CN106695235B - A kind of Full-automatic welding equipment - Google Patents
A kind of Full-automatic welding equipment Download PDFInfo
- Publication number
- CN106695235B CN106695235B CN201710141377.2A CN201710141377A CN106695235B CN 106695235 B CN106695235 B CN 106695235B CN 201710141377 A CN201710141377 A CN 201710141377A CN 106695235 B CN106695235 B CN 106695235B
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- Prior art keywords
- tubing
- welding
- motor
- plate
- joint
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- 238000003466 welding Methods 0.000 title claims abstract description 128
- 230000007246 mechanism Effects 0.000 claims abstract description 136
- 238000007599 discharging Methods 0.000 claims abstract description 13
- 238000012856 packing Methods 0.000 claims abstract description 4
- 230000035611 feeding Effects 0.000 claims description 67
- 230000005540 biological transmission Effects 0.000 claims description 34
- 210000000707 wrist Anatomy 0.000 claims description 28
- 239000000463 material Substances 0.000 claims description 13
- 238000003825 pressing Methods 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims description 9
- 238000004140 cleaning Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000004806 packaging method and process Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009713 electroplating Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
Classifications
-
- 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
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
- B23K37/0538—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor for rotating tubes, e.g. rollers
-
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
Abstract
The invention discloses a kind of Full-automatic welding equipment, tubing left and right joint and tubing trunk are manually placed into joint feeding mechanism respectively, loading and unloading guide rail, the industrial robot captures tubing left and right joint to rotary welding mechanism, tubing trunk is sent to welding position by chain, rotary welding mechanism is provided with clamping part, servomotor, clamping part clamps tubing left and right joint, its both sides packing can be automatically positioned, servomotor rotates, driving tubing left and right joint rotates simultaneously with pipe trunk, welding mechanism on six-shaft industrial robot welds the junction of tubing left and right joint and pipe trunk, after welding, the discharging mechanism of left and right slide unit opposite side sends out the tubing being welded, deliver to lower floor's export of loading and unloading guide rail, and flowed to automatically on streamline by ramp.Full-automatic welding equipment welding efficiency of the present invention is high, and no limitation, welding effect stable and consistent is good, can the more specifications of Full-automatic welding, different length, the truss tubing of polytypic.
Description
Technical field
The present invention relates to tubing welding technology field, particularly relates to a kind of Full-automatic welding equipment.
Background technology
Welding equipment is applied among all trades and professions, existing welding equipment feature：Efficiency is low, limitation, welding
Effect is unstable.
Efficiency is low：Feeding blanking and welding process are numerous and diverse, not up to full-automation；
Limitation：It is not applied for multiple product specification；
Welding effect is unstable：Weld seam is inconsistent, unsightly；
At present, manipulator can be provided with welding equipment, manipulator is applied to material carrying, product crawl, product cutting
The many kinds of work position such as processing, welding, while convenient produce, also solves the problems, such as cost of labor, but manipulator still needs
Constantly improve, the present invention is studied for welded type manipulator, traditional to improve the weak point of traditional manipulator
Manipulator has following weak point in terms of welding：
1. traditional manipulator adjustable-angle scope is narrower, in some Product processings, it is necessary to set special frock
To aid in welding；
2. welding stability is low, because welding requirements is uniform, need to consider entirely to set in manipulator rocking process
Standby stability, traditional manipulator still can carry slight rock at present.
In addition, existing welded tube shortcoming is：It is unable to both ends while welds, pipe length is non-adjustable, and one end, which is soldered, can just open
Begin to exchange the direction welding other end, pipe length is non-adjustable, can only be welded and fixed size pipe.
Currently manufactured industry pipe material product (such as stainless steel tube, PVC plastic pipe etc.) as long as packaging hand-filling or half
Auto state is packed, and its labor intensity is big, and numerous people are reluctant to apply for this post, limit the development of industry to a certain extent.Pass
The automated packaging equipment of the tubing packaging industry of system its send most of tube portion to be transmitted by manual operation or with traditional belt
Mode, not only feeding speed is slower, and the accuracy of feeding is low, is unfavorable for the automatic production line operation of factory.
The content of the invention
For deficiency of the prior art, the technical problem to be solved in the present invention is the provision of a kind of Full-automatic welding and set
It is standby.
In order to solve the above technical problems, the present invention is realized by following scheme：A kind of Full-automatic welding equipment, this is complete certainly
Dynamic welding equipment includes：
Joint feeding mechanism, the joint feeding mechanism are provided with two, are left joint feeding mechanism, right connector feeding respectively
Mechanism, Liang Ge joint feedings mechanism is placed side by side, and for the left and right joint feeding of tubing, the joint feeding mechanism is provided with feeding
Track；
Welding machine, the welding machine are provided with two, are placed in the inner side of Liang Ge joint feedings mechanism；
Industrial robot, the artificial six-shaft industrial robot of industrial machine, six-shaft industrial robot are described provided with 2
Manipulator, the welding mechanism of Multi-angle free rotation are provided with six-shaft industrial robot, the welding mechanism is connected by cable
It is connected on welding machine, the welding mechanism is used for the welding of tubing left and right joint and tubing trunk；
Clear rifle station, the clear rifle station are placed between two industrial robots, and the clear rifle station is used for the clear of industrial robot
It is clean；
Sealing wire, the sealing wire include horizontal double sided slider bar, the left and right slide unit being placed on horizontal double sided slider bar, are placed in left and right slide unit
The switch board of front side, the left and right slide unit inner side are provided with the loading and unloading guide rail of two tubing trunks, and two loading and unloading guide rails are simultaneously
Discharge is put, and the left and right slide unit is moved in horizontal double sided slider bar to adjust the width between two loading and unloading guide rails, to adapt to weld
The width of tubing mobile jib；The left and right slide unit is provided with rotary welding mechanism；
Switch board, the switch board are provided with 2, live apart on front side of the left and right of sealing wire；
Tubing left and right joint and tubing trunk are manually placed into joint feeding mechanism, loading and unloading guide rail, the industry respectively
Robot crawl tubing left and right joint to rotary welding mechanism, tubing trunk is sent to welding position, rotating welding by chain
Device is provided with clamping part, servomotor, clamping part clamping tubing left and right joint, and its both sides packing can be automatically positioned, servo electricity
Machine rotates, and driving tubing left and right joint rotates simultaneously with pipe trunk, and the welding mechanism on six-shaft industrial robot is by tubing or so
The junction of joint and pipe trunk is welded, and after welding, the discharging mechanism of left and right slide unit opposite side sends out the tubing being welded, and send
Lower floor to loading and unloading guide rail exports, and is flowed to automatically on streamline by ramp.
Further, the six-shaft industrial robot is fixed on a frame upper end, and it includes support and is placed in support
On horizontal rotary mechanism, the horizontal rotary mechanism sidepiece is provided with arm rotating mechanism, the axle of the arm rotating mechanism
End connects wrist rotating mechanism, the shaft end connecting welding mechanism of the wrist rotating mechanism；
The support is fixed on a bottom plate, and bottom plate is secured by bolts in frame, and the support is in cylinder, at it
Upper end is provided with fixed disk by bolt, and the fixed disk center is fixed with an axostylus axostyle, axostylus axostyle other end connection horizontal rotation machine
Structure；
The horizontal rotary mechanism includes the first motor, arm rotating mechanism mounting seat, first motor
Vertical to place, its drive division connects above-mentioned axostylus axostyle, and drive division is integral with motor housing, arm rotating mechanism mounting seat, institute
State arm rotating mechanism mounting seat sidepiece and be fixed with arm rotating mechanism；
The arm rotating mechanism includes the second motor, torque power transmission shaft, and second motor is laterally disposed,
It is vertical with the first motor, second motor and torque power transmission shaft vertical connection, and torque transmission the tip of the axis connects
Connect wrist rotating mechanism；
The wrist rotating mechanism includes the 3rd motor, the 4th motor, wrist power transmission shaft, the 3rd driving
Motor is installed vertically on torque transmission the tip of the axis, its motor of shell sidepiece right angle setting the 4th, the 3rd driving electricity
Machine driving wrist power transmission shaft is rotated around the 3rd drive motor shaft, and the axle portion of the 4th motor is passed through in the middle part of wrist power transmission shaft
Through hole, the rotating seat of its end connecting welding mechanism；
The welding mechanism includes rotating seat, the 5th motor, welding conduit, plumb joint, and the rotating seat connection is solid
Surely there is U-shaped frame, the opening axis connection of U-shaped frame has welding base, and the axle outer end of the welding base, U-shaped frame outside connection the 5th are driven
Dynamic motor, the welding base connecting welding conduit, welds conduit connecting welding head.
Further, it is also equipped with controlling case assembly on the bottom plate, the control case assembly includes vertical mounting blocks, control
Box, control box side are installed on the side of vertical mounting blocks, and the vertical mounting blocks are placed in the side of support；
The 4th driving motor belt motor has deceleration device；
It is through hole, its end and rotating seat ends contact in the middle part of the wrist power transmission shaft；
The torque power transmission shaft is that axis body bar portion is square；
Axis body bar part two parts of the wrist power transmission shaft, it is cone close to the 4th driving motor side, away from the 4th
The part of motor is cylinder.
Further, tubing rotary welding mechanism is provided with the left and right slide unit, on the tubing rotary welding mechanism
Clamping and rotating system is provided with, the clamping and rotating system includes front end clamping section and the push being connected with clamping section dress
Put；
The clamping section includes servomotor and the harmonic wave speed reducing machine being connected with servomotor, and the harmonic wave speed reducing machine is with watching
Motor is taken to be installed in cylindrical shell jointly, cylindrical shell end face edge and on round trisection line, be provided with 3
Individual breach, 3 breach inwardly cross together, in 3 breach, are provided with 3 pneumatic clamps contiguous blocks, 3 pneumatic clamps connect
The inner for connecing block is placed in cylindrical housing interior, and 3 pneumatic clamps contiguous blocks 202 are connected with magnetic valve, and the pneumatic clamps connect
Connecing block and be connected with pneumatic clamps fixture block, the pneumatic clamps fixture block is L-shaped, and its bottom is screwed on pneumatic clamps fixture block, its
Vertical part inwardly, locating piece is provided with the middle part of 3 pneumatic clamps fixture blocks；
The pusher includes cylinder, fixed vertical plate, and the cylinder is arranged in fixed vertical plate, the end of its telescopic shaft
Connect clamping section.
Further, the pneumatic clamps contiguous block is in convex, and its nose connects pneumatic clamps fixture block.
Further, it is cambered surface that the vertical part of the pneumatic clamps fixture block, which clamps face,.
Further, the left and right slide unit also includes tubing feeding structure, and the feeding structure is arranged between two racks,
Two racks are each provided with one group of motor, and two groups of motors are placed in opposite directions, and the shaft end of the motor is connected with chain
Wheel assembly, the chain wheel assembly other end are socketed on pinch roller assembly；
The feeding structure includes side plate, the two row's guide rails two side by side, every guide rail vertical connection side plate and is arranged at
The inside lower end edge of side plate, the side plate and guide rail are arranged to slope track in 20 degree of angles of inclination, in the upper end of side plate
Some arrangement for adjusting height are provided with, the arrangement for adjusting height includes determining block, movable block, and it is convex block to determine block, in its convex portion
Medial surface is bolted movable block, and movable block is L-shaped, and its vertical part is provided with oval groove, and bolt passes through oval groove, passes through spiral shell
Silk is elastic, and to adjust the height of movable block, there are height limiting plate, the limit for height in the transverse part lower surface of the movable block by screw connection
There is limit for height round bar plate lower surface by screw connection, and the guide pass of the two rows guide rail is also equipped with height limiting plate, height limiting plate upper end
Face is provided with limit for height round bar；
The lateral surface of the side plate has diagonal brace by screw connection, and the diagonal brace is a tabular body of rod, outside its body of rod other end
Side is connected with axle, the other end frame side of axle；
The end of the feeding structure is provided with knob adjusting means, feeding location-plate, and the knob adjusting means is used to manage
The centripetal regulation in footpath, its top are provided with adjustable plate, and knob screw rod, the knob screw rod regulation are provided with adjustable plate
Adjustable plate rises or falls, and makes its positioning, and the feeding location-plate is arranged at the lower section of knob adjusting means, in it
Side is provided with backgauge driving lever, and the backgauge driving lever is L-shaped, and it is tilted obliquely, in its junction with feeding location-plate
It is provided with torsion spring；
The knob adjusting means inside edge, has been arranged side by side 2 material pressing devices, and 2 material pressing devices are connected to
Cylinder；The material pressing device includes fixed block, slide rail, clamping device, and the clamping device includes the upper folder being arranged on slide rail
Block, lower fixture block；
The upper fixture block, the opposite face of lower fixture block are provided with arc groove.
Further, the left and right slide unit also includes tubing discharging structure, and the discharging structure is installed between two racks,
In the front side of two racks, two opposite motors are provided with, the shaft end of the motor is socketed with chain, chain
The other end is connected on gear shaft, and the equal projection of some spacing is provided with chain, and projection is used to live tubing, the chain surely
The feed end of bar, is provided with feeding device, feeding device connection cylinder assembly；
The feeding device includes bottom plate, two parallel slide rails, block piece, slide plate, cylinder, cylinder fixture, holder branch
Bracer, holder, the slide rail are bolted on bottom plate, and slide plate bottom surface the right and left is provided with fastener, the fastener card
In in the chute of the side of slide rail two, the slide plate is slid back and forth along chute, and the holder support block is stood on slide plate, its one side
Cylinder is connected by expansion link, the cylinder is fixed on cylinder fixture, and the holder support block is towards the side of cylinder
Top is provided with holder, and holder includes holder upper grip, holder lower chuck；
The top of the holder support block is provided with clamping cylinder, clamping cylinder with holder upper grip, holder
Chuck connects；
The discharge end of the chain is provided with tubing guide rail mechanism, the tubing guide rail mechanism diagonally downward, when chain will manage
After material is delivered to tubing guide rail mechanism, tubing is automatically imported streamline along tubing guide rail mechanism；
The holder upper grip, the forward surface of holder lower chuck are provided with arc groove；
The angle diagonally downward of the tubing guide rail mechanism is between 15-25 degree.
Relative to prior art, the beneficial effects of the invention are as follows：
1. manipulator design of the present invention is steady, it will not produce and rock, deceleration device is provided with the 4th motor, can
To alleviate the rotary speed of welding mechanism, the 5th motor driving welding mechanism is swung around the 5th drive shaft, while 4 wheel driven
Dynamic motor driving welding mechanism and the 5th motor integral-rotation, therefore, electroplating equipment wielding machine can reach multiple angles to weld,
Make the welding more convenient, it is not necessary to which separately adding tool is aided in again.In addition, support uses more thick and heavy solid gold more
Belong to structure, solid metallic structure makes whole equipment center of gravity concentrate on manipulator lower wall, improves the stability of manipulator.
2. tubing rotary welding mechanism of the present invention can both ends weld simultaneously, and applicable a variety of pipe lengths, have from
Dynamic clamping and positioning function, both ends circle rotation simultaneously during welding, weld seam is consistent, and welding effect is stable.
3. after the manual blowing of tubing feeding structure of the present invention, feeding structure meeting automatic material taking, then pressed from both sides automatically by cylinder
Hold, tubing is delivered into specified location and welded.Tubing feeding structure of the present invention reduces the stand-by period, reduces manual work work
Sequence, and then labor intensity is reduced, being capable of efficient processing tubing.The automated packaging equipment of traditional tubing packaging industry its go out
Most of tube portion is by manual operation or with traditional belt transmission mode, and not only discharging speed is slower, and the standard to discharge
True property is low, is unfavorable for the automatic production line operation of factory.
4. tubing discharging structure of the present invention is self-emptying, reduce the tubing stand-by period after processing, meanwhile, also cause
In production process, the labor intensity of personnel is low, has production efficiently, safe.
5. Full-automatic welding equipment welding efficiency of the present invention is high, no limitation, welding effect stable and consistent is good, can entirely certainly
It is dynamic to weld more specifications, different length, the truss tubing of polytypic.
Brief description of the drawings
Fig. 1 is Full-automatic welding equipment integral layout schematic diagram of the present invention；
Fig. 2 is six-joint robot structural representation of the present invention；
Fig. 3 is clamping section structural representation of the present invention；
Fig. 4 is clamping and rotating system structural representation of the present invention；
Fig. 5 is that feeding structure of the present invention is arranged on schematic diagram on rack；
Fig. 6 is feeding structure schematic diagram of the present invention；
Fig. 7 is clamping device schematic diagram of the present invention；
Fig. 8 is tubing discharging structure overall structure diagram of the present invention；
Fig. 9 is feeding device structural representation of the present invention.
Embodiment
The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, apparent is clearly defined so as to be made to protection scope of the present invention.
As shown in figs 1-9, a kind of Full-automatic welding equipment of the invention, the Full-automatic welding equipment include：
Joint feeding mechanism 503, the joint feeding mechanism 503 are provided with two, are that left joint feeding mechanism, the right side connect respectively
Head feed mechanism, Liang Ge joint feedings mechanism is placed side by side, for the left and right joint feeding of tubing, the joint feeding mechanism
503 are provided with feeding track 501；
Welding machine 502, the welding machine 502 are provided with two, are placed in the inner side of Liang Ge joint feedings mechanism 503；
Industrial robot 508, the industrial robot 508 are six-shaft industrial robot, and six-shaft industrial robot is provided with 2
It is individual, manipulator, the welding mechanism of Multi-angle free rotation are provided with the six-shaft industrial robot, the welding mechanism passes through
For cable connection on welding machine 502, the welding mechanism is used for the welding of tubing left and right joint and tubing trunk；
Clear rifle station 504, the clear rifle station 504 are placed between two industrial robots 508, and the clear rifle station 504 is used for work
The cleaning of industry robot 508；
Sealing wire, the sealing wire include horizontal double sided slider bar, the left and right slide unit 505 being placed on horizontal double sided slider bar, are placed in left and right
The switch board 506 of the front side of slide unit 505, the inner side of left and right slide unit 505 are provided with the loading and unloading guide rail 507 of two tubing trunks,
Two loading and unloading guide rail 507 is placed side by side, and the left and right slide unit 505 is moved in horizontal double sided slider bar to adjust two loading and unloading guide rails
Width between 507, to adapt to weld the width of tubing mobile jib；The left and right slide unit 505 is provided with rotary welding mechanism；
Switch board 506, the switch board 506 are provided with 2, live apart on front side of the left and right of sealing wire；
Tubing left and right joint and tubing trunk are manually placed into joint feeding mechanism 503, loading and unloading guide rail 507, institute respectively
State crawl tubing left and right joint to rotary welding mechanism, the tubing trunk of industrial robot 508 and welding position be sent to by chain,
Rotary welding device is provided with clamping part, servomotor, and clamping part clamping tubing left and right joint, its both sides packing can be automatically fixed
Position, servomotor rotation, driving tubing left and right joint rotate simultaneously with pipe trunk, and the welding mechanism on six-shaft industrial robot will
The junction of tubing left and right joint and pipe trunk is welded, and after welding, the discharging mechanism of the opposite side of left and right slide unit 505 will be welded
Tubing is sent out, and delivers to lower floor's export of loading and unloading guide rail 507, and is flowed to automatically on streamline by ramp.
As shown in Fig. 2 the six-shaft industrial robot is fixed on the upper end of a frame 107, it includes support 105 and put
Horizontal rotary mechanism on support 105, the horizontal rotary mechanism sidepiece are provided with arm rotating mechanism, the arm rotation
The shaft end connection wrist rotating mechanism of mechanism, the shaft end connecting welding mechanism of the wrist rotating mechanism；
The support 105 is fixed on a bottom plate 106, and bottom plate 106 is secured by bolts in frame 107, the support
105, in cylinder, are provided with fixed disk 113, the center of fixed disk 113 is fixed with an axostylus axostyle, axle in its upper end by bolt
The bar other end connects horizontal rotary mechanism；
The horizontal rotary mechanism includes the first motor 103, arm rotating mechanism mounting seat, the first driving electricity
Machine 103 is vertically placed, and its drive division connects above-mentioned axostylus axostyle, and drive division is one whole with motor housing, arm rotating mechanism mounting seat
Body, the arm rotating mechanism mounting seat sidepiece are fixed with arm rotating mechanism；
The arm rotating mechanism includes the second motor 108, torque power transmission shaft 102, second motor 108
Laterally disposed, it is vertical with the first motor 103, second motor 108 and the vertical connection of torque power transmission shaft 102,
The end connection wrist rotating mechanism of torque power transmission shaft 102；
The wrist rotating mechanism includes the 3rd motor 101, the 4th motor 114, wrist power transmission shaft 112, institute
The end that the 3rd motor 101 is installed vertically on torque power transmission shaft 102 is stated, its motor of shell sidepiece right angle setting the 4th
114, the 3rd motor 101 driving wrist power transmission shaft 112 rotates around the 3rd drive motor shaft, the 4th motor
114 axle portion passes through the through hole at the middle part of wrist power transmission shaft 112, the rotating seat of its end connecting welding mechanism；
The welding mechanism includes rotating seat, the 5th motor 111, welding conduit 110, plumb joint 109, the rotation
Seat is fixedly connected with U-shaped frame, and the opening axis connection of U-shaped frame has welding base, and axle outer end, the U-shaped frame outside of the welding base connect
Connect the 5th motor 111, the welding base connecting welding conduit 110, welding conduit 110 connecting welding first 109.
It is also equipped with controlling case assembly 104 on the bottom plate 106, the control case assembly 104 includes vertical mounting blocks, control
Box, control box side are installed on the side of vertical mounting blocks, and the vertical mounting blocks are placed in the side of support 105；
4th motor 114 carries deceleration device；
The middle part of wrist power transmission shaft 112 is through hole, its end and rotating seat ends contact；
The torque power transmission shaft 102 is that axis body bar portion is square；
Axis body bar part two parts of the wrist power transmission shaft 112, it is cone close to the end of the 4th motor 114, far
Part from the 4th motor 114 is cylinder.
The method of operation of six-shaft industrial robot is as follows：
Start manipulator；
The drive division of first motor 103 is connected with axostylus axostyle, and axostylus axostyle is integrally fixed on fixed disk 113, and therefore, first drives
The drive division and motor housing, arm rotating mechanism mounting seat of dynamic motor 103 are rotated by reaction force, and then, arm whirler
Structure mounting seat drives arm rotating mechanism to rotate horizontally；
The shaft end socket torque power transmission shaft 102 of second motor 108 of arm rotating mechanism, torque power transmission shaft 102 around
Second drive motor shaft rotates, and being capable of 360 degree of rotations.
The external shell of 3rd motor 101 is integral, and its axle portion is integrally fixed at the end circular hole of torque power transmission shaft 102
It is interior, when the 3rd motor 101 works, its reaction force by the 3rd drive motor shaft and rotate, the 3rd motor
101 external shells drive whole wrist rotating mechanism to swing up and down, when the 4th motor 114 works, the driving welding of its axostylus axostyle
Mechanical left rotation and right rotation, the weld part of welding mechanism end are made to rotate up and down by the driving of the 5th motor 111.
Such as Fig. 3-4, tubing rotary welding mechanism, the tubing rotary welding mechanism are provided with the left and right slide unit 505
On be provided with clamping and rotating system, the clamping and rotating system includes front end clamping section and push be connected with the clamping section fills
Put；
The clamping section includes servomotor 201 and the harmonic wave speed reducing machine being connected with servomotor 201, the harmonic reduction
Machine and servomotor 201 are installed in cylindrical shell jointly, cylindrical shell end face edge and in round trisection line
On, 3 breach are provided with, 3 breach inwardly cross together, in 3 breach, are provided with 3 pneumatic clamps contiguous blocks 202,3
The inner of individual pneumatic clamps contiguous block 202 is placed in cylindrical housing interior, and 3 pneumatic clamps contiguous blocks 202 are connected with magnetic valve,
The pneumatic clamps contiguous block 202 is connected with pneumatic clamps fixture block 203, and the pneumatic clamps fixture block 203 is L-shaped, and its bottom passes through screw
It is fixed on pneumatic clamps fixture block 203, its vertical part is provided with locating piece 204 inwardly, at the middle part of 3 pneumatic clamps fixture blocks 203；
The pusher includes cylinder 207, fixed vertical plate, and the cylinder 207 is arranged in fixed vertical plate, its telescopic shaft
End connection clamping section.
The pneumatic clamps contiguous block 202 is in convex, and its nose connects pneumatic clamps fixture block 203.
It is cambered surface that the vertical part of the pneumatic clamps fixture block 203, which clamps face,.
Harmonic wave speed reducing machine is driven using servomotor 201, uses 3 pneumatic clamps contiguous blocks of solenoid valve control, 202,3 gas
Dynamic folder contiguous block 202 is to contract, and 3 pneumatic clamps contiguous blocks 202 drive 3 pneumatic clamps fixture blocks 203, and to contract, 3 pneumatic
The L-type vertical part for pressing from both sides fixture block 203 clamps the termination 205 of tubing, and tubing trunk is delivered to specified location, and cylinder 207 promotes clamping section,
2 terminations 205 are made to splice with trunk, splicing completes servomotor 201 and drives reductor to start to rotate, while rotation, folder
2 groups of tubing rotary welding mechanisms beside tight rotating mechanism are welded simultaneously, and the purpose of tubing both ends while welding is reached with this.
As illustrated in figs. 5-7, the left and right slide unit 505 also includes tubing feeding structure, and the feeding structure is arranged on two machines
Between cabinet 301, two racks 301 are each provided with one group of motor 308, and two groups of motors 308 are placed in opposite directions, the driving
The shaft end of motor 308 is connected with chain wheel assembly, and the chain wheel assembly other end is socketed on pinch roller assembly；
The feeding structure includes side plate 309, the two row's guide rails two side by side, every guide rail vertical connection side plate and setting
In the inside lower end edge of side plate, the side plate and guide rail are arranged to slope track in 20 degree of angles of inclination, in the upper of side plate 309
End set has some arrangement for adjusting height 305, and the arrangement for adjusting height 305 includes determining block, movable block, and it is convex to determine block
Block, movable block is bolted in its convex portion medial surface, movable block is L-shaped, and its vertical part is provided with oval groove, and bolt passes through waist
Circular groove, by screw tightness, to adjust the height of movable block, there is limit for height the transverse part lower surface of the movable block by screw connection
There is limit for height round bar 310 plate 304, the lower surface of height limiting plate 304 by screw connection, and the guide pass of the two rows guide rail is also provided with
There is height limiting plate, height limiting plate upper surface is provided with limit for height round bar；
The lateral surface of the side plate 309 has diagonal brace 306 by screw connection, and the diagonal brace 306 is a tabular body of rod, its body of rod
Other end lateral surface is connected with axle, the other end frame side of axle；
The end of the feeding structure is provided with knob adjusting means, feeding location-plate 315, and the knob adjusting means is used for
The centripetal regulation of caliber, its top are provided with adjustable plate 312, and knob screw rod 313 is provided with adjustable plate 312, described
The adjustable plate 312 of regulation of knob screw rod 313 rises or falls, and makes its positioning, and the feeding location-plate 315 is arranged at rotation
The lower section of button adjusting regulating device, its inner side edge are provided with backgauge driving lever 314, and the backgauge driving lever 314 is L-shaped, and its tilting is inclined
Shape, the junction of itself and feeding location-plate 315 is provided with torsion spring；
The knob adjusting means inside edge, has been arranged side by side 2 material pressing devices, and 2 material pressing devices are connected to
Cylinder；The material pressing device includes fixed block 302, slide rail, clamping device 303, and the clamping device 303 includes being arranged on slide rail
On upper fixture block 3031, lower fixture block 3032；
The upper fixture block 3031, the opposite face of lower fixture block 3032 are provided with arc groove.
Such as Fig. 8-9, the left and right slide unit 505 also includes tubing discharging structure, and the discharging structure is installed on two racks 301
Between, in the front side of two racks, two opposite motors 404 are provided with, the shaft end of the motor 404 is socketed with
Chain 407, the other end of chain are connected on gear shaft, and the equal projection of some spacing is provided with chain 407, and projection is used
In living tubing surely, the feed end of the chain 407, feeding device 402 is provided with, the feeding device 402 connection cylinder assembly
403；
The feeding device 402 includes bottom plate 4026, two parallel slide rails 4028, block piece 4029, slide plate 4027, cylinders
4025th, cylinder fixture 4024, holder support block 4021, holder, the slide rail 4028 are bolted on bottom plate
4026, the bottom surface the right and left of slide plate 4027 is provided with fastener, and the fastener is stuck in the chute of 4028 liang of sides of slide rail, the cunning
Plate 4027 is slid back and forth along chute, and the holder support block 4021 is stood on slide plate 4027, and its one side is connected by expansion link
Cylinder 4025, the cylinder 4025 are fixed on cylinder fixture 4024, and the holder support block 4021 is towards cylinder 4025
Side surface upper part be provided with holder, holder includes holder upper grip 4022, holder lower chuck 4023；
The top of the holder support block 4021 is provided with clamping cylinder, clamping cylinder and holder upper grip 4022,
Holder lower chuck 4023 connects；
The discharge end of the chain is provided with tubing guide rail mechanism 405, and the tubing guide rail mechanism 405 diagonally downward, works as chain
After tubing is delivered to tubing guide rail mechanism 405 by bar, tubing is automatically imported streamline along tubing guide rail mechanism 405；
The holder upper grip 4022, the forward surface of holder lower chuck 4023 are provided with arc groove；
The angle diagonally downward of the tubing guide rail mechanism is between 15-25 degree.
The preferred embodiment of the present invention is the foregoing is only, is not intended to limit the scope of the invention, every profit
The equivalent structure or equivalent flow conversion made with description of the invention and accompanying drawing content, or directly or indirectly it is used in other phases
The technical field of pass, is included within the scope of the present invention.
Claims (8)
1. a kind of Full-automatic welding equipment, it is characterised in that the Full-automatic welding equipment includes：
Joint feeding mechanism (503), the joint feeding mechanism (503) are provided with two, are that left joint feeding mechanism, the right side connect respectively
Head feed mechanism, Liang Ge joint feedings mechanism is placed side by side, for the left and right joint feeding of tubing, the joint feeding mechanism
(503) it is provided with feeding track (501)；
Welding machine (502), the welding machine (502) are provided with two, are placed in the inner side of Liang Ge joint feedings mechanism (503)；
Industrial robot (508), the industrial robot (508) are six-shaft industrial robot, and six-shaft industrial robot is provided with 2
It is individual, manipulator, the welding mechanism of Multi-angle free rotation are provided with the six-shaft industrial robot, the welding mechanism passes through
For cable connection on welding machine (502), the welding mechanism is used for the welding of tubing left and right joint and tubing trunk；
Clear rifle station (504), the clear rifle station (504) are placed between two industrial robots (508), and the clear rifle station (504) is used
Cleaning in industrial robot (508)；
Sealing wire, the sealing wire include horizontal double sided slider bar, the left and right slide unit (505) being placed on horizontal double sided slider bar, are placed in left and right cunning
Switch board (506) on front side of platform (505), left and right slide unit (505) inner side are provided with the loading and unloading guide rail of two tubing trunks
(507), two loading and unloading guide rails (507) are placed side by side, and the left and right slide unit (505) is moved in horizontal double sided slider bar to adjust two
Width between loading and unloading guide rail (507), to adapt to weld the width of tubing mobile jib；The left and right slide unit (505) is provided with rotation
Welding mechanism；
Switch board (506), the switch board (506) are provided with 2, live apart on front side of the left and right of sealing wire；
Tubing left and right joint and tubing trunk are manually placed into joint feeding mechanism (503), loading and unloading guide rail (507), institute respectively
State industrial robot (508) crawl tubing left and right joint to rotary welding mechanism, tubing trunk and welding position is sent to by chain
Put, rotary welding mechanism is provided with clamping part, servomotor, and clamping part clamping tubing left and right joint, its both sides packing can be automatic
Positioning, servomotor rotation, driving tubing left and right joint rotate simultaneously with pipe trunk, the welding mechanism on six-shaft industrial robot
The junction of tubing left and right joint and pipe trunk is welded, after welding, the discharging mechanism of left and right slide unit (505) opposite side will weld
Good tubing is sent out, and delivers to lower floor's export of loading and unloading guide rail (507), and is flowed to automatically on streamline by ramp.
A kind of 2. Full-automatic welding equipment according to claim 1, it is characterised in that：The six-shaft industrial robot installation
A frame (107) upper end is fixed on, it includes support (105) and the horizontal rotary mechanism being placed on support (105), the level
Rotating mechanism sidepiece is provided with arm rotating mechanism, and the shaft end connection wrist rotating mechanism of the arm rotating mechanism is described
The shaft end connecting welding mechanism of wrist rotating mechanism；
The support (105) is fixed on a bottom plate (106), and bottom plate (106) is secured by bolts in frame (107), described
Support (105) is provided with fixed disk (113), fixed disk (113) center and an axle in its upper end in cylinder by bolt
Bar is fixed, axostylus axostyle other end connection horizontal rotary mechanism；
The horizontal rotary mechanism includes the first motor (103), arm rotating mechanism mounting seat, first motor
(103) vertical to place, its drive division connects above-mentioned axostylus axostyle, and drive division is one whole with motor housing, arm rotating mechanism mounting seat
Body, the arm rotating mechanism mounting seat sidepiece are fixed with arm rotating mechanism；
The arm rotating mechanism includes the second motor (108), torque power transmission shaft (102), second motor
(108) laterally disposed, it is vertical with the first motor (103), second motor (108) and torque power transmission shaft
(102) vertical connection, the end connection wrist rotating mechanism of torque power transmission shaft (102)；
The wrist rotating mechanism includes the 3rd motor (101), the 4th motor (114), wrist power transmission shaft (112),
3rd motor (101) is installed vertically on the end of torque power transmission shaft (102), its shell sidepiece right angle setting 4 wheel driven
Dynamic motor (114), the 3rd motor (101) the driving wrist power transmission shaft (112) rotates around the 3rd drive motor shaft, described
The axle portion of 4th motor (114) passes through the through hole in the middle part of wrist power transmission shaft (112), the rotation of its end connecting welding mechanism
Seat；
The welding mechanism includes rotating seat, the 5th motor (111), welding conduit (110), plumb joint (109), the rotation
Swivel base is fixedly connected with U-shaped frame, and the opening axis connection of U-shaped frame has welding base, axle outer end, the U-shaped frame outside of the welding base
The 5th motor (111) is connected, the welding base connecting welding conduit (110), welds conduit (110) connecting welding head
(109)。
A kind of 3. Full-automatic welding equipment according to claim 2, it is characterised in that：Also installed on the bottom plate (106)
There is control case assembly (104), the control case assembly (104) includes vertical mounting blocks, control box, and control box side is installed on vertical peace
The side of block is filled, the vertical mounting blocks are placed in the side of support (105)；
4th motor (114) carries deceleration device；
It is through hole, its end and rotating seat ends contact in the middle part of the wrist power transmission shaft (112)；
The torque power transmission shaft (102) is that axis body bar portion is square；
Axis body bar part two parts of the wrist power transmission shaft (112), it is cone close to the 4th motor (114) end, far
Part from the 4th motor (114) is cylinder.
A kind of 4. Full-automatic welding equipment according to claim 1, it is characterised in that：Set on the left and right slide unit (505)
Tubing rotary welding mechanism is equipped with, clamping and rotating system, the clamping whirler are provided with the tubing rotary welding mechanism
Structure includes front end clamping section and the pusher being connected with the clamping section；
The clamping section includes servomotor (201) and the harmonic wave speed reducing machine being connected with servomotor (201), the harmonic reduction
Machine and servomotor (201) are installed in cylindrical shell jointly, cylindrical shell end face edge and in round trisection
On line, 3 breach are provided with, 3 breach inwardly cross together, in 3 breach, are provided with 3 pneumatic clamps contiguous blocks
(202), the inner of 3 pneumatic clamps contiguous blocks (202) is placed in cylindrical housing interior, and 3 pneumatic clamps contiguous blocks 202 connect
There is magnetic valve, the pneumatic clamps contiguous block (202) is connected with pneumatic clamps fixture block (203), and the pneumatic clamps fixture block (203) is L-shaped,
Its bottom is screwed on pneumatic clamps fixture block (203), and its vertical part inwardly, is set in the middle part of 3 pneumatic clamps fixture blocks (203)
It is equipped with locating piece (204)；
The pusher includes cylinder (207), fixed vertical plate, and the cylinder (207) is arranged in fixed vertical plate, its telescopic shaft
End connection clamping section.
A kind of 5. Full-automatic welding equipment according to claim 4, it is characterised in that：The pneumatic clamps contiguous block (202)
In convex, its nose connection pneumatic clamps fixture block (203).
A kind of 6. Full-automatic welding equipment according to claim 4, it is characterised in that：The pneumatic clamps fixture block (203)
It is cambered surface that vertical part, which clamps face,.
A kind of 7. Full-automatic welding equipment according to claim 1, it is characterised in that：The left and right slide unit (505) is also wrapped
Tubing feeding structure is included, the feeding structure is arranged between two racks (301), and two racks (301) are each provided with one group of drive
Dynamic motor (308), two groups of motors (308) are placed in opposite directions, and the shaft end of the motor (308) is connected with chain wheel assembly,
The chain wheel assembly other end is socketed on pinch roller assembly；
The feeding structure includes side plate (309), the two row's guide rails two side by side, every guide rail vertical connection side plate and is arranged at
The inside lower end edge of side plate, the side plate and guide rail are arranged to slope track in 20 degree of angles of inclination, in the upper of side plate (309)
End set has some arrangement for adjusting height (305), and the arrangement for adjusting height (305) includes determining block, movable block, and it is convex to determine block
Shape block, movable block is bolted in its convex portion medial surface, movable block is L-shaped, and its vertical part is provided with oval groove, and bolt passes through
Oval groove, by screw tightness, to adjust the height of movable block, the transverse part lower surface of the movable block is limited by screw connection
There are limit for height round bar (310), the guide rail of the two rows guide rail in high plate (304), height limiting plate (304) lower surface by screw connection
Face is also equipped with height limiting plate, and height limiting plate upper surface is provided with limit for height round bar；
The lateral surface of the side plate (309) has diagonal brace (306) by screw connection, and the diagonal brace (306) is a tabular body of rod, its bar
Body other end lateral surface is connected with axle, the other end frame side of axle；
The end of the feeding structure is provided with knob adjusting means, feeding location-plate (315), and the knob adjusting means is used to manage
The centripetal regulation in footpath, its top are provided with adjustable plate (312), and knob screw rod (313) is provided with adjustable plate (312),
Knob screw rod (313) regulation adjustable plate (312) rise or fall, and make its positioning, the feeding location-plate
(315) lower section of knob adjusting means is arranged at, its inner side edge is provided with backgauge driving lever (314), and the backgauge driving lever (314) is in
L-type, it tilts oblique, and the junction of itself and feeding location-plate (315) is provided with torsion spring；
The knob adjusting means inside edge, has been arranged side by side 2 material pressing devices, and 2 material pressing devices are connected to cylinder；
The material pressing device includes fixed block (302), slide rail, clamping device (303), and the clamping device (303) includes being arranged on cunning
Upper fixture block (3031), lower fixture block (3032) on rail；
The upper fixture block (3031), the opposite face of lower fixture block (3032) are provided with arc groove.
A kind of 8. Full-automatic welding equipment according to claim 1, it is characterised in that：The left and right slide unit (505) is also wrapped
Tubing discharging structure is included, the discharging structure is installed between two racks (301), in the front side of two racks, is provided with two
Opposite motor (404), the shaft end of the motor (404) are socketed with chain (407), and the other end of chain is connected to
On gear shaft, the equal projection of some spacing is provided with chain (407), projection is used to live tubing, the chain (407) surely
Feed end, be provided with feeding device (402), the feeding device (402) connection cylinder assembly (403)；
The feeding device (402) include bottom plate (4026), two parallel slide rails (4028), block piece (4029), slide plate (4027),
Cylinder (4025), cylinder fixture (4024), holder support block (4021), holder, the slide rail (4028) pass through bolt
Bottom plate (4026) is fixed on, slide plate (4027) bottom surface the right and left is provided with fastener, and the fastener is stuck in slide rail (4028) both sides
In the chute on side, the slide plate (4027) slides back and forth along chute, and the holder support block (4021) stands on slide plate (4027)
On, its one side connects cylinder (4025) by expansion link, and the cylinder (4025) is fixed on cylinder fixture (4024), described
Holder support block (4021) is provided with holder towards the side surface upper part of cylinder (4025), and holder includes holder upper grip
(4022), holder lower chuck (4023)；
The top of the holder support block (4021) is provided with clamping cylinder, clamping cylinder and holder upper grip (4022),
Holder lower chuck (4023) connects；
The discharge end of the chain is provided with tubing guide rail mechanism (405), and the tubing guide rail mechanism (405) diagonally downward, works as chain
After tubing is delivered to tubing guide rail mechanism (405) by bar, tubing is automatically imported streamline along tubing guide rail mechanism (405)；
The holder upper grip (4022), the forward surface of holder lower chuck (4023) are provided with arc groove；
The angle diagonally downward of the tubing guide rail mechanism is between 15-25 degree.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710141377.2A CN106695235B (en) | 2017-03-10 | 2017-03-10 | A kind of Full-automatic welding equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710141377.2A CN106695235B (en) | 2017-03-10 | 2017-03-10 | A kind of Full-automatic welding equipment |
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| CN106695235A CN106695235A (en) | 2017-05-24 |
| CN106695235B true CN106695235B (en) | 2018-03-16 |
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| CN112792475A (en) * | 2021-03-25 | 2021-05-14 | 苏州康克莱自动化科技有限公司 | Cross rod and joint welding equipment and synchronous welding method |
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