CN102672373A - X frame automatic welding system - Google Patents
X frame automatic welding system Download PDFInfo
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- CN102672373A CN102672373A CN2012100951826A CN201210095182A CN102672373A CN 102672373 A CN102672373 A CN 102672373A CN 2012100951826 A CN2012100951826 A CN 2012100951826A CN 201210095182 A CN201210095182 A CN 201210095182A CN 102672373 A CN102672373 A CN 102672373A
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Abstract
The invention provides an X frame automatic welding system which comprises a first feeding trolley, a carrying robot, a first positioning machine, a first welding robot, a second feeding trolley, a second positioning machine, a second welding robot and a control device, wherein the carrying robot is used for automatically picking up an X frame from the first feeding trolley; the first positioning machine is used for receiving the X frame picked up by the carrying robot; the first welding robot is used for carrying out first welding on the X frame on the first positioning machine; the second feeding trolley is used for receiving the X frame which is picked up by the carrying robot and is welded on the first positioning machine; the second positioning machine is used for picking up the X frame on the second feeding trolley and overturning the X frame; the second welding robot is used for carrying out second welding on the X frame overturned on the second positioning machine; and the control device is used for controlling the feeding trolleys, the carrying robots, the positioning machines and the welding robots to work. Therefore, according to the X frame automatic welding system disclosed by the invention, the integral automatic welding production line of X frame welding can be implemented and the production efficiency is improved.
Description
Technical field
The present invention relates to excavator manufacturing technology field, relate in particular to the robot welding system of X frame on a kind of excavator.
Background technology
In existing excavator track frame welding production line, the X frame is the main part of track frame.This X frame comprises X type main body and stretches out the annular brace seat of X frame body.This X frame body is to be welded to each other by four side plates around X type upper plate, X type lower plate and connection upper plate and the lower plate to form.Said annular brace seat is welded on X type upper plate and lower plate midway.Be respectively arranged with and the corresponding circular hole of said annular brace seat in the middle of said X type upper plate and the lower plate.Existing excavator manufacturer assembles welding through following flow process to this X frame: at first, the each several part element of X frame is located spot welding through the manual work group; Secondly, artificial use crane will be organized good X frame will be lifted to the robot welding positioner; Then, pass through artificial clamping again, robot begins welding; At last, artificial use driving hangs the X frame that welds to next process from the robot positioner.But, in the assembling welding process of above-mentioned X frame: on the one hand, use crane to carry out the lifting of X frame, can't accurately locate the Heave Here and fall suspension centre; On the other hand, in the hoisting process X frame easily rotation hurt the workman, lack security, and the X frame can't carry out the location of X frame placement direction in hoisting process, be unfavorable for the welding of robot; Again on the one hand, this kind assembling welding manner can't satisfy the automatic logistics system demand of full-automatic X frame welding production line, and then causes production efficiency lower and production cost is higher.
Therefore, be necessary to provide a kind of improved X frame robot welding system to address the above problem.
Summary of the invention
The object of the present invention is to provide a kind of automation control, X frame robot welding system of realizing to enhance productivity.
For realizing the foregoing invention purpose; The invention provides a kind of X frame robot welding system, said robot welding system comprises first feeding trolley, from the transfer robot that automatically extracts the X frame on said first feeding trolley, receive first positioner of the X frame that transfer robot extracts, the X frame on first positioner is carried out welding for the first time first welding robot, receive the X frame that welding is accomplished on first positioner that said transfer robot extracts second feeding trolley, extract the X frame on second feeding trolley and second positioner that this X frame is overturn, to second positioner on X frame after the upset carry out second welding robot of welding for the second time and the control device of controlling said feeding trolley, transfer robot, positioner and welding robot work.
As further improvement of the present invention, said first feeding trolley is identical with the second feeding trolley structure, and each feeding trolley comprises an automatic positioning equipment that the X frame is carried out the placement direction location.
As further improvement of the present invention, said automatic positioning equipment comprises that the alar part inboard that supports the outside projection of X frame is with detent mechanism that X frame placement direction is corrected and support the centering machine of X frame annular brace seat inboard so that the X frame is felt relieved.
As further improvement of the present invention, said transfer robot comprise the holder that fixes on the ground, positioning of rotating the Rotary cloumn on the holder, driven in rotation column on holder around first drive motors of axial rotation, activity be fixed on Rotary cloumn upside and the cantilever vertical with Rotary cloumn, drive cantilever in the Rotary cloumn upper edge the axially movable elevating mechanism of Rotary cloumn, positioning of rotating at first manipulator of cantilevered distal end and second drive motors of drives mechanical hand rotation.
As further improvement of the present invention, said first manipulator comprises that three clamping handgrips, locating clips are kept a firm hand on the positioning seat of hand and driven positioning seat and moves up and down to drive and clamp first driving mechanism that handgrip tightens up each other and loosens.
As further improvement of the present invention, said second positioner comprise fixed leg, rotatory be fixed in turning arm on the fixed leg, be fixed on the turning arm end with the 3rd drive motors of the X frame clamping device of fixing X frame and the rotation of driven in rotation arm with drive the moving motor of 4 wheel driven of said clamping device rotation.
As further improvement of the present invention; Said X frame clamping device comprises support body, be fixed on the support body with the claw of fixing X frame and drive second driving mechanism that claw moves, said second driving mechanism comprise the oil cylinder or the cylinder that are fixed on the support body, the sliding axle, the activity that are fixed on said oil cylinder or cylinder lower end be fixed on the support body lower end with the slide carriage of stationary jaw and be connected sliding axle and slide carriage between to drive the transmission mechanism that slide carriage moves horizontally.
As further improvement of the present invention; Said slide carriage is provided with chute; The guide plate that said support body comprises casing and is fixed on bottom half, said guide plate are provided with the raised line that protrudes in the said chute, and said slide carriage moves at the raised line drive claw that transmission mechanism drives the lower edge guide plate.
As further improvement of the present invention; Said claw is positioned the clamping handgrip on the fixed mount with comprising the fixed mount that is fixed on the slide carriage and rotatory; Said fixed mount is provided with pivot and hook that locating clip is kept a firm hand on hand; Said clamping handgrip is provided with axis hole and hanging hole that cooperates with the pivot rotation, and said claw also comprises the spring that is fixed between hook and the hanging hole.
As further improvement of the present invention, said robot welding system also comprises and supplies first feeding trolley and second feeding trolley along ground rail that predetermined direction moves and drive the 5th drive motors that feeding trolley moves.
The invention has the beneficial effects as follows: X frame robot welding system of the present invention can carry out that the X frame is carried through feeding trolley, the direction of the directed carrying of transfer robot X frame, first positioner and second positioner adjustment X frame to be to make things convenient for the welding of welding robot to the X frame; Thereby realize the automation welding streamline of X frame; Need not manually-operated, handled easily and production efficiency are higher.
Description of drawings
Fig. 1 is the stereogram of X frame and X frame robot welding system of the present invention;
Fig. 2 is the stereogram of the automatic positioning equipment on the feeding trolley among Fig. 1;
Fig. 3 is the view of another angle of Fig. 2;
Fig. 4 is the part exploded view of automatic positioning equipment among Fig. 2;
Fig. 5 is the user mode figure that X frame automatic positioning equipment carries out X frame location among Fig. 2;
Fig. 6 is the stereogram of transfer robot and an X frame among Fig. 1;
Fig. 7 is the phantom of first manipulator on the transfer robot among Fig. 6;
Fig. 8 is the stereogram of another angle of first positioner and first welding robot among Fig. 1;
Fig. 9 is the stereogram of another angle of second positioner and second welding robot among Fig. 1;
Figure 10 is the stereogram of the X frame clamping device on second positioner among Fig. 8;
Figure 11 is the cross-sectional schematic of clamping device and an X frame among Figure 10, shows the annexation of second driving mechanism on the clamping device;
Figure 12 is the part exploded view of clamping device among Figure 10.
The specific embodiment
Below will combine each embodiment shown in the drawings to describe the present invention.But these embodiments do not limit the present invention, and the conversion on the structure that those of ordinary skill in the art makes according to these embodiments, method or the function all is included in protection scope of the present invention.
Please with reference to shown in Figure 1 for a preferred embodiments of X frame robot welding system of the present invention.Said robot welding system comprises first feeding trolley 100; On said first feeding trolley 100, extract the transfer robot 200 of X frame 900 automatically; Receive first positioner 300 of the X frame 900 of transfer robot 200 extractions; X frame on first positioner 300 900 is carried out first welding robot 400 of welding for the first time; After welding is accomplished for the first time, receive second feeding trolley 800 of the X frame 900 on first positioner 300; Second positioner 500 that extracts the X frame 900 on second feeding trolley 800 and this X frame 900 is overturn; X frame after the upset on second positioner 500 900 is carried out second welding robot 600 of welding for the second time; Supply first feeding trolley 100 and second feeding trolley 800 along ground rail 700 that predetermined direction moves; And control said feeding trolley 100; 800; Transfer robot 200; Positioner 300; 500 and welding robot 400; The control device (not shown) of 600 work.
Please combine Fig. 1 to shown in Figure 5; Said first feeding trolley 100 is identical with second feeding trolley, 800 structures, and each feeding trolley 100,800 comprises a dolly main body 11 and is installed on this dolly main body 11 X frame 900 is carried out the automatic positioning equipment 12 of placement direction location.Said robot welding system also comprises the 5th drive motors (not shown) that driving feeding trolley 100,800 moves.
Said automatic positioning equipment 12 comprises base 13, be positioned at the gripper shoe 14 at base 13 tops, be fixed on the gripper shoe 14 and in order to the alar part 902 that supports the 900 outside projections of X frame with detent mechanism 15 that X frame 900 placement directions are corrected, support X frame 900 annular brace seats 901 inboards with centering machine 16 that X frame 900 is felt relieved and the in-place detection switch 17 that carries out X frame 900 position probing.
Said base 13 is the hollow type design, and comprises the rebound 131 that is placed on the dolly main body 11 and be fixed on hydraulic rotary joint 132 and the joint counter flange 133 on the rebound 131.The hydraulic mechanism (not shown) that is provided with on said joint counter flange 133 and the dolly main body 11 matches automatic positioning equipment 12 is promoted or rotate.Said gripper shoe 14 is the design of rectangle body.Said gripper shoe 14 is provided with to be fixed on the first 141 directly over the base 13 and to stretch out base 13 1 sides and is the second portion 142 that hanging shape is provided with.Four locating slots 144 that said first 141 is provided with a circular hole 143 at centre position and up/down perforation, along the circumferential direction evenly be provided with in circular hole 143 outsides and near a locating hole 145 between a pair of locating slot 144 of second portion 142.Said second portion 142 is provided with at two fixing holes that run through up and down 146 of both sides and the rectangular opening 147 that between these two fixing holes 146 and along gripper shoe 14 length directions, is provided with.Said in-place detection switch 17 is fixed on the gripper shoe 14 position near rectangular opening 147.
Said detent mechanism 15 is positioned at a pair of driving lever 151 on the gripper shoe 14 with comprising rotatory and drives this driving lever 151 is moved to promote the driving mechanism 152 that X frame 900 moves to the precalculated position.Said driving mechanism 152 comprises the oil cylinder 153 that is fixed on the gripper shoe 14, be connected oil cylinder 153 and this to the transmission mechanism between the driving lever 151 (not label), oil cylinder 153 1 ends are fixed on first positioning seat 154 on the gripper shoe 14 and oil cylinder 153 other ends are fixed on second positioning seat 155 on the transmission mechanism.Oil cylinder described in the present invention 153 also can be replaced by cylinder (not shown).Said transmission mechanism comprise the slide carriage guide rail 156 that is fixed on the gripper shoe 14 and be fixed on oil cylinder 153 and said driving lever 151 between and the slide carriage 157 that moves along slide carriage guide rail 156.Said slide carriage 157 comprises mainboard 1571 and is fixed on the mainboard 1571 to cooperate the slide block 1572 that slides with said slide carriage guide rail 156.Said mainboard 1571 is provided with a pair of elongated slot 1573 that along inclined direction extends in opposite directions.Said driving lever 151 is the triangular form setting, and is fixedly formed by two triangular form sheet material mutual superposition.Said driving lever 151 be provided with along its thickness direction between two-layer said sheet material, the sliding axle 1511 in along continuous straight runs an is positioned at corner relative with its long limit.Said sliding axle 1511 is contained in the elongated slot 1573 on the said slide carriage 157, and is provided with to match with said elongated slot 1573 and merges the pulley 1512 that can in elongated slot 1573, slide.Said driving lever 151 also be provided be positioned at its long limit one end, so that driving lever 151 rotatory ground is fixed on the driving lever steady pin 1513 on the gripper shoe 14, and be positioned at the positioning pin rod 1514 of the long limit other end with alar part 902 inboards of the outside projection that supports X frame 900.Fixing hole 146 on the second portion 142 of said driving lever steady pin 1513 and gripper shoe 14 matches, so that driving lever 151 can be around these driving lever steady pin 1513 rotations.When initial position, the sliding axle 1511 of said driving lever 151 be positioned at two elongated slots 1573 each other near an end.
Said centering machine 16 comprise holder 161 in the first 141 that is fixed on gripper shoe 14, positioning of rotating the centering body on the holder 161 162 and be fixed on holder 151 and centering body 162 between spring 163.Said centering body 162 is the setting of L type, and comprises interconnective vertical arm 1621 and transverse arm 1622 and be separately fixed at vertical arm 1621 and the runner 1623 of transverse arm 1622 opposite sides.Said holder 161 comprises two side 1611, be connected in transverse axis 1612 between the two side 1611, connect the diapire 1613 of 1611 lower ends, two side, be held in the lid 1615 of 1611 upper ends, two side to fixed bar that extends below 1614 and button from diapire 1,613 one ends.Said spring 163 1 ends are fixed on the said fixed bar 1614.Said centering body 162 is provided with the hook 1625 that the through hole 1624 that cooperates rotation with transverse axis 1612 and ammunition feed spring 163 other ends hang in the vertical junction of arm 1621 and transverse arm 1622.Said centering body 162 is skewed under the stretching of spring 163 when initial position, vertically arm 1621 all upwards stretches out lid 1615 upper surfaces with transverse arm 1622.After X frame 900 was placed on the gripper shoe 14, transverse arm 1622 was pressed downward into holder 161 inboards, and vertically 1621 on arm supports in the inboard of the annular brace seat 901 of X frame 900, positions with the center with X frame 900.
Said automatic positioning equipment 12 is at first felt relieved through 16 pairs of X framves 900 of centering machine in use; Start oil cylinder 153 then, slide carriage 157 is outwards promoted along slide carriage guide rail 156 through oil cylinder 153; At this moment, two said driving levers 151 around its driving lever steady pin 1513 rotate, the sliding axle 1511 of driving lever 151 along elongated slot 1573 inwalls towards each other away from direction move; Inboard and the positioning pin rod 1514 of another driving lever 151 that touches an alar part 902 of X frame 900 outside projections when the positioning pin rod 1514 of one of them driving lever 151 do not touch another relative alar part 902 when inboard; Continue to start oil cylinder 153, be rotated further to impel driving lever 151; At this moment; The positioning pin rod 1514 that touches the driving lever 151 of X frame 900 alar parts 902 inboards promotes the direction of rotation of this alar part 902 along driving lever 151; All support two relative alar part 902 inboards of X frame 900 up to the positioning pin rod 1514 of two driving levers 151; This moment, said automatic positioning equipment 12 corrected to predetermined direction and position with X frame 900, and work is accomplished.When one of them positioning pin rod 1514 of above-mentioned driving lever 151 supports rotation with X frame 900; Rotatablely move on the vertical arm 1621 that annular brace seat 901 inboards of X frame 900 and below are resisted against centering machine 16 and the runner 1623 of transverse arm 1622; Offset X frame 900 through runner 1623 thus and correct the frictionally damage of rotary course to centering machine 16, the service life of improving said automatic positioning equipment 12.
Get by above; Said automatic positioning equipment 12 drives a pair of driving lever 151 rotations through oil cylinder 153 or cylinder and transmission mechanism; Move to predetermined placement location so that driving lever 151 supports the alar part 902 of X frame 900 outside projections and promotes X frame 900 along the moving direction of driving lever 151, thereby X frame 900 is carried out accurate localization; And this kind automatic positioning equipment 12 is simple in structure, and convenient manufacturing and cost are lower.
Please combine Fig. 6 and shown in Figure 7, said transfer robot 200 comprise the holder 21 that fixes on the ground, positioning of rotating the Rotary cloumn on the holder 21 22, driven in rotation column 22 on holder 21 around first drive motors 23 of axial rotation, activity be fixed on Rotary cloumn 22 upsides and the cantilever 24 vertical with Rotary cloumn 22, drive cantilever 24 at the axially movable elevating mechanism of Rotary cloumn 22 upper edge Rotary cloumns 22 25, positioning of rotating at terminal first manipulator 26 of cantilever 24 and second drive motors (not shown) of drives mechanical hand 26 rotations.Said first manipulator 26 comprises that three clamping handgrips 261, locating clips are kept a firm hand on holder 264 and the positioning seat 262 of hand 261 and driven positioning seat 262 relative fixed seats 264 and moves up and down to drive and clamp first driving mechanism 263 that handgrip 261 tightens up each other and loosens.Said clamping handgrip 261 1 end positioning of rotating are on holder 264, and mid portion is fixed on the positioning seat 262.First driving mechanism 263 is an oil cylinder described in the present invention.Really, this first driving mechanism also can be cylinder (not shown).
Please with reference to shown in Figure 8, the clamping device 33 that said first positioner 300 is fixed on the turning arm 32 of vertical columns 31 1 sides and is fixed on turning arm 32 terminal sides with comprising vertical columns 31, rotatory.When initial position, the clamping position of said clamping device 33 up, said transfer robot 200 directly is placed on X frame 900 downwards on the clamping position of clamping device 33.Clamping device 33 drives X framves 900 but said turning arm 32 left rotation and right rotation 45 are spent is rotated, and then the circle weld seam of the circular orientation seat 901 on the 400 pairs of X framves 900 of welding robot of winning is welded, and forms ship type weld seam.Said clamping device 33 is provided with the angle 331 of location X frame 900.
Please combine Fig. 9 to shown in Figure 12, said second positioner 500 comprises fixed leg 51, is fixed on the X frame clamping device 53 of turning arm 52 terminal sides to rotatory with being fixed in turning arm 52 and rotatory on the fixed leg 51.Said X frame clamping device 53 comprises support body 54, be fixed on the support body 54 with the claw 55 of fixing X frame 900 and drive second driving mechanism 56 that claw 55 moves.Said second positioner 500 also comprises the 3rd drive motors 59 and the moving motor (not shown) of the 4 wheel driven that drives said clamping device 53 rotations in order to 52 rotations of driven in rotation arm.
Said support body 54 comprises casing 541, is fixed on the slide-and-guides cover 542 of casing 541 centres and the guide plate 543 that is fixed on casing 541 bottoms.Said casing 541 designs for hollow type and comprises base plate 5411 and be fixed on the sense switch 5412 that whether is in place with detection X frame 900 on the base plate 5411.Said base plate 5411 is provided with radially outwards three alar parts 5413 of projection.Said sense switch 5412 is near the root position of one of them alar part 5413.Between said casing 541 also is provided with and is positioned at wherein and the holding hole 5414 of up/down perforation.Said slide-and-guide cover 542 be provided with the cover plate 5421 that covers above said holding hole 5414, with the cover plate 5421 vertical accepting holes 5423 that are connected and are contained in the cylinder 5422 in the said holding hole 5414 and run through cover plate 5421 and cylinder 5422 up and down.Said cylinder 5422 also is provided with and radially connects the inside and outside slideway 5424 of cylinder 5422.Said slideway 5424 extends axially and radially corresponding with said alar part 5413 along cylinder 5422.Said guide plate 543 is provided with in pairs.Said support body 54 comprises the three pair guide plates 543 corresponding with alar part 5413.Said three pairs of guide plates 543 are fixed on and said alar part 5413 corresponding positions.The every pair of said guide plate 543 is equipped with from this relative side of guide plate 543 raised line 5431 of projection in opposite directions.
Said second driving mechanism 56 comprise the oil cylinder 561 that is fixed on the support body 54, the sliding axle 562, the activity that are fixed on said oil cylinder 561 lower ends be fixed on support body 54 lower ends with the slide carriage 563 of stationary jaw 55 and be connected sliding axle 562 and slide carriage 563 between to drive the transmission mechanism 564 that slide carriage 563 moves horizontally.Oil cylinder described in the present invention 561 also can be cylinder (not shown) and is positioned on the said slide-and-guide cover 542.Said sliding axle 562 is contained in the accepting hole 5423 of said cylinder 5422, and is provided with the holddown groove 5621 corresponding with said slideway 5424.Said second driving mechanism 56 comprises three said slide carriages 563, and each slide carriage 563 activity be positioned at each between the said guide plate 543.Each slide carriage 563 both sides is respectively equipped with the chute 5631 that matches with each guide plate 543 inboard raised lines 5431.Said slide carriage 563 can slide along guide plate 543 inboard raised lines 5431 under transmission mechanism 564 drives.Said X frame clamping device 53 comprises the three group said claws 55 corresponding with said slide carriage 563 quantity; And said claw 55 correspondences are fixed on the end of each slide carriage 563; Thereby when transmission mechanism 564 drive slide carriages 563 moved, said claw 55 was also along with slide carriage 563 moves.
Said transmission mechanism 564 is contained in casing 541 inboards basically, and comprises the sliding axle hanger 5641 that is fixed on the sliding axle 562, is fixed on slide carriage hanger 5642 on the slide carriage 563, is movably connected in the connecting rod 5643 between sliding axle hanger 5641 and the slide carriage hanger 5642 and is fixed on the connecting rod holder 5644 of casing 541 tops with stationary links 5643.Said sliding axle hanger 5641 all is with slide carriage hanger 5621 and has certain thickness sheet design and be respectively equipped with an oval-shaped holding hole 565.Said connecting rod holder 5644 lower ends are provided with the transverse axis 5645 of a positioning linkage rod 5643.Said sliding axle hanger 5,641 one ends are fixed on the sliding axle 562, the other end stretches out cylinder 5422 outsides.Said sliding axle hanger 5641 can move up and down along the slideway on the cylinder 5,422 5424 under the drive of oil cylinder 561.The design roughly triangular in shape of said connecting rod 5643, two angles of said connecting rod 5643 long edge tails are respectively equipped with a sliding axle 566 that matches with sliding axle hanger 5641 and holding hole 565 on the slide carriage hanger 5642.Said sliding axle 566 can move along its length direction in holding hole 565.The position, an angle on the long relatively limit of said connecting rod 5643 be provided with connecting rod holder 5644 on the circular hole 5646 that matches of transverse axis 5645.
Said claw 55 comprises the fixed mount 551 that is fixed on the slide carriage 563, is positioned the clamping handgrip 552 on the fixed mount 551 and be fixed on the spring 553 that clamps between handgrip 552 and the fixed mount 551 to rotatory.Said fixed mount 551 is provided with locating clip and keeps a firm hand on the pivot 5511 of hand 55 and a hook 5512 of fixing spring 553 1 ends.Said clamping handgrip 552 is provided with the axis hole 5521 that cooperates with pivot 5511 rotation, and in order to a hanging hole 5522 of fixing spring 553 other ends.Said clamping handgrip 552 comprises that main part 554, autonomous body 554 stretch out to support supporting pawl 555 and buckle and holding buckleing of X frame 900 and hold pawl 556 and autonomous body 554 towards the lug 557 of buckle the rightabout extension of holding pawl 556 extensions of X frame 900.Said axis hole 5521 is arranged on the said main part 554.Said hanging hole 5522 is arranged on the lug 557.Said X frame clamping device 53 also comprises first travel switch 57 that carries out the detection of slide carriage 563 sliding positions, and clamps second travel switch 58 that handgrip 552 rotations detect.
Said X frame clamping device 53 in use; When oil cylinder 561 upwards spurs sliding axle 562 motions; Sliding axle hanger 5641 moves up in slideway 5424, and drivening rod 5643 is fixed on the angle on the sliding axle hanger 5641 and moves simultaneously, makes the transverse axis 5645 of connecting rod 5643 on connecting rod holder 5644 rotate; Thereby move at another angle that drivening rod 5643 is fixed on the slide carriage hanger 5642, and then drive slide carriage 563 and claw 55 inside horizontal slips; When the pawl 555 that supports on the said claw 55 is moved horizontally to around the annular brace seat 901 that supports X frame 900 tops and oil cylinder 561 when continuing to order about slide carriage 563 and driving claws 55 and move inward; Clamp handgrip 552 this moment around pivot 5511 rotations; Spring 553 is stretched, and final feasible button is held pawl 556 buttons and is held in annular brace seat 901 downsides; When oil cylinder 561 continued to move up, button was held 556 of pawls X frame 900 is upwards promoted, and pushed up the sense switch 5412 of support body 54 downsides up to X frame 900, and sense switch 5412 sends signal so that oil cylinder 561 stops to move; At this moment; X frame 900 switch 5412 to be detected along the vertical direction and guide plate 543 held pawl 556 and gripped with buckleing; Radially gripped by the pawl 555 that supports on three claws 55; Thereby can X frame 900 secure also can be carried out the rotary movement of all angles to X frame 900, carry out the welding of X frame 900 bottom position weld seams and the moulding of ship type weld seam, solve the defective that only can carry out the automation welding in the prior art to X frame 900 single faces with convenient second welding robot 600; Promote the integrated automation of X frame 900 clampings and welding production line, increase work efficiency.
Get by above; X frame robot welding system of the present invention through feeding trolley 100 carry out that X frame 900 is carried, the moulding of the direction of the directed carrying X frame of transfer robot 200 900, first positioner 300 and second positioner, 500 adjustment X framves 900 ship type weld seam during with the welding that makes things convenient for 400,600 pairs of X framves 900 of welding robot and welding; Thereby realize the automation welding streamline of X frame 900; Need not manually-operated, handled easily and production efficiency are higher.
Be to be understood that; Though this specification is described according to embodiment; But be not that each embodiment only comprises an independently technical scheme, this narrating mode of specification only is for clarity sake, and those skilled in the art should make specification as a whole; Technical scheme in each embodiment also can form other embodiments that it will be appreciated by those skilled in the art that through appropriate combination.
The listed a series of detailed description of preceding text only is specifying to feasibility embodiment of the present invention; They are not in order to restriction protection scope of the present invention, allly do not break away from equivalent embodiment or the change that skill of the present invention spirit done and all should be included within protection scope of the present invention.
Claims (10)
1. X frame robot welding system is characterized in that: said robot welding system comprises first feeding trolley, from the transfer robot that extracts the X frame on said first feeding trolley automatically, receive first positioner of the X frame that transfer robot extracts, the X frame on first positioner is carried out welding for the first time first welding robot, receive the X frame that welding is accomplished on first positioner that said transfer robot extracts second feeding trolley, extract the X frame on second feeding trolley and second positioner that this X frame is overturn, to second positioner on X frame after the upset carry out second welding robot of welding for the second time and the control device of controlling said feeding trolley, transfer robot, positioner and welding robot work.
2. X frame robot welding system as claimed in claim 1 is characterized in that: said first feeding trolley is identical with the second feeding trolley structure, and each feeding trolley comprises an automatic positioning equipment that the X frame is carried out the placement direction location.
3. X frame robot welding system as claimed in claim 2 is characterized in that: said automatic positioning equipment comprises that the alar part inboard that supports the outside projection of X frame is with detent mechanism that X frame placement direction is corrected and support the centering machine of X frame annular brace seat inboard so that the X frame is felt relieved.
4. X frame robot welding system as claimed in claim 1 is characterized in that: said transfer robot comprise the holder that fixes on the ground, positioning of rotating the Rotary cloumn on the holder, driven in rotation column on holder around first drive motors of axial rotation, activity be fixed on Rotary cloumn upside and the cantilever vertical with Rotary cloumn, drive cantilever in the Rotary cloumn upper edge the axially movable elevating mechanism of Rotary cloumn, positioning of rotating at first manipulator of cantilevered distal end and second drive motors of drives mechanical hand rotation.
5. X frame robot welding system as claimed in claim 4 is characterized in that: said first manipulator comprises that three clamping handgrips, locating clips are kept a firm hand on the positioning seat of hand and driven positioning seat and moves up and down to drive and clamp first driving mechanism that handgrip tightens up each other and loosens.
6. X frame robot welding system as claimed in claim 1 is characterized in that: said second positioner comprise fixed leg, rotatory be fixed in turning arm on the fixed leg, be fixed on the turning arm end with the 3rd drive motors of the X frame clamping device of fixing X frame and the rotation of driven in rotation arm with drive the moving motor of 4 wheel driven of said clamping device rotation.
7. X frame robot welding system as claimed in claim 6; It is characterized in that: said X frame clamping device comprises support body, be fixed on the support body with the claw of fixing X frame and drive second driving mechanism that claw moves, said second driving mechanism comprise the oil cylinder or the cylinder that are fixed on the support body, the sliding axle, the activity that are fixed on said oil cylinder or cylinder lower end be fixed on the support body lower end with the slide carriage of stationary jaw and be connected sliding axle and slide carriage between to drive the transmission mechanism that slide carriage moves horizontally.
8. X frame robot welding system as claimed in claim 7; It is characterized in that: said slide carriage is provided with chute; The guide plate that said support body comprises casing and is fixed on bottom half; Said guide plate is provided with the raised line that protrudes in the said chute, and said slide carriage moves at the raised line drive claw that transmission mechanism drives the lower edge guide plate.
9. X frame robot welding system as claimed in claim 8; It is characterized in that: said claw is positioned the clamping handgrip on the fixed mount with comprising the fixed mount that is fixed on the slide carriage and rotatory; Said fixed mount is provided with pivot and hook that locating clip is kept a firm hand on hand; Said clamping handgrip is provided with axis hole and hanging hole that cooperates with the pivot rotation, and said claw also comprises the spring that is fixed between hook and the hanging hole.
10. X frame robot welding system as claimed in claim 1 is characterized in that: said robot welding system also comprises and supplies first feeding trolley and second feeding trolley along ground rail that predetermined direction moves and drive the 5th drive motors that feeding trolley moves.
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| CN2012100951826A CN102672373A (en) | 2012-03-31 | 2012-03-31 | X frame automatic welding system |
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| CN2012100951826A CN102672373A (en) | 2012-03-31 | 2012-03-31 | X frame automatic welding system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753061A (en) * | 2013-12-25 | 2014-04-30 | 安徽好运机械有限公司 | Machining method for forklift fork arm carrier |
| CN104493416A (en) * | 2014-12-02 | 2015-04-08 | 河南省矿山起重机有限公司 | Position changing machine and production line employing same |
| CN106670611A (en) * | 2016-08-26 | 2017-05-17 | 温州市宝饰五金制品有限公司 | Safe bath towel holder welding device for bathroom hardware manufacturing |
| CN106862813A (en) * | 2017-03-14 | 2017-06-20 | 浙江大学 | A kind of automatic surfacing of caterpillar teeth wheel disc robot and vision detection system |
| CN107553028A (en) * | 2017-10-26 | 2018-01-09 | 安徽江淮汽车集团股份有限公司 | Truck top cover automatic welding equipment and welding procedure |
| CN108340122A (en) * | 2018-04-16 | 2018-07-31 | 冯敬新 | Robot flexibility tooling welding system |
| CN108436350A (en) * | 2018-05-18 | 2018-08-24 | 吉林工程技术师范学院 | A kind of automatic welding machinery hand system |
| WO2018191890A1 (en) * | 2017-04-19 | 2018-10-25 | 深圳配天智能技术研究院有限公司 | Automatic welding work system and operation method therefor |
| CN109202338A (en) * | 2018-11-29 | 2019-01-15 | 王辉 | A kind of welding robot |
| CN110076490A (en) * | 2019-05-30 | 2019-08-02 | 南阳市一通防爆电气有限公司 | Bin intelligent robot flexible welding work station |
| CN112008021B (en) * | 2020-10-16 | 2021-04-13 | 北京建工土木工程有限公司 | Automatic welding system and welding process for subway grids |
| CN114178749A (en) * | 2021-12-14 | 2022-03-15 | 郑州煤机数耘智能科技有限公司 | Automatic transferring method for hydraulic support structural member welding process |
| CN114392930A (en) * | 2022-01-14 | 2022-04-26 | 浙江机电职业技术学院 | Automatic detection and sorting device for bearing ring raceway and use method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753061B (en) * | 2013-12-25 | 2015-07-15 | 安徽好运机械有限公司 | Machining method for forklift fork arm carrier |
| CN103753061A (en) * | 2013-12-25 | 2014-04-30 | 安徽好运机械有限公司 | Machining method for forklift fork arm carrier |
| CN104493416A (en) * | 2014-12-02 | 2015-04-08 | 河南省矿山起重机有限公司 | Position changing machine and production line employing same |
| CN106670611B (en) * | 2016-08-26 | 2019-03-12 | 厦门埃菲铁件有限公司 | A kind of bathroom hardware production safety-type welder of bath towel holder |
| CN106670611A (en) * | 2016-08-26 | 2017-05-17 | 温州市宝饰五金制品有限公司 | Safe bath towel holder welding device for bathroom hardware manufacturing |
| CN106862813A (en) * | 2017-03-14 | 2017-06-20 | 浙江大学 | A kind of automatic surfacing of caterpillar teeth wheel disc robot and vision detection system |
| CN106862813B (en) * | 2017-03-14 | 2018-08-14 | 浙江大学 | A kind of robot automatic surfacing of caterpillar teeth wheel disc and vision detection system |
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| CN107553028A (en) * | 2017-10-26 | 2018-01-09 | 安徽江淮汽车集团股份有限公司 | Truck top cover automatic welding equipment and welding procedure |
| CN108340122A (en) * | 2018-04-16 | 2018-07-31 | 冯敬新 | Robot flexibility tooling welding system |
| CN108436350A (en) * | 2018-05-18 | 2018-08-24 | 吉林工程技术师范学院 | A kind of automatic welding machinery hand system |
| CN109202338A (en) * | 2018-11-29 | 2019-01-15 | 王辉 | A kind of welding robot |
| CN110076490A (en) * | 2019-05-30 | 2019-08-02 | 南阳市一通防爆电气有限公司 | Bin intelligent robot flexible welding work station |
| CN110076490B (en) * | 2019-05-30 | 2024-03-01 | 南阳市一通防爆电气有限公司 | Flexible welding workstation of intelligent robot for bins |
| CN112008021B (en) * | 2020-10-16 | 2021-04-13 | 北京建工土木工程有限公司 | Automatic welding system and welding process for subway grids |
| CN114178749A (en) * | 2021-12-14 | 2022-03-15 | 郑州煤机数耘智能科技有限公司 | Automatic transferring method for hydraulic support structural member welding process |
| CN114392930A (en) * | 2022-01-14 | 2022-04-26 | 浙江机电职业技术学院 | Automatic detection and sorting device for bearing ring raceway and use method thereof |
| CN114392930B (en) * | 2022-01-14 | 2023-05-16 | 浙江机电职业技术学院 | Automatic detection and sorting device for bearing ring roller path and using method thereof |
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Application publication date: 20120919 |