of the welding module II (3), completing all welding of the parts to be welded, releasing the clamping jaw air cylinders (1111), and taking down the welded workpiece from the supporting frame (114).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011474436.6A CN112605576A (en) | 2020-12-14 | 2020-12-14 | Automatic robot for multi-point welding and working method thereof |
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| CN202011474436.6A CN112605576A (en) | 2020-12-14 | 2020-12-14 | Automatic robot for multi-point welding and working method thereof |
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