CN104551464B - A kind of oil cylinder robot welding workstation - Google Patents
A kind of oil cylinder robot welding workstation Download PDFInfo
- Publication number
- CN104551464B CN104551464B CN201410823730.1A CN201410823730A CN104551464B CN 104551464 B CN104551464 B CN 104551464B CN 201410823730 A CN201410823730 A CN 201410823730A CN 104551464 B CN104551464 B CN 104551464B
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- cylinder
- sliding panel
- cylinder barrel
- welding
- left sliding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
Abstract
The present invention relates to technical field of welding equipment, particularly disclose a kind of oil cylinder robot welding workstation.It comprises six degree of freedom welding robot, cylinder barrel supporting and location platform and three degrees of freedom right angle coordinate servo-cylinder upper and lower pieces manipulator, wherein said cylinder barrel supporting and location platform comprises left sliding panel in frame and right sliding panel, left sliding panel is provided with positioner, Pneumatic manipulator and cylinder barrel rotary actuation idler wheel mechanism is provided with on rear side of left sliding panel, origin reference location plate is provided with between left sliding panel and right sliding panel, V-type back-up block, centration axis, two transversely charging tray and axial loading bins, centring sleeve is provided with above centration axis, locating piece is provided with below centring sleeve, described right sliding panel is provided with cylinder bottom welding block axial location cylinder, the present invention can realize the Full-automatic welding of each parts of oil cylinder, the automatic movement realizing each parts in welding process with weld, its structure is simple, time saving and energy saving, can raise labour efficiency widely, reduces the labour intensity of workman.
Description
(1) technical field
The present invention relates to technical field of welding equipment, particularly a kind of oil cylinder robot welding workstation.
(2) background technology
Oil cylinder is made up of cylinder barrel, cylinder bottom chassis, cylinder bottom welding block, oil nozzle, need each position above-mentioned to weld in the process manufacturing oil cylinder, general employing manual welding at present or employing semi-automatic welding, labour intensity is large, inefficiency, does not also adopt full-automatic machine people to weld at present.
(3) summary of the invention
The present invention, in order to make up the defect of prior art, provides a kind of oil cylinder robot welding workstation realizing oil cylinder automatic welding.
The present invention is achieved through the following technical solutions:
A kind of oil cylinder robot welding workstation, it is characterized in that: comprise the six degree of freedom welding robot for capturing cylinder barrel, for supporting the cylinder barrel supporting and location platform of cylinder barrel and the three degrees of freedom right angle coordinate servo-cylinder upper and lower pieces manipulator for welding each parts, wherein said cylinder barrel supporting and location platform comprises frame, described frame is provided with left sliding panel and right sliding panel, described left sliding panel is provided with cylinder barrel axial location cylinder from left to right successively, cylinder barrel oilhole detent mechanism and two cylinder barrel radial centering rolling support framves, the Pneumatic manipulator of two left-right situs is provided with on rear side of left sliding panel, cylinder barrel rotary actuation idler wheel mechanism is provided with between two Pneumatic manipulators, origin reference location plate is provided with successively from left to right between left sliding panel and right sliding panel, V-type back-up block, centration axis, tandem two transversely charging tray and tandem axial loading bins, centring sleeve is provided with above centration axis, locating piece is provided with below centring sleeve, described right sliding panel is provided with cylinder bottom welding block axial location cylinder, described cylinder barrel oilhole detent mechanism comprises positioning cylinder, and the output of described positioning cylinder connects conical dowel pin, and the line of centres of the axial line of described positioning cylinder and two pieces of cylinder bottom welding blocks is not in a plane, described cylinder barrel rotary actuation idler wheel mechanism comprises driving cylinder, drives the output of cylinder to connect driving rolls, described driving rolls and Driving Stepping Motor transmission link, described cylinder barrel radial centering rolling support frame comprises support, described support is provided with support cylinder, described support cylinder output upwards and it is connected with the framework of opening upwards, the two ends of described framework are respectively equipped with support roller, described origin reference location plate connects benchmark cylinder, described centration axis connects centering cylinder, described V-type back-up block connects back-up block cylinder, described centring sleeve adapter sleeve cylinder, described locating piece contiguous block cylinder, transversely charging tray place is provided with horizontal material loading cylinder, and described axial loading bin place is provided with axial material loading cylinder.
Be provided with left slide rail below described left sliding panel, described left sliding panel is connected with left sliding cylinder.
Be provided with right slide rail below described right sliding panel, be provided with right support below described right slide rail, described right sliding panel connects right sliding cylinder, and described right sliding cylinder is positioned on right support.
Angle between the line of centres of the axial line of described positioning cylinder and two pieces of cylinder bottom welding blocks is 45 °.
The invention has the beneficial effects as follows:
The present invention can realize the Full-automatic welding of each parts of oil cylinder, the automatic movement realizing each parts in welding process with weld, its structure is simple, time saving and energy saving, can raise labour efficiency widely, reduces the labour intensity of workman.
(4) accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated.
Fig. 1 is floor plan of the present invention;
Fig. 2 is the main TV structure schematic diagram of cylinder barrel supporting and location platform;
Fig. 3 is the plan structure schematic diagram of cylinder barrel supporting and location platform;
Fig. 4 is the location diagram of positioning cylinder and two pieces of cylinder bottom welding blocks;
Fig. 5 is the left TV structure schematic diagram of cylinder barrel rotary actuation idler wheel mechanism in Fig. 2.
In figure, 1 frame, 2 left slide rails, 201 left sliding panels, 202 left sliding cylinders, 3 right slide rails, 301 right sliding panels, 302 right sliding cylinders, 303 right supports, 4 cylinder bottom welding block axial location cylinders, 5 cylinder barrel axial location cylinders, 6 cylinder barrel oilhole detent mechanisms, 601 positioning cylinders, 602 conical dowel pins, 7 cylinder barrel radial centering rolling support framves, 701 supports, 702 support cylinder, 703 frameworks, 704 support rollers, 8 Pneumatic manipulators, 9 cylinder barrel rotary actuation idler wheel mechanisms, 901 drive cylinder, 902 driving rolls, 903 Driving Stepping Motors, 10 origin reference location plates, 101 benchmark cylinders, 11V type back-up block, 111 back-up block cylinders, 12 centration axis, 121 centering cylinders, 13 transversely charging trays, 131 horizontal material loading cylinders, 14 axial loading bins, 141 axial material loading cylinders, 15 centring sleeves, 151 cover cylinders, 16 center bridges, 161 pieces of cylinders, 17 cylinder barrels, 18 cylinder bottom chassis, 19 cylinder bottom welding blocks, 20 six degree of freedom welding robots, 21 cylinder barrel supporting and location platforms, 22 three degrees of freedom right angle coordinate servo-cylinder upper and lower pieces manipulators.
(5) detailed description of the invention
Accompanying drawing is specific embodiments of the invention.As shown in Figures 1 to 5, this kind of oil cylinder robot welding workstation, comprise the six degree of freedom welding robot 20 for capturing cylinder barrel 17, for supporting the cylinder barrel supporting and location platform 21 of cylinder barrel 17 and the three degrees of freedom right angle coordinate servo-cylinder upper and lower pieces manipulator 22 for welding each parts, six degree of freedom welding robot 20 and three degrees of freedom right angle coordinate servo-cylinder upper and lower pieces manipulator 22 are prior art, do not repeat them here, wherein cylinder barrel supporting and location platform 21 comprises frame 1, frame 1 is provided with left slide rail 2 and right slide rail 3, left slide rail 2 is provided with left sliding panel 201, left sliding panel 201 is connected with left sliding cylinder 202, frame 1 is provided with right support 303, right slide rail 3 is positioned on right support 303, right slide rail 3 is provided with right sliding panel 301, right sliding panel 301 is connected with right sliding cylinder 302, right sliding panel 301 is provided with cylinder bottom welding block axial location cylinder 4, left sliding panel 201 is provided with from left to right successively cylinder barrel axial location cylinder 5, cylinder barrel oilhole detent mechanism 6 and two cylinder barrel radial centering rolling support framves 7, wherein cylinder barrel oilhole detent mechanism 6 comprises positioning cylinder 601, the output of positioning cylinder 601 connects conical dowel pin 602, and the angle between the line of centres of the axial line of positioning cylinder 601 and two pieces of cylinder bottom welding blocks is preferably 45 °, cylinder barrel radial centering rolling support frame 7 comprises support 701, support 701 is provided with and supports cylinder 702, support cylinder 702 output upwards and it is connected with the framework 703 of opening upwards, framework 703 can be Y-shaped, also can be ∪ type, the two ends of framework 703 are respectively equipped with support roller 704, and support roller 704 can roll, two Pneumatic manipulators 8 are installed on rear side of left sliding panel 201, these two Pneumatic manipulator 8 left-right situs, cylinder barrel rotary actuation idler wheel mechanism 9 is provided with between two Pneumatic manipulators 8, cylinder barrel rotary actuation idler wheel mechanism 9 comprises driving cylinder 901, the output of cylinder 901 is driven to connect driving rolls 902, driving rolls 902 is positioned at the side of the output driving cylinder 901, that is the output bending of cylinder 901 is driven, dogleg section connects driving rolls 902, driving rolls 902 is by Driving Stepping Motor 903 driven rotary after planetary reducer slows down, Driving Stepping Motor is positioned on one piece of sliding panel, this sliding panel is fixedly connected with driving the output of cylinder 901, when driving the output of cylinder 901 to move, driving rolls 902 and Driving Stepping Motor 903 synchronizing moving, origin reference location plate 10 is provided with successively from left to right between left sliding panel 201 and right sliding panel 301, V-type back-up block 11, centration axis 12, tandem two transversely charging tray 13 and tandem axial loading bins 14, centring sleeve 15 is provided with above centration axis 12, centring sleeve 15 is just to cylinder bottom welding block, locating piece 16 is provided with below centring sleeve 15, wherein origin reference location plate 10 connects benchmark cylinder 101, centration axis 12 connects centering cylinder 121, V-type back-up block 11 connects back-up block cylinder 111, centring sleeve 15 adapter sleeve cylinder 151, locating piece 16 contiguous block cylinder 161, transversely charging tray 13 place is provided with horizontal material loading cylinder 131, axial loading bin 14 place is provided with axial material loading cylinder 141.
The course of work is as follows: whole system is controlled by PLC control system, first, by three degrees of freedom right angle coordinate servo-cylinder upper and lower pieces manipulator 22, cylinder barrel 17, cylinder bottom chassis 18, cylinder bottom welding block 19 and oil nozzle are put into relevant feed bin or material loading position respectively, in figure, the feed bin on cylinder bottom chassis does not draw with its feed mechanism, start PLC control system, equipment is made to enter original state: to support cylinder 702 and stretch out framework 703 upwards lifting, back-up block cylinder 111 drives V-type back-up block 11 upwards lifting, block cylinder 161 drives locating piece 16 upwards lifting, benchmark cylinder 101 drives origin reference location plate 10 to stretch out, positioning cylinder 601 drives conical dowel pin 602, cylinder 901 is driven to drive driving rolls 902 to retract, left sliding cylinder 202 drives left sliding panel 201 to retreat to extreme position left, cylinder barrel axial location cylinder 5 on left sliding panel 201, cylinder barrel oilhole detent mechanism 6 and two cylinder barrel radial centering rolling support framves 7 are moved to the left thereupon, right sliding cylinder 302 drives right sliding panel 301 to be pushed into extreme position to the right simultaneously, cylinder bottom welding block axial location cylinder 4 on right sliding panel 301 also moves right thereupon, whole device is in treats material loading state, again start PLC control system, make it to enter automatic mode, when cylinder barrel 17 is put on two cylinder barrel radial centering rolling support framves 7 by the three degrees of freedom right angle coordinate servo-cylinder upper and lower pieces manipulator 22 of welding workstation, when cylinder bottom chassis 18 is put on V-type back-up block 11, the output of left sliding cylinder 202 stretches out and drives left sliding panel 201 to move right, drive the cylinder barrel axial location cylinder 5 on left sliding panel 201, cylinder barrel oilhole detent mechanism 6 and two cylinder barrel radial centering rolling support framves 7 move right, when cylinder barrel 17 right-hand member props up origin reference location plate 10, cylinder barrel 17 is choked by origin reference location plate 10 and cylinder barrel axial location cylinder 5 thus serves axial location effect, then positioning cylinder 601 output stretches out and makes conical dowel pin 602 be pressed on cylinder barrel 17, then driving the output of cylinder 901 also to stretch out makes driving rolls 902 be pressed on cylinder barrel 17, simultaneously Driving Stepping Motor 903 rotarily drives driving rolls 902 and rotates, driving rolls 902 is with moveable cylinder 17 to rotate, (conical dowel pin to be made just in time to insert in the oilhole of the cylinder barrel located when installing positioning cylinder) when the oilhole on cylinder barrel 17 forwards conical dowel pin 602 place to, conical dowel pin 602 to insert in oilhole and is located by cylinder barrel 17, cylinder barrel 17 stops operating, Driving Stepping Motor 903 shuts down, now the position of Driving Stepping Motor 903 is as the zero point again started after it, when cylinder bottom chassis 18 is put on V-type back-up block 11, two pieces of cylinder bottom welding blocks 19 are shifted onto transversely in charging tray 13 from axial loading bin 14 by two axial material loading cylinders 14, cylinder bottom welding block 19 is pushed into the front end of cylinder bottom welding block axial location cylinder 4 by horizontal material loading cylinder 14 again, then the output of right sliding cylinder 302 stretches out and drives right sliding panel 301 to be moved to the left, thus make cylinder bottom welding block axial location cylinder 4 promote two pieces of cylinder bottom welding blocks 19 to be moved to the left cylinder bottom chassis 18, and then be jointly pushed into origin reference location plate 10 place left, centration axis 12 is inserted in the hole of cylinder bottom welding block 19 by centering cylinder 121, overlap cylinder 151 simultaneously and centring sleeve 15 is pressed to cylinder bottom welding block 19, locating piece 16 moves up and holds cylinder bottom welding block 19 by block cylinder 161, two cylinder bottom welding blocks 19 are made to be in comprehensive positioning states, then after being grouping being welded by six degree of freedom welding robot 20 pairs of cylinder bottom chassis 18 and two cylinder bottom welding block 19, centering cylinder 121, the output of cover cylinder 151 and block cylinder 161 is retracted simultaneously, remove the location to cylinder bottom welding block 19, origin reference location plate 10 exits simultaneously, cylinder barrel rotary actuation idler wheel mechanism 9 exits the compacting removed cylinder barrel 17, then left sliding cylinder 202 drives left sliding panel 201 to be pushed into extreme position to the right, right sliding cylinder 302 by group to after cylinder bottom chassis 18 push cylinder barrel 17, to be grouping with cylinder barrel 17 by six degree of freedom welding robot 20 pairs of cylinder bottom chassis 18 and to weld, then right sliding cylinder 302 promotion group left to after cylinder barrel 17, because cylinder barrel 17 is on cylinder barrel radial centering rolling support frame 7, the left end of cylinder barrel 17 has cylinder barrel axial location cylinder 5 to head on, so left sliding panel 201 also slides left, promote left sliding cylinder 202 simultaneously and retreat to extreme position left, at this moment driving the output of cylinder 901 again to stretch out makes driving rolls 902 be pressed on cylinder barrel 17, positioning cylinder 601 drives conical dowel pin 602 to exit oilhole on cylinder barrel 17, simultaneously Driving Stepping Motor 903 rotarily drives driving rolls 902 and rotates, driving rolls 902 is with moveable cylinder 17 to rotate 45 °, make directly over oilhole goes to, at this moment oil nozzle is clamped on oilhole by Pneumatic manipulator 8, six degree of freedom welding robot 20 is by oil nozzle and cylinder barrel 17 groups pairs, Pneumatic manipulator 8 exits, oil nozzle is welded on the oilhole of cylinder barrel 17 by six degree of freedom welding robot 20, another oil nozzle is clamped on another oilhole by another Pneumatic manipulator 8, repeat above-mentioned welding process, then Driving Stepping Motor 903 starts again again, moveable cylinder 17 is with to rotate by driving rolls 902, meanwhile six degree of freedom welding robot 20 welds the weld seam of cylinder bottom welding block 19, then Driving Stepping Motor 903 is with moveable cylinder 17 rotating 360 degrees, six degree of freedom welding robot 20 pairs of cylinder barrels 17 weld with the circumferential weld on cylinder bottom chassis 18, after welding, cylinder barrel rotary actuation idler wheel mechanism 9 exits, right sliding cylinder 302 retreats to extreme right position to the right, the cylinder barrel 17 welded is delivered to lower part place by three degrees of freedom right angle coordinate servo-cylinder upper and lower pieces manipulator 22, other corresponding mechanism is back to initial position, start next work cycle.
Except technical characteristic described in description, all the other technical characteristics are those skilled in the art's known technology.
Claims (4)
1. an oil cylinder robot welding workstation, it is characterized in that: comprise the six degree of freedom welding robot (20) for capturing cylinder barrel, for supporting the cylinder barrel supporting and location platform (21) of cylinder barrel and three degrees of freedom right angle coordinate servo-cylinder upper and lower pieces manipulator (22) for welding each parts, wherein said cylinder barrel supporting and location platform comprises frame (1), described frame (1) is provided with left sliding panel (201) and right sliding panel (301), described left sliding panel (201) is provided with cylinder barrel axial location cylinder (5) from left to right successively, cylinder barrel oilhole detent mechanism (6) and two cylinder barrel radial centering rolling supports frame (7), the Pneumatic manipulator (8) of two left-right situs is provided with at left sliding panel (201) rear side, cylinder barrel rotary actuation idler wheel mechanism (9) is provided with between two Pneumatic manipulators (8), origin reference location plate (10) is provided with from left to right successively between left sliding panel (201) and right sliding panel (301), V-type back-up block (11), centration axis (12), tandem two transversely charging tray (13) and tandem axial loading bins (14), centration axis (12) top is provided with centring sleeve (15), centring sleeve (15) below is provided with locating piece (16), described right sliding panel (301) is provided with cylinder bottom welding block axial location cylinder (4), described cylinder barrel oilhole detent mechanism (6) comprises positioning cylinder (601), the output of described positioning cylinder (601) connects conical dowel pin (602), and the axial line of described positioning cylinder (601) and the line of centres of two pieces of cylinder bottom welding blocks (19) be not in a plane, described cylinder barrel rotary actuation idler wheel mechanism (9) comprises driving cylinder (901), drives the output of cylinder (901) to connect driving rolls (902), described driving rolls (902) and Driving Stepping Motor (903) transmission link, described cylinder barrel radial centering rolling support frame (7) comprises support (701), described support (701) is provided with and supports cylinder (702), described support cylinder (702) output upwards and it is connected with the framework (703) of opening upwards, the two ends of described framework (703) are respectively equipped with support roller (704), described origin reference location plate (10) connects benchmark cylinder (101), described centration axis (12) connects centering cylinder (121), described V-type back-up block (11) connects back-up block cylinder (111), described centring sleeve (15) adapter sleeve cylinder (151), described locating piece (16) contiguous block cylinder (161), transversely charging tray (13) place is provided with horizontal material loading cylinder (131), described axial loading bin (14) place is provided with axial material loading cylinder (141).
2. oil cylinder robot welding workstation according to claim 1, is characterized in that, described left sliding panel (201) below is provided with left slide rail (2), and described left sliding panel (201) is connected with left sliding cylinder (202).
3. oil cylinder robot welding workstation according to claim 1, it is characterized in that, described right sliding panel (301) below is provided with right slide rail (3), described right slide rail (3) below is provided with right support (303), described right sliding panel (301) connects right sliding cylinder (302), and described right sliding cylinder (302) is positioned on right support (303).
4. the oil cylinder robot welding workstation according to any one of claims 1 to 3, is characterized in that, the angle between the axial line of described positioning cylinder (601) and the line of centres of two pieces of cylinder bottom welding blocks (19) is 45 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410823730.1A CN104551464B (en) | 2014-12-26 | 2014-12-26 | A kind of oil cylinder robot welding workstation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410823730.1A CN104551464B (en) | 2014-12-26 | 2014-12-26 | A kind of oil cylinder robot welding workstation |
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| CN104551464A CN104551464A (en) | 2015-04-29 |
| CN104551464B true CN104551464B (en) | 2016-04-06 |
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| CN201410823730.1A Active CN104551464B (en) | 2014-12-26 | 2014-12-26 | A kind of oil cylinder robot welding workstation |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247497B (en) * | 2018-03-20 | 2023-08-11 | 大连誉洋工业智能有限公司 | Tank body polishing equipment |
| CN110125586A (en) * | 2019-06-14 | 2019-08-16 | 诺力智能装备股份有限公司 | A kind of two-way welding device, system and its application method suitable for oil cylinder installation |
| CN111085802A (en) * | 2019-12-03 | 2020-05-01 | 海天塑机集团有限公司 | Multifunctional automatic welding workstation for machine barrel plug |
| CN112091513A (en) * | 2020-09-18 | 2020-12-18 | 徐州徐工液压件有限公司 | High-precision jacking type assembling and welding platform |
| CN114714033B (en) * | 2022-05-19 | 2023-03-28 | 杭州富阳海翔机械有限公司 | Manipulator based on oil cylinder welding |
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| CN202684432U (en) * | 2012-08-16 | 2013-01-23 | 宁波市拓新焊接技术有限公司 | Oil cylinder welding positioning device |
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Denomination of invention: A robot welding workstation for oil cylinder Effective date of registration: 20230322 Granted publication date: 20160406 Pledgee: Bank of China Limited Laizhou Sub-branch Pledgor: LAIZHOU XINGDA HYDRAULIC MACHINERY TECHNOLOGY Co.,Ltd. Registration number: Y2023980035817 |