CN209954057U

CN209954057U - Robot welding work system

Info

Publication number: CN209954057U
Application number: CN201920384191.4U
Authority: CN
Inventors: 丁刚强; 邓小琳; 覃建弄
Original assignee: Liuzhou Wuling Automobile Industry Co Ltd; Guangxi Automobile Group Co Ltd
Current assignee: Liuzhou Wuling Automobile Industry Co Ltd; Liuzhou Wuling Motors Co Ltd; Guangxi Automobile Group Co Ltd
Priority date: 2019-03-25
Filing date: 2019-03-25
Publication date: 2020-01-17
Anticipated expiration: 2029-03-25

Abstract

The utility model discloses a robot welding work system, the fixing base of its robot is installed in the gyration framework, robot welding work system during operation, operating personnel can install the welding workpiece in fixture in the loading and unloading district earlier, then the gyration framework drives fixture and also revolves until the welding workpiece is in the welding work district (the gyration angle of this paper preferred gyration framework is 180 degrees), and the robot that installs on the base simultaneously also revolves together, after the welding workpiece revolves to the welding work district, can control the arm motion of robot to the welding initial position, then carry out welding operation according to the route of planning in advance; the robot sets up on the gyration framework, and the gyration region of robot is mutual coincidence with the partial gyration region of gyration framework, has saved the occupation of land space of whole robot welding work system like this greatly, is favorable to this system to arrange in the less environment in space.

Description

Robot welding work system

Technical Field

The utility model relates to the field of welding technique, in particular to welding work system of robot.

Background

The most important steps of the sheet metal process in the automotive industry are: shearing, punching/cutting, folding/rolling, welding and surface treatment. Welding is a manufacturing process and technique for joining metals or other thermoplastic materials in a heated, high temperature or high pressure manner.

For welding production of bilaterally symmetrical automobile sheet metal parts, in order to reduce part deformation caused by a welding process, a welding process flow needs to be reasonably planned. The conventional method is to adopt a form of a double-robot workstation, namely two industrial robots drive arc welding guns to weld synchronously from left to right, and the process route is to weld from two ends to the middle or from the middle to two.

The closest prior art is: the two robots are independently installed, a large positioner of the three-axis positioner horizontally rotates around a vertical axis, and the two small positioners vertically rotate around a horizontal axis. The workpiece unloading area of the human tool and the working position of the robot are respectively positioned at two sides of the large positioner, the workpiece is manually loaded and manually pre-clamped at one side, and the robot is welded at the other side. After the workpiece is manually loaded, the large positioner drives the workpiece to rotate 180 degrees and enter a welding work area so that the robot can carry out welding operation, and after the welding is completed, the large positioner rotates 180 degrees and then rotates to a workpiece unloading area of the manual tool, and the workpiece is manually taken down. Substantially the same action is repeated to complete the weld of all the workpieces.

The defects of the double-robot workstation in the prior art are mainly as follows: the robot is independently fixed outside the rotating area of the three-axis positioner, and the rotating radius of the three-axis positioner is constant, so that the occupied area of the whole robot workstation is large, and the application of a welding system in a small-space environment is limited.

In addition, the automatic gun cleaning device also needs to be installed outside the three-axis positioner, and the occupied area of the whole robot workstation is large.

Therefore, how to reduce the occupation of space of the welding equipment as much as possible is a technical problem to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model provides a robot welding work system, including base, gyration framework and actuating mechanism, the gyration framework gyration is supported in the base, under the effect of actuating mechanism, the gyration framework can be around vertical axle relative the base gyration; the rotary framework is at least provided with two groups of clamping mechanisms, each group of clamping mechanisms can clamp and fix a welding workpiece, and each clamping mechanism can reciprocate in a loading and unloading area and a welding work area along with the rotary framework;

the robot is provided with at least two sections of mechanical arms, the root of the first section of mechanical arm is arranged on the fixed seat, and the top end of the last section of mechanical arm is used for mounting the welding gun.

The utility model provides a robot weldment work system during operation, operating personnel can install welding workpiece in fixture in the loading and unloading district earlier, then the gyration framework drives fixture and also revolves until welding workpiece is in the weldment work district (the gyration angle of the preferred gyration framework of this text is 180 degrees), install the robot on the base simultaneously and also together revolve, after welding workpiece revolves to the weldment work district, the arm motion that can control the robot to welding initial position, then carry out welding operation according to the route of planning in advance.

As can be seen from the above description, the robot is arranged on the revolving frame, and the revolving area of the robot and the partial revolving area of the revolving frame are mutually overlapped, so that the occupied space of the whole welding work system of the robot is greatly saved, and the system is favorable for being arranged in an environment with a small space.

Optionally, the rotary framework is of an i-shaped structure and comprises two longitudinal arms and a cross arm, the cross arm is connected to the middle positions of the two longitudinal arms, the cross arm is connected with the base in a rotary mode, and a group of clamping mechanisms is installed at the opposite end portions of the two longitudinal arms on the same side.

Optionally, the clamping mechanism comprises a driving positioner and a driven positioner, the driving positioner and the driven positioner are relatively mounted at the same side end parts of the two longitudinal arms, the driving positioner and the driven positioner are matched to clamp the welding workpiece, and the driven positioner can act along with the driving positioner synchronously.

Optionally, the automatic gun cleaning device is further included, and the automatic gun cleaning device is also mounted on the revolving frame.

Optionally, the number of the robots is two, and the two robots are symmetrically arranged on the cross arm of the slewing frame; and when in a non-working state, the mechanical arms of the two robots are symmetrical about a central longitudinal plane between the two robots.

Optionally, each the robot corresponds an arc guard plate, the sunken arc wall orientation of arc guard plate the robot, when being in non-operating condition, the arc guard plate arranges in two between the robot, when weldment work, the arc guard plate rotates to being close to along with the robot loading and unloading district one side.

Optionally, the fixing base of robot can be relative around vertical axis the gyration framework rotates, the arc guard plate is fixed in correspondingly the fixing base, when the fixing base is in first operating position, the arc guard plate is in between two robots, works as the fixing base rotates 90 when second operating position, the arc guard plate is in and is close to a loading and unloading district one side.

Optionally, the robot further comprises two auxiliary protection plates fixed to the revolving frame, and the two auxiliary protection plates are respectively located between the robot and the loading and unloading part area and between the robot and the welding work area; the middle part of auxiliary protection board is provided with the ascending breach of opening, and when weldment work, the arc guard plate rotates extremely breach relative position is in order to shelter from at least most space of breach.

Optionally, the internal and external surface of arc guard plate is the back taper cylinder structure, the depressed part of auxiliary protection plate is for falling trapezoidal opening, when weldment work, the lateral wall of back taper cylinder structure with fall trapezoidal open-ended lateral wall coincidence perhaps the lateral wall of back taper cylinder structure is in fall trapezoidal open-ended outside.

Optionally, the rotary frame further comprises a baffle fixed on the rotary frame, the baffle is located between the two arc-shaped protection plates, and two side walls and two sides of the baffle are matched with the outer surfaces of the arc-shaped protection plates so as to shield a gap formed between the two arc-shaped protection plates.

Drawings

Fig. 1 is a schematic structural diagram of a robot welding work system according to an embodiment of the present invention;

FIG. 2 is a schematic view of the robot welding work system of FIG. 1 with the robot rotated to a welding work area;

FIG. 3 is a side view of the robotic welding work system of FIG. 2.

Wherein, the one-to-one correspondence between component names and reference numbers in fig. 1 to 3 is as follows:

10-a base; 21-a first trailing arm; 22-a second trailing arm; 23-a crossbar; 31-a first robot; 32-a second robot; 41-a first arc-shaped protection plate; 42-a second arc-shaped protection plate; 51-a first auxiliary shield; 52-a second auxiliary guard plate; 61-first automatic gun cleaner; 62-a second automatic gun cleaner; 71-a first clamping mechanism; 72-a second clamping mechanism; 80-baffle plate.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a robot welding work system according to an embodiment of the present invention; FIG. 2 is a schematic view of the robot welding work system of FIG. 1 with the robot rotated to a welding work area; FIG. 3 is a side view of the robotic welding work system of FIG. 2.

The utility model provides a welding work system of robot, including base 10, gyration framework and actuating mechanism. The base 10 generally provides a platform for mounting the various components, and the base 10 is generally fixedly mounted to a shop floor or work support surface.

The revolving frame is supported on the base 10 in a revolving manner, and under the action of a driving mechanism, the revolving frame can revolve around a vertical shaft relative to the base 10. The driving mechanism can be driven by a motor or hydraulic pressure in various manners, as long as the rotation of the rotating frame relative to the base 10 can be realized.

The rotating structure between the rotating frame and the base 10 is not described in detail herein, and those skilled in the art can fully understand and implement the technical solutions described herein through the description herein, that is, the rotating structure between the rotating frame and the base 10 is not disclosed herein, which does not completely hinder those skilled in the art from understanding and implementing the technical solutions herein.

At least two groups of clamping mechanisms are arranged on the rotary framework, each group of clamping mechanisms can clamp and fix the welding workpiece, and each clamping mechanism moves in the loading and unloading area and the welding work area along with the reciprocating motion of the rotary framework. Like this fixture can rotate to the weldment work district along with the framework from the weldment work district and weld, also can rotate to the weldment work district from the weldment work district, and operating personnel can install or dismantle the weldment in fixture in the weldment work district like this, and the weldment is welded in the weldment work district.

The utility model provides a welding work system of robot includes that at least one is used for installing welder's robot, and the fixing base of robot is installed in the revolving frame, and the robot has two at least arms, and what the end arm was used for installing welder. The two adjacent mechanical arms are connected in a joint mode, the root of the first section of mechanical arm is connected with a fixing seat of the robot, and the first section of mechanical arm can be connected with the fixing seat in a joint mode. Typically the end of the robotic arm is provided with a clamp for mounting a welding gun. The mechanical arm of the robot can weld the workpiece according to a pre-planned welding path.

The utility model provides a robot weldment work system during operation, operating personnel can install welding workpiece in fixture in the loading and unloading district earlier, then the gyration framework drives fixture and also revolves until welding workpiece is in the weldment work district (the gyration angle of the preferred gyration framework of this text is 180 °), and meanwhile the robot of installing on base 10 also together revolves, after welding workpiece revolves to the weldment work district, the arm motion that can control the robot to welding initial position, then carry out welding operation according to the route of planning in advance again.

In a specific embodiment, the revolving frame may be an i-shaped structure, and includes two longitudinal arms and a cross arm 23, the cross arm 23 is connected to the middle position of the two longitudinal arms, the cross arm 23 is revolving connected with the base 10, and the width, rigidity and strength of the cross arm 23 may be selected according to specific environments as long as the use requirements can be met. As shown in fig. 1, the two trailing arms are defined as a first trailing arm 21 and a second trailing arm 22, respectively. And a group of clamping mechanisms are arranged at the opposite end parts of the two trailing arms at the same side. That is, the gripping mechanism includes two sets of gripping mechanisms, which are respectively mounted on both ends of the trailing arm in the longitudinal direction, as shown in a first gripping mechanism 71 and a second gripping mechanism 72. Thus, the two end parts of the trailing arm enter the welding working area in turn to weld the welding workpiece arranged on the clamping mechanism.

Welding operation district and loading and unloading district are 180 and arrange promptly, the one end of two trailing arms is located the loading and unloading district, the other end must be located the welding operation district, like this, operating personnel is after loading and unloading district to the first end installation weldment work piece of trailing arm, the revolving frame rotates 180 and rotates to the welding operation district, control robot carries out weldment work, the second end of trailing arm rotates to the loading and unloading district simultaneously, operating personnel installs or dismantles the work piece of this end when carrying out the welded like this, work efficiency is greatly improved.

The robot may preferably be mounted to the cross arm 23. Of course, the trailing arm may be attached thereto.

For workpieces with complex welding seams, the welding work cannot be completed only by the action of the robot, and particularly for the welding work of two or more robots, the action interference problem among the robots needs to be considered. Accordingly, the following arrangement is also made herein.

In each embodiment, the clamping mechanism further comprises a driving positioner and a driven positioner, the driving positioner and the driven positioner are arranged at the end parts of the same sides of the two longitudinal arms, the driving positioner and the driven positioner are matched to clamp a welding workpiece, and the driven positioner can synchronously act along with the driving positioner. The positioner is matched with the robot to finish welding operation together.

To further reduce the space occupied by the welding work system, an automatic gun cleaner in the welding work system may also be mounted on the swing frame.

The symmetrical welding of the welding workpiece is performed, and the two welding robots are taken as examples to continue the technical scheme. Of course, the number of robots is not limited to two, but may be three or more.

In a specific embodiment, the number of robots is two, defined as a first robot 31 and a second robot 32, respectively. The two robots are symmetrically arranged to the cross arm 23 of the slewing frame and, when in the non-welding operating state, the arms of the two robots are symmetrically arranged about a central longitudinal plane therebetween. And after the rotary framework rotates in place, controlling the mechanical arm of the robot to rotate to the initial welding position so as to perform welding work.

The symmetrical arrangement of the mechanical arms can properly balance the torsional force of the two robots to the rotating base 10, which is beneficial to the stability of the mechanism.

In the above embodiments, each robot may correspond to one arc protection plate, the arc protection plate, and the concave arc wall of the arc protection plate faces the robot, that is, the robot is disposed on the concave side of the arc wall-shaped protection plate. For both robots, the arc protection plates respectively include a first arc protection plate 41 and a second arc protection plate 42. When being in the non-operating condition, the arc guard plate arranges between two robots, and when weldment work, the arc guard plate rotates to being close to a loading and unloading district one side. That is to say, the relative gyration framework of arc guard plate is swing joint, and the arc guard plate can rotate along with the gyration framework together, moves to the welding station when the gyration framework, before not welding, and the arc guard plate can rotate to the one side that is close to the loading and unloading district, plays the guard action to the radius of gyration of arc guard plate is less and protective area is big.

In a specific embodiment, the fixing base of the robot can rotate around a vertical axis relative to the revolving frame, the arc-shaped protection plate is fixed on the corresponding fixing base, when the fixing base is located at a first working position, the arc-shaped protection plate is located between the two robots, and when the fixing base rotates 90 degrees at a second working position, the arc-shaped protection plate is located on one side close to the loading and unloading area.

In this embodiment, the robot and the arc guard plate are installed in same fixing base, rotate to preset position earlier when the framework, and the fixing base of robot drives robot and arc guard plate and rotates 90 together again, and the arc guard plate rotates to being close to and unloads a district one side this moment to the protection is located the operating personnel who unloads a district.

Furthermore, the robot welding work system can also comprise two auxiliary protection plates fixed on the revolving frame, and the two auxiliary protection plates are respectively positioned in the robot and loading and unloading part area and the robot and welding work area; as shown, a first auxiliary shield plate 51 and a second auxiliary shield plate 52. The middle part of auxiliary protection board is provided with the ascending breach of opening, and when weldment work, the arc guard board rotates to breach relative position in order to shelter from most space of breach at least, that is to say that two arc guard boards form the guard plate with corresponding auxiliary protection board jointly.

That is to say, the auxiliary protection plate herein has the breach in the middle of, and the breach can be according to the convenient welding operation of robot work and decide, avoids auxiliary protection plate and robot arm to interfere.

Furthermore, in order to reduce the gap between the two arc-shaped protection plates as much as possible, a baffle 80 can be arranged on the rotary framework, and the two side walls of the baffle 80 are matched with the outer surfaces of the two arc-shaped protection plates so as to shield the gap formed between the two arc-shaped protection plates.

The baffle 80 is arranged to avoid the rotation of the two arc-shaped protection plates and is fitted with the outer side walls of the two arc-shaped protection plates as much as possible. In addition, the height of the baffle can be set according to actual conditions, and is approximately as high as the arc-shaped protection plate or slightly lower than the arc-shaped protection plate.

The internal and external surface of arc guard plate is back taper cylinder structure, and the depressed part of auxiliary guard plate is the trapezoidal opening that falls, and when weldment work, the lateral wall of back taper cylinder structure with fall trapezoidal open-ended lateral wall coincidence perhaps the lateral wall of back taper cylinder structure is in the trapezoidal open-ended outside that falls. The outside of the inverted trapezoidal opening here is the outside relatively close to the direction in which the length of the auxiliary shield plate extends, that is, the direction in which the cross arm 23 extends.

Specifically, the automatic clear rifle ware can be installed respectively on two auxiliary shield plates, specifically, the automatic clear rifle ware can be installed in the lateral wall of auxiliary shield plate. The number of automatic gun cleaners may be two, which are defined as a first automatic gun cleaner 61 and a second automatic gun cleaner 62, respectively.

Other configurations of robotic welding work systems may be found in the prior art and are not specifically described herein.

It is right above the utility model provides a welding work system of robot has carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. A robot welding work system is characterized by comprising a base, a rotary frame and a driving mechanism, wherein the rotary frame is supported on the base, and can rotate around a vertical shaft relative to the base under the action of the driving mechanism; the rotary framework is at least provided with two groups of clamping mechanisms, each group of clamping mechanisms can clamp and fix a welded workpiece, and each clamping mechanism can reciprocate in a loading and unloading area and a welding work area along with the rotary framework;

2. The robotic welding work system according to claim 1, wherein said pivoting frame is an i-shaped structure including two trailing arms and a cross arm connected to a central portion of said trailing arms, said cross arm pivotally connected to said base, a set of said clamping mechanisms mounted to opposite ends of said trailing arms on a common side.

3. The robotic welding work system according to claim 2, wherein the clamping mechanism includes a master positioner and a slave positioner mounted opposite to each other at a same side end of the trailing arms, the master positioner and the slave positioner cooperate to clamp the welding workpiece, and the slave positioner is capable of synchronously operating with the master positioner.

4. The robotic welding work system according to claim 2, further comprising an automatic gun cleaner also mounted to the swing frame.

5. A robotic welding work system as claimed in any one of claims 2 to 4 wherein said robots are two in number, both said robots being symmetrically disposed on a crossbar of said slewing frame; and when in a non-working state, the mechanical arms of the two robots are symmetrical about a central longitudinal plane between the two robots.

6. The robotic work welding system as defined in claim 5, wherein each of said robots is provided with an arc-shaped protection plate, a concave arc wall of said arc-shaped protection plate faces said robot, said arc-shaped protection plate is disposed between said two robots when in a non-working state, and said arc-shaped protection plate is rotated together with said robots to be close to one side of said loading and unloading area when performing a welding work.

7. The robotic welding work system according to claim 6, wherein the mounting bracket of said robot is rotatable about a vertical axis relative to said revolving frame, said arcuate fender is fixed relative to said mounting bracket, said arcuate fender is disposed between said robots when said mounting bracket is in a first operating position, and said arcuate fender is disposed adjacent to said area to be loaded and unloaded when said mounting bracket is rotated 90 ° to a second operating position.

8. The robotic welding work system according to claim 6, further comprising two auxiliary protection plates secured to the revolving frame between the robot and the handler area and between the robot and the welding work area, respectively; the middle part of auxiliary protection board is provided with the ascending breach of opening, and when weldment work, the arc guard plate rotates extremely breach relative position is in order to shelter from at least most space of breach.

9. The robotic work welding system of claim 8, wherein the inner and outer surfaces of the arc-shaped protection plate are inverted cone-shaped structures, the recessed portion of the auxiliary protection plate is an inverted trapezoid-shaped opening, and when a work piece is welded, the outer sidewall of the inverted cone-shaped structure coincides with the sidewall of the inverted trapezoid-shaped opening or the outer sidewall of the inverted cone-shaped structure is outside the inverted trapezoid-shaped opening.

10. The robotic welding work system according to claim 8, further comprising a baffle plate secured to the rotating frame, the baffle plate being positioned between the arcuate fender panels, the baffle plate having sidewalls that mate with outer surfaces of the arcuate fender panels on opposite sides of the baffle plate to shield a gap formed between the arcuate fender panels.