CN103128471A - White watermark automatic welding system - Google Patents
White watermark automatic welding system Download PDFInfo
- Publication number
- CN103128471A CN103128471A CN2013100863637A CN201310086363A CN103128471A CN 103128471 A CN103128471 A CN 103128471A CN 2013100863637 A CN2013100863637 A CN 2013100863637A CN 201310086363 A CN201310086363 A CN 201310086363A CN 103128471 A CN103128471 A CN 103128471A
- Authority
- CN
- China
- Prior art keywords
- white watermark
- welding
- watermark
- subsystem
- white
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a white watermark automatic welding system. The white watermark automatic welding system comprises a copper wire mesh welding position locating sub-system, a white watermark welding sub-system, a gantry type up-and-down moving working platform sub-system, a white watermark automatic locating sub-system, and a white watermark automatic feeding sub-system. Only a simple mechanical structure and a small-size electrical control system are adopted in the system, and then a corresponding function of each part is simply completed. The white watermark automatic welding system with the components achieves integration of white watermark automatic locating, automatic feeding, and automatic welding under the cooperative work of each sub-system, and achieves automation in the whole process of white watermark welding.
Description
Technical field
The present invention relates to a kind of white watermark robot welding system that the paper money industry is used that is applicable to print.
Background technology
In seal paper money industry, the welding of white watermark and copper mesh is a considerable procedure in whole seal paper money process, and the solder technology of the current white watermark that adopts is mainly the following stated " artificial solder technology " and " based on the automatic welding technique of robot " two kinds.
1. artificial solder technology: this kind method is by artificial clamping position mould, mould is fixed on welding position on copper mesh, adjusts the relative position of mould and copper mesh, with tweezers, white watermark is put into mould, then start welding machine and complete welding, then carry out welding next time.
2. based on the automatic welding technique of robot: adopt manipulator clamping white watermark flitch based on the automatic welding technique of robot (being the white watermark automatic welding technique of domestic certain seal paper money company exploitation as certain enterprise of Germany), by the visual feedback system, one group of white watermark is positioned over welding position on copper mesh on the welding machine plumb joint, after the control welding machine is completed welding, waste material is positioned over assigned address, the welding of whole copper mesh is finally completed in repetitive operation.
Not only welding efficiency is low for artificial solder technology, and because Artificial Control is leaned in the welding position, positioning accuracy is difficult to guarantee; Comparatively speaking, automatic welding technique positioning accuracy based on robot improves, but because it is the clamping of meticulous, efficient is still extremely low, whole system complex structure, expensive, and its waste to material is particularly serious, under considering, cost has even surpassed artificial solder technology, so its practicality is not high.
Based on many disadvantages and the deficiency of current techniques, the white watermark automatic welding technique of inventing the variety of problems that the welding of the current white watermark of the fine solution of a kind of energy faces seems particularly necessary.
Summary of the invention
For the shortcomings and deficiencies of above-described current white watermark solder technology, the invention provides a kind of white watermark robot welding system, can realize the automatic accurate welding of white watermark and copper mesh, further improve the automatization level of seal paper money process.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is:
A kind of white watermark robot welding system comprises that copper mesh welding position positioning subsystem, white watermark welding subsystem, planer-type move up and down workbench subsystem, the automatic positioning subsystem of white watermark and white watermark autofeed subsystem, the automatic welding of white watermark is completed in the five mutual co-ordinations of large subsystem jointly.
Described white watermark robot welding system operation principle is as follows: before the white watermark robot welding system is started working, the white watermark flitch is stacked in storing basket in automatic feeding system, the planer-type travelling table is resetted, on welding machine, push-down head resets; System starts working, and copper mesh is placed on screen pressing machine and compresses, and controls copper mesh by XY two coordinate control platforms and moves in the XY plane, white watermark is accurately navigated in the welding position on copper mesh on welding machine between push-down head; The planer-type travelling table moves down into the lower end that is embedded in the guiding groove on workbench apart from copper mesh 0.2 mm place, this moment white watermark gravity system feed, the white watermark automatic station-keeping system accurately is positioned at white watermark above the welding position on copper mesh with flitch, i.e. the upper surface of guiding groove; Welding machine up and down ram movement is rushed the white watermark on flitch fall by seaming chuck, and the white watermark that punching falls falls along guiding groove, and finally contacts with copper mesh, and seaming chuck continues to depress, and the welding of one group of white watermark is completed in energising; On welding machine, push-down head resets; Feed mechanism promotes to reset after used flitch enters the waste recovery district; Move on the planer-type travelling table and reset; XY two coordinate control platforms are controlled the welding position that copper mesh accurately navigates to next group white watermark, begin the welding of next group white watermark.According to automatically white watermark being welded on copper mesh that above flow process moves in circles, finally automatically complete the welding of white watermark on whole copper mesh.
Described copper mesh welding positioning subsystem adopts the XY two coordinate control platform technology that have been tending towards ripe, copper mesh is fixed on XY two coordinate control platforms, utilize default control routine to drive console and move in the XY plane, the place that needs on copper mesh to weld white watermark is accurately navigated to the welding machine ram position.
Described white watermark welding subsystem mainly comprises welding machine and through the welding machine pressure head of special facture, wherein welding machine adopts the special welding machine that requires customization according to note-printing technique, and the welding machine pressure head is the structure consistent with the white watermark shape size through particular design.
Described white watermark welding subsystem is when work, and the welding machine seaming chuck is under the control of control system, and the welding of one group of white watermark is completed in minute " punching fall white watermark "-three actions of " compression white watermark "-" welding white watermark ".
It is workbench moving up and down and frame that described planer-type moves up and down workbench subsystem chief component.Wherein, only need to guarantee that workbench gets final product in the positional precision of two limit positions, thereby control the workbench that moves up and down by two limited blocks in the precision of two limit positions: lower position block restriction limit inferior position, also claim the operating position, the lower end that be embedded in the guiding groove on workbench this moment is that 0.2 mm(approximates half of white watermark thickness apart from the distance of copper mesh, and its spacing can be adjusted a little according to actual conditions); Upper limit position block restriction limes superiors position, also claim reset position, the lower end that be embedded in the guiding groove on workbench this moment is that 2 mm(are much larger than white watermark thickness apart from the distance of copper mesh, its spacing can be adjusted a little according to actual conditions), thereby guarantee in the moving process of copper mesh, the white watermark that welding is good can not produce with guiding groove interferes, and hinders the motion of copper mesh.
The movement that described planer-type moves up and down between workbench subsystem upper-lower position can adopt hydraulic pressure or pneumatic means as power source.
Described white watermark automatic station-keeping system mainly comprises one group of symmetrical limited block, spring and locating piece, locating piece is connected by revolute pair with frame (planer-type moves up and down workbench), and tightly fit with limited block under the pretightning force of spring, whole subsystem all is arranged in planer-type and moves up and down on workbench.
The automatic positioning subsystem of described white watermark is when work, the component acting in conjunction of the XY direction by symmetrical locating piece dish plate, complete flitch (white watermark) in the accurate location of XY direction, the pretightning force of its medi-spring assurance locating piece is fitted with limited block in position fixing process all the time.
The automatic positioning subsystem of described white watermark comprises that also being embedded in planer-type moves up and down guiding groove on workbench, and its groove is consistent with the white watermark shape size, further guarantees the white watermark that falls and the accurate location of copper mesh by white watermark along moving of guiding groove.
Described white watermark autofeed subsystem mainly comprises storing basket, flitch and drive unit, and wherein drive unit can adopt hydraulic pressure or pneumatic means, and whole subsystem all is arranged in planer-type and moves up and down on workbench.
During described white watermark autofeed subsystem work, drive unit promotes nethermost of the flitch fall under Action of Gravity Field, at first give the location that a driving force F1 completes flitch, then increase F1 to F2 in order to overcome the pretightning force of spring, promote flitch to the waste recovery place, then reset and carry out next feed.
Advantage of the present invention mainly is: 1. whole system is simple in structure, all adopts simple frame for movement and electric control system to complete corresponding function, occupies little space; 2. whole system can realize automatic control, need not the automatic welding that artificial participation can be completed white watermark, and automaticity is high; 3. the automatic welding of white watermark is once completed the welding of one group of white watermark, and Automatic continuous carries out, and efficient is high; 4. because whole system adopts simple and mechanical structure and high operating efficiency is arranged, integrated cost is extremely low.
Description of drawings
Fig. 1 is two-dimensional working principle sketch of the present invention, wherein: the 1-portal frame, 2-welding machine seaming chuck, 3-planer-type travelling table, 4-white watermark positioning subsystem, 5-flitch, 6-white watermark autofeed subsystem, 7-guiding groove, 8-are arranged on the copper mesh on XY two coordinate control platforms, 9-welding machine push-down head.
Fig. 2 is three-dimensional sketch of the present invention, wherein: 2-welding machine seaming chuck, 7-guiding groove, 15-copper mesh, 16-cylinder, 17-storing basket, 18-feed drive unit.
Fig. 3 is workflow diagram of the present invention.
Fig. 4 is welding machine pressure head graphics.
Fig. 5 is the guiding groove graphics.
Fig. 6 is the positioning principle sketch, wherein: 5-flitch, 10-spring, 11-locating piece, 12-white watermark, 13-limited block, 14-frame.
Fig. 7 is the three-dimensional sketch of white watermark autofeed subsystem.
The specific embodiment
In order better the present invention to be explained, the present invention will be further described below in conjunction with accompanying drawing.
In conjunction with Fig. 1, Fig. 2 and Fig. 3, before the white watermark robot welding system is started working, white watermark flitch (5) is stacked in storing basket (17) in automatic feeding system, planer-type travelling table (3) is resetted, push-down head on welding machine (2,9) resets; System starts working, and copper mesh (15) is placed on screen pressing machine and compresses, and controls copper mesh (15) by XY two coordinate control platforms and moves in the XY plane, and white watermark is accurately navigated between push-down head on welding machine (2,9) in the welding position on copper mesh; The lower end that planer-type travelling table (3) moves down into the guiding groove (7) that is embedded on workbench is apart from copper mesh 0.2 mm place, this moment white watermark autofeed subsystem (6) feed, the automatic positioning subsystem of white watermark (4) accurately is positioned at white watermark above the welding position on copper mesh with flitch (5), i.e. the upper surface of guiding groove (7); Push-down head on welding machine (2,9) motion, by seaming chuck (2), the punching of the white watermark (12) on flitch (5) is fallen, the white watermark (12) that punching falls falls along guiding groove (7), and finally contact with copper mesh (15), seaming chuck (2) continues to depress, and the welding of one group of white watermark (12) is completed in energising; Push-down head on welding machine (2,9) resets; Feed drive unit (18) promotes to reset after used flitch (5) enters the waste recovery district; Move on planer-type travelling table (3) and reset; XY two coordinate control platforms are controlled the welding position that copper mesh accurately navigates to next group white watermark, begin the welding of next group white watermark.According to automatically white watermark (12) being welded on copper mesh (15) that above flow process moves in circles, finally automatically complete the welding of white watermark on whole copper mesh.
Wherein, the concrete action in welding process of parton system is as follows:
1. white watermark welds subsystem
White watermark is after the welding position on copper mesh and flitch (5) are all completed accurate location with respect to welding machine pressure head (2,9), the welding machine seaming chuck (2) of special facture falls white watermark (12) from flitch (5) upper punch, the white watermark (12) that punching falls drops to welding position on copper mesh (15) along guiding groove (7), welding machine seaming chuck (2) continues to move down by guiding groove (7), white watermark (12) is pressed on copper mesh (15) goes up and switch on and complete the welding of white watermark (12).After welding was completed, welding machine seaming chuck (2) resetted, and prepared the welding of next group white watermark.
2. planer-type moves up and down the workbench subsystem
After complete accurate location with respect to welding machine pressure head (2,9) in the welding position on copper mesh (15) when white watermark (12), planer-type travelling table (3) moves down into the operating position and keeps, until this group white watermark (12) is completed with copper mesh (15) welding, guiding groove this moment (7) is 0.2 mm with the distance of copper mesh (15), guarantees the accurate location of white watermark (12) on copper mesh (15); After this group white watermark (12) welding is completed, planer-type travelling table (3) resets, XY two coordinate control platforms are controlled the welding position of next group white watermark (12) of motion positions of copper mesh (15), this moment, the distance of guiding groove (7) lower end and copper mesh (15) was 2 mm, considerably beyond the thickness of white watermark (12), do not interfere thereby can not produce with the white watermark (12) that has welded in the moving process of copper mesh (15).
3. the automatic positioning subsystem of white watermark
Compression spring (10) is given (11) peripheral forces of locating piece, locating piece (11) is being pressed under certain pretightning force F1 on limited block (13), and limited block (13) spacing guaranteed that the gradient with flitch (5) front end is consistent all the time for the angle of inclination of locating piece (11).After planer-type travelling table (3) arrived the operating position, autofeed subsystem (6) carried out feeding.At first being slightly less than the moving F2 flitch (5) of trying hard to recommend of F1 with one advances, when flitch (5) with locating piece (11) when contacting, the acting in conjunction of symmetrical locating piece (11) has guaranteed the positioning accuracy of flitch (white watermark) in Y-direction, and flitch (5) has guaranteed the positioning accuracy of flitch (white watermark) at directions X with the applying on the inclined-plane of gradient front end and locating piece (11).Under the effect of F2, flitch (white watermark) piece that finally is positioned accurately has been positioned at guiding groove (7) upper (being that white watermark is above the welding position on copper mesh), then welding machine work, seaming chuck (2) is depressed at twice, and the punching of the white watermark (12) on this flitch (5) is fallen and is welded on copper mesh (15); After the welding of this group white watermark (12) was completed, welding machine pressure head (2) resetted, and planer-type travelling table (3) resets, and then moved ahead with a thrust F3 promotion waste material that is slightly larger than pretightning force F1, entered the waste recovery district.
4. white watermark autofeed subsystem
When moving to the operating position, white watermark autofeed subsystem (6) is started working when planer-type travelling table (3).Feed drive unit (18) thrust promotion storing basket (17) flitch (5) bottom with F2 under the promotion that starts piston moves forward, after completing accurate location to flitch (white watermark), locating piece (11) keep thrust F2 constant, welding machine is started working, seaming chuck (2) is depressed at twice, and the punching of the white watermark (12) on this flitch (5) is fallen and is welded on copper mesh (15); After welding was completed, welding machine seaming chuck (2) resetted, and planer-type travelling table (3) resets, and feeding driving device this moment (18) promotes waste material with the thrust of F3 and moves forward, and resetted after waste material is sent into the waste recovery district.
Need to prove at last; above embodiment only is used for technical scheme of the present invention is described and unrestricted; it will be appreciated by those skilled in the art that to modify or to be equal to the present invention replaces and does not break away from aim of the present invention and scope, all should be encompassed among protection scope of the present invention.
Claims (5)
1. a white watermark robot welding system comprises that white watermark welding subsystem (2,7,9), planer-type move up and down workbench subsystem (1,3), the automatic positioning subsystem of white watermark (4 or 10,11,12,13,14) and white watermark autofeed subsystem (6 or 5,17,18).
2. white watermark robot welding system according to claim 1 is characterized in that: described white watermark welding subsystem welding machine seaming chuck (2) adopts and has the custom mold pressure head identical shaped with corresponding white watermark.
3. white watermark robot welding system according to claim 1, it is characterized in that: the positioning function of described white watermark automatic station-keeping system is completed by the symmetrical simple and mechanical structure that forms with one group of spring (10), limited block (13) and locating piece (11), wherein locating piece (11) adopts revolute pair to be connected with frame (14), and spring gives locating piece one pretightning force.
4. ask 1 described white watermark robot welding system according to right, it is characterized in that: the automatic positioning subsystem of described white watermark also comprises the guiding groove (7) consistent with corresponding white watermark shape.
5. white watermark robot welding system according to claim 1, it is characterized in that: described white watermark autofeed subsystem comprises storing basket (17), flitch (5), thrust unit (18), wherein storing basket (17) for and flitch (5) rectangular structure of the same size be arranged on workbench, thrust unit employing hydraulic pressure or pneumatic actuation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100863637A CN103128471A (en) | 2013-03-19 | 2013-03-19 | White watermark automatic welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100863637A CN103128471A (en) | 2013-03-19 | 2013-03-19 | White watermark automatic welding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103128471A true CN103128471A (en) | 2013-06-05 |
Family
ID=48489268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013100863637A Pending CN103128471A (en) | 2013-03-19 | 2013-03-19 | White watermark automatic welding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103128471A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1991009172A1 (en) * | 1989-12-14 | 1991-06-27 | Tokushu Paper Mfg. Co., Ltd. | Method of making watermarked paper |
| JPH062295A (en) * | 1992-06-16 | 1994-01-11 | Printing Bureau Ministry Of Finance Japan | Method for making watermarking net |
| CN2322739Y (en) * | 1997-09-03 | 1999-06-09 | 寥朝淋 | Automatic feed device for butt welder |
| US6288356B1 (en) * | 2000-01-10 | 2001-09-11 | Dane Systems, Inc. | Apparatus for making welds through partitions in battery cases |
| CN2520987Y (en) * | 2002-01-15 | 2002-11-20 | 周春伯 | Automatic spot welding equipment |
| CN2658204Y (en) * | 2003-10-09 | 2004-11-24 | 中国印钞造币总公司 | Full page screw dandyprat |
-
2013
- 2013-03-19 CN CN2013100863637A patent/CN103128471A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1991009172A1 (en) * | 1989-12-14 | 1991-06-27 | Tokushu Paper Mfg. Co., Ltd. | Method of making watermarked paper |
| JPH062295A (en) * | 1992-06-16 | 1994-01-11 | Printing Bureau Ministry Of Finance Japan | Method for making watermarking net |
| CN2322739Y (en) * | 1997-09-03 | 1999-06-09 | 寥朝淋 | Automatic feed device for butt welder |
| US6288356B1 (en) * | 2000-01-10 | 2001-09-11 | Dane Systems, Inc. | Apparatus for making welds through partitions in battery cases |
| CN2520987Y (en) * | 2002-01-15 | 2002-11-20 | 周春伯 | Automatic spot welding equipment |
| CN2658204Y (en) * | 2003-10-09 | 2004-11-24 | 中国印钞造币总公司 | Full page screw dandyprat |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102328151B (en) | Automatic spot-welding equipment for junction box and spot-welding method thereof | |
| CN204934847U (en) | A kind of multiple spot series spot welding equipment | |
| CN105081550A (en) | Automatic ultrasonic clad-welding equipment for leads | |
| CN103394784A (en) | Capacitor core automatic welding device | |
| CN103978326A (en) | Automatic robot welding work station | |
| CN103659098A (en) | Long cylinder straight seam welding machine | |
| CN105921558A (en) | Robot servo bending system | |
| CN203738214U (en) | Automatic movable welding device | |
| CN203725967U (en) | Device for welding bimetal-bushing bottom box bracket | |
| CN204171523U (en) | A kind of efficient automatic intermediate frequency electric resistance welding special machine | |
| CN204584527U (en) | A kind of gate-type submerged arc welding machine | |
| CN203804497U (en) | Bucket rod assembly tooling | |
| CN203738215U (en) | CNC automatic spot welding device for sheet metal parts | |
| CN205166155U (en) | Compound spot welder that removes | |
| CN201296127Y (en) | Three-dimensional scanning and engraving integrated machine | |
| CN103128471A (en) | White watermark automatic welding system | |
| CN203426560U (en) | Automatic welding device for capacitor core | |
| CN203792338U (en) | 2.5-dimensional manipulator | |
| CN202667903U (en) | Handheld spot welding machine | |
| CN202192367U (en) | Automobile filler cap welding equipment | |
| CN110434424B (en) | Welding workstation system of oil tank back seam robot | |
| CN203649663U (en) | Double-workpiece three-dimensional curve cylinder welding machine | |
| CN204183065U (en) | A kind of automatic mechanical arm | |
| CN202291796U (en) | Punching mould | |
| CN203557053U (en) | Silver point positioning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130605 |