CN107253206B - Electrode cap milling and replacing system of fixed resistance spot welding pliers of industrial robot - Google Patents
Electrode cap milling and replacing system of fixed resistance spot welding pliers of industrial robot Download PDFInfo
- Publication number
- CN107253206B CN107253206B CN201710655973.2A CN201710655973A CN107253206B CN 107253206 B CN107253206 B CN 107253206B CN 201710655973 A CN201710655973 A CN 201710655973A CN 107253206 B CN107253206 B CN 107253206B
- Authority
- CN
- China
- Prior art keywords
- electrode cap
- milling
- transmission
- gear
- industrial robot
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/3063—Electrode maintenance, e.g. cleaning, grinding
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/36—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/006—Devices for removing chips by sucking and blowing simultaneously
Abstract
An industrial robot fixed resistance spot welding clamp electrode cap milling and replacement system comprising: the main body framework comprises a positioning flange, a positioning plate, a supporting shell and a supporting section bar; the power assembly comprises a motor, a connecting shaft and a driving gear; a floating vibration damper; the electrode cap milling and die repairing and energy disassembling module is arranged in the supporting and protecting shell, and the transmission gear set comprises a milling transmission system meshed with the transmission gear and a disassembling transmission system; an electrode cap storage and mounting device; the control module comprises a controller and a plurality of sensors. Through the structural design, the electrode cap can be automatically subjected to cutting and die repairing and replacing operations. The industrial robot is ensured to finish the replacement of the positive electrode cap and the negative electrode cap of the fixed welding tongs by the simplest motion path, the working efficiency is greatly improved, and the programming workload is simplified.
Description
Technical Field
The invention relates to the technical field of maintenance equipment of a robot welding system, in particular to a milling and replacing system for an electrode cap of a fixed resistance spot welding clamp of an industrial robot. The electrode cap milling and replacing system of the fixed resistance spot welding tongs of the industrial robot can be rapidly integrated on the industrial robot of an automatic welding production line, and the electrode caps of the fixed welding tongs in all parts of the production line can be rapidly milled, trimmed and replaced according to the requirements.
Background
The main material of the white body of the automobile is galvanized steel plates, and the fixed connection between the steel plates or between the steel plates and the steel framework is realized through spot welding.
In the spot welding process, the resistor works for a long time to release a large amount of heat energy, the heat energy can accelerate the surface oxidation speed of the electrode cap, and the copper-zinc oxide film generated on the surface of the electrode cap can influence the spot welding operation because the electrode cap is made of brass materials, so that the welding quality of a vehicle body is reduced. Therefore, according to practical experience and technical standards, the welding 200 welding spots are generally required to be subjected to die repairing by a milling method, and after the die repairing is performed for 4-6 times, a new electrode cap needs to be replaced.
However, with the aim of industrial manufacturing industry in China to cope with the mass production requirements of the international market and industrial automation of the country 2025, various manufacturers are striving to upgrade the body-in-white welding work of automobiles to an automated welding line composed of industrial robots. Wherein, the welding line of the rotary island type layout occupies the main body of the whole automatic production line, and is more than 70 percent. The repair and replacement life of the electrode cap is relatively short compared with that of a high-efficiency automatic welding production line, and the conventional manual milling repair and replacement of the electrode cap requires frequent stopping, so that the production efficiency is greatly influenced. While the related automated die repair and replacement of integral electrode cap equipment, such as rocker trimmers and the like, still suffer from several drawbacks:
1. because of the fixed desk type mechanical structure, the occupied space is often larger, the device cannot adapt to the compact layout of the rotary island type, and the device has low universality;
2. because the automatic welding line is provided with the autonomous electric control unit and the independent program module, the automatic welding line is difficult to realize integrated synchronization with the automatic welding line;
3. part of equipment operation still needs manual debugging and operation, and work precision is lower, influences the production efficiency of transfer machine.
Disclosure of Invention
First technical problem
In summary, how to provide a mechanical device for automatically milling and replacing an electrode cap to improve the working efficiency of maintenance of the electrode cap is a problem to be solved by those skilled in the art.
(II) technical scheme
The electrode cap milling and replacing system for the fixed resistance spot welding pliers of the industrial robot provided by the invention is an electrode cap milling and replacing device which can be rapidly integrated on the industrial robot in a welding automatic line, and the electrode cap can be automatically milled, corrected and replaced by combining the action of the robot.
In the invention, the electrode cap milling and replacing system of the fixed resistance spot welding clamp of the industrial robot specifically comprises:
the main body framework comprises a positioning flange, a positioning plate which is arranged on the same plane is arranged on one side of the positioning flange, a supporting shell is arranged at the front end of the positioning flange and positioned on the lower side of the positioning flange, and a supporting section bar is arranged on the supporting shell towards the direction of the positioning plate;
the quick switching device comprises a tool side quick switching device for realizing tool switching and a robot side quick switching device for realizing quick connection with a robot, wherein the tool side quick switching device is arranged on the positioning column, the robot side quick switching device is arranged on the upper side of the tool side quick switching device, and a water vapor quick-insertion component is arranged on the periphery of the tool side quick switching device;
the power assembly comprises a motor, a connecting shaft and a driving gear, wherein the motor is arranged below the positioning flange, the connecting shaft is in power connection with the motor, the driving gear is arranged at the tail end of the connecting shaft, and the driving gear is rotatably arranged on the main body framework through a first rolling ball bearing;
the floating vibration damper comprises a guide sleeve fixedly arranged on the main body framework, a guide pillar is arranged in the guide sleeve, an upper vibration damper spring is arranged at the front end of the guide sleeve, a lower vibration damper spring is arranged at the rear end of the guide sleeve, and the upper vibration damper spring and the lower vibration damper spring are both sleeved on the guide pillar;
the electrode cap milling and die repairing functional module and the electrode cap disassembling functional module are arranged in the supporting and protecting shell and comprise a milling transmission system meshed with the driving gear and a disassembling transmission system, wherein the milling transmission system comprises a milling transmission primary gear, a milling transmission secondary gear and a milling transmission tertiary gear which are meshed in sequence, a cutter holder is arranged on the milling transmission tertiary gear, and a milling cutter is arranged through the cutter holder;
the disassembly transmission system comprises an electrode cap disassembly transmission primary gear, an electrode cap disassembly transmission secondary gear, an electrode cap disassembly transmission tertiary gear, an electrode cap disassembly transmission quaternary gear, a negative electrode cap disassembly transmission gear and a positive electrode cap disassembly transmission gear which are sequentially meshed, wherein the negative electrode cap disassembly transmission gear and the positive electrode cap disassembly transmission gear are arranged side by side and are in meshed transmission, a plurality of cam grooves with the same structure are formed in the inner rings of the negative electrode cap disassembly transmission gear and the positive electrode cap disassembly transmission gear, all cam grooves are arranged at equal intervals, a chuck is arranged in each cam groove, and the electrode cap disassembly functional module and the electrode cap milling die repairing functional module are arranged in a protective shell formed in the upper support protective shell and the lower support protective shell;
the electrode cap storage and installation device adopts a double-row cartridge clip structure, the electrode cap storage and installation device is arranged on the supporting section bar, the electrode cap storage and installation device comprises an electrode cap storage and supply mechanism for loading a standby electrode cap, a locking and installation mechanism, a reset spring and a pressure spring, the electrode cap storage and supply mechanism is detachably connected with the locking and installation mechanism, a chute is formed in the electrode cap storage and supply mechanism, the pressure spring is arranged in the chute, an electrode cap installation opening capable of being opened and closed automatically is formed in the bottom of the electrode cap storage and supply mechanism, and the opening and closing of the positive electrode cap installation opening are completed through the reset spring arranged on the side face;
the control module comprises a controller, an electrode cap checking and detecting device, an electrode cap cutting detector and a rotation detecting device, wherein the electrode cap checking and detecting device is connected with the controller through signals, the controller is arranged in an electric cabinet, the electric cabinet is arranged on a positioning plate, the electrode cap checking and detecting device comprises a positive electrode cap detector, a negative electrode cap detector, an electrode cap shape detector and an electrode cap quantity detector, the positive electrode cap detector and the negative electrode cap detector are arranged in an upper supporting protection shell and respectively face a positive electrode cap dismounting transmission gear and a negative electrode cap dismounting transmission gear, the electrode cap quantity detector is arranged on an electrode cap storage and supply mechanism and faces an electrode cap mounting port, the electrode cap detecting shape detector is composed of an electrode cap detecting plate and a pulling pressure sensor and is arranged on a supporting section of a main body framework, the electrode cap cutting detector is arranged in the upper supporting protection shell and faces a milling transmission three-stage gear, the rotation detector comprises a rotation encoder and a rotary encoder, and the rotation encoder is arranged on the main body and can be matched with the rotation encoder, and the rotation encoder is arranged on the main body.
Preferably, the invention further comprises a scrap collecting module, the scrap collecting module specifically comprises a closed copper scrap collector, an upper milling dust-separating cover and a lower milling dust-separating cover with a closed function are arranged on the outer side of the milling transmission three-stage gear, a scrap-removing air-supplying pipe orifice is arranged on the lower milling dust-separating cover, the scrap-removing air-supplying pipe orifice is connected with an air source orifice in the water-gas quick-inserting assembly through a hose, and the lower milling dust-separating cover is connected with the closed copper scrap collector through a hard pipe.
Preferably, the electrode cap checking and detecting device comprises an electrode cap detecting plate and a pulling pressure sensor, wherein the electrode cap detecting plate is arranged on the supporting section bar, the pulling pressure sensor is arranged between the electrode cap detecting plate and the supporting section bar, and the pulling pressure sensor is in signal connection with the controller.
Preferably, the invention further comprises electrode cap number detectors which are arranged on the supporting section bar and are respectively arranged at two sides of the electrode cap storage and installation device, and the electrode cap number detectors are in signal connection with the controller.
Preferably, the milling drive train and the dismounting drive train are arranged in a herringbone manner into two drive branches.
Preferably, the main body framework is a steel and aluminum alloy main body framework, and the main body framework is a movable integrated structure.
(III) beneficial effects
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides an electrode cap milling and replacing system of an industrial robot fixed resistance spot welding clamp, which consists of a tool side quick switching device, a robot side quick switching device, a milling and die repairing and electrode cap replacing device and a pneumatic and electric control module. The clamping type movable structure is adopted, the whole structure is compact and portable, the clamping type movable structure is used as a replacement tool to be backed up in a tool library of an automatic production line, and the clamping type movable structure can be automatically installed at the front end of an industrial robot to execute related operations at any time during application;
2. in the invention, the quick switching device consisting of the tool side quick switching device and the robot side quick switching device adopts the gun changing disc structure of the industrial robot, can quickly lock the system and the front end of the robot, has the advantages of strong universality, quick response speed, simple installation action, high reliability and the like, and can meet the quick switching requirement in the welding automatic line.
3. The milling and trimming die and the electrode cap replacing device are divided into an electrode cap milling and trimming die set and an electrode cap replacing die set. According to the space layout form of the positive and negative electrodes in the fixed welding tongs and the characteristic of the reverse thread installation structure of the electrode cap studs and the support studs, the electrode cap replacement module is respectively provided with a positive disassembly mechanism, a negative disassembly mechanism and an installation mechanism. The industrial robot is ensured to finish the replacement of the positive electrode cap and the negative electrode cap of the fixed welding tongs by the simplest motion path, the working efficiency is greatly improved, and the programming workload is simplified.
4. The electrode cap milling and trimming module in the milling and trimming module and the electrode cap replacing device is provided with a closed copper scrap collector, so that copper scraps generated by milling and trimming can be directly absorbed, and harm of splash floating copper scraps to field personnel and precision equipment is prevented.
5. The quick switching device is driven by the pneumatic drive, the milling die-repairing and electrode cap replacing device is driven by the motor, and the control system is provided with the bus communication module, so that the control program of the quick switching device can be integrated with the related control program of the industrial robot, the production line is not stopped during the working and maintenance of the quick switching device, and the stop rate is reduced.
Drawings
FIG. 1 is an isometric view of the general structure of an electrode cap milling and replacement system for an industrial robot fixed resistance spot welding pliers in an embodiment of the invention;
FIG. 2 is an isometric view of a main body support structure of an industrial robot fixed resistance spot welding clamp electrode cap milling and replacement system in accordance with an embodiment of the present invention;
FIG. 3 is a right side view of the general structure of an electrode cap milling and replacement system for an industrial robot fixed resistance spot welding pliers in an embodiment of the invention;
FIG. 4 is a partial cross-sectional view of a right side view of an overall construction of an electrode cap milling and replacement system for a fixed resistance spot welding pliers based on an industrial robot in accordance with an embodiment of the present invention;
FIG. 5 is a partial cross-sectional view of a front view of the general structure of an electrode cap milling and replacement system based on an industrial robot fixed resistance spot welding clamp in an embodiment of the present invention;
FIG. 6 is a partial cross-sectional view of a rear view of the overall structure of an electrode cap milling and replacement system for a fixed resistance spot welding pliers based on an industrial robot in accordance with an embodiment of the present invention;
FIG. 7 is a schematic illustration of an electrode cap repair and disassembly workflow of an electrode cap milling and replacement system for an industrial robot fixed resistance spot welding pliers in an embodiment of the invention.
In fig. 1 to 6, the correspondence between the reference numerals and the component names is:
1. milling and repairing the electrode cap and replacing the device; 2. a tool side quick switching device; 3. a robot side quick switching device; 4. the water-gas quick-plug assembly; 5. an electrode cap storage and mounting device; 6. a chip blowing electromagnetic valve; 7. a rotary encoder; 8. a suspension bracket; 9. supporting the connecting column; 10. a scurf cleaning air supply pipe orifice; 11. a motor control electric box; 12. an upper support protective shell; 13. a support profile; 14. a positioning plate; 15. positioning a flange; 16. a support housing; 17. driving the connecting shaft; 18. a positioning pin; 19. a motor; 20. a lower vibration damping spring; 21. a guide post; 22. a pressure sensor; 23. a guide sleeve; 24. an upper vibration damping spring; 25. a first rolling ball bearing; 26. a positioning key; 27. an upper bearing positioning flange plate; 28. rotating the signal transmitter; 29. a drive gear; 30. a lower support protective shell; 31. a lower bearing positioning flange plate; 32. closing the copper scraps collector; 33. a lower milling dust-proof cover; 34. a milling dust-proof cover is arranged on the upper part; 35. rotating the locking switch; 36. an electrode cap cutting detector; 37. milling a transmission primary gear; 38. milling a transmission secondary gear; 39. milling a transmission three-stage gear; 40. a cutter mounting seat; 41. a second rolling ball bearing; 42. a milling cutter; 43. the electrode cap is disassembled to drive the three-stage gear; 44. a positive electrode cap detector; 45. the electrode cap is replaced with a module transmission transfer gear; 46. a positive electrode cap unloading chuck; 47. a negative electrode cap unloading chuck; 48. a negative electrode cap detector; 49. the electrode cap is disassembled to drive the primary gear; 50. the electrode cap is disassembled to drive the four-stage gear; 51. disassembling the transmission gear by the negative electrode cap; 52. the electrode cap is disassembled to drive the secondary gear; 53. the positive electrode cap is used for disassembling the transmission gear; 54. an electrode cap storage and supply mechanism; 55. a spare electrode cap; 56. a locking mechanism; 57. a return spring; 58. a pressure spring; 59. an electrode cap number detector; 60. an electrode cap detection plate; 61. and (5) pulling the pressure sensor.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 to 7, fig. 1 is an isometric view of an overall structure of a milling and replacing system for electrode caps of an industrial robot fixed resistance spot welding pliers according to an embodiment of the present invention; FIG. 2 is an isometric view of a main body support structure of an industrial robot fixed resistance spot welding clamp electrode cap milling and replacement system in accordance with an embodiment of the present invention; FIG. 3 is a right side view of the general structure of an electrode cap milling and replacement system for an industrial robot fixed resistance spot welding pliers in an embodiment of the invention; FIG. 4 is a partial cross-sectional view of a right side view of an overall construction of an electrode cap milling and replacement system for a fixed resistance spot welding pliers based on an industrial robot in accordance with an embodiment of the present invention; FIG. 5 is a partial cross-sectional view of a front view of the general structure of an electrode cap milling and replacement system based on an industrial robot fixed resistance spot welding clamp in an embodiment of the present invention; FIG. 6 is a partial cross-sectional view of a rear view of the overall structure of an electrode cap milling and replacement system for a fixed resistance spot welding pliers based on an industrial robot in accordance with an embodiment of the present invention; FIG. 7 is a schematic illustration of an electrode cap repair and disassembly workflow of an electrode cap milling and replacement system for an industrial robot fixed resistance spot welding pliers in an embodiment of the invention.
The electrode cap milling and replacing system of the fixed resistance spot welding tongs of the industrial robot provided by the invention consists of an electrode cap milling and repairing device, an electrode cap replacing device, a tool side quick switching device 2, a robot side quick switching device 3, an electro-pneumatic control module and other auxiliary spare and accessory parts, adopts a clampable moving structure, and has the advantages of high automation degree, compact and portable structure and the like.
In order to enable the system to be quickly installed at the front ends of different six-axis industrial robots, the invention adopts a universal robot gun changing disc structure on the market as a quick switching device of the system. The main body support of the system is provided with a positioning flange 15, and the size design of the positioning flange 15 can be correspondingly adjusted according to the installation sizes of a ball locking rolling gun changing disc, a cam locking rolling gun changing disc, a cylindrical locking rolling gun changing disc and the like which are commonly used in the market. The active locking side of the gun changing disc is arranged at the front end of the industrial robot, the passive side of the gun changing disc is arranged on a positioning flange 15 of the system, and an air source is provided by connecting the water-gas quick-inserting assembly 4 with a water-gas supply system of an external industrial robot.
The electrode cap milling and die repairing and replacing device 1 in the electrode cap milling and replacing system of the fixed resistance spot welding pliers of the industrial robot is divided into an electrode cap milling and die repairing functional module, an electrode cap disassembling functional module and an electrode cap installing functional module. In the three modules described above, they are mounted on a main body bracket consisting of a support profile 13, a positioning plate 14, a positioning flange 15 and a support housing 16, respectively. The electrode cap installation function module is directly installed on the supporting section bar 13 through bolts, and the position of the electrode cap installation function module can be adjusted on the supporting section bar 13 along the direction of a T-shaped groove on the section bar. The overall structure of the electrode cap milling and trimming functional module and the electrode cap disassembling functional module is connected with the support shell 16 through a floating vibration damper with two-point layout. The advantages of the above structural design are: the vibration reduction and automatic adjustment functions can be achieved, errors and deviations generated when electrode caps with different sizes are installed with the system are eliminated, and reliability and safety of the cutter and the transmission system are ensured.
The floating vibration damper adopts a secondary vibration damping principle, and has the specific structure that: a guide post 21 and a coil spring are arranged between the suspension bracket 8 and the support housing 16. The suspension bracket 8 is fixedly connected with the upper support protective shell 12 through the support connecting column 9, so that the electrode cap milling and die repairing functional module and the electrode cap disassembling functional module are connected into a whole, and the functions of damping vibration and displacement generated by the operation of the electrode cap milling and die repairing functional module and the electrode cap disassembling functional module are achieved. The upper damping spring 24 arranged on the guide post 21 between the suspension bracket 8 and the support shell 16 is of a primary damping structure of the floating damping device, the support shell 16 is processed into a stepped hole at a through hole of the guide post 21, and a guide sleeve 23 is arranged between the stepped hole and the upper damping spring 24 and used for preventing the upper damping spring 24 from rotating circumferentially. The lower vibration damping spring 20 arranged on the other sides of the supporting shell 16 and the guide post 21 is of a secondary vibration damping structure, and mainly acts on the vibration and position adjustment of the electrode cap storage and installation device 5, the motor 19 and the electrode cap detection device on the supporting section bar 13, and meanwhile, the auxiliary adjustment of the electrode cap milling and die repairing functional module and the electrode cap disassembling functional module is also carried out.
The electrode cap milling and die repairing functional module adopts a three-stage gear transmission principle, so that the effects of reducing speed and increasing torque are achieved. The electrode cap milling and die repairing functional module is mutually connected with and integrated with an electrode cap dismounting functional module and a floating vibration damper with a secondary vibration damping function, and the main structure is composed of a rotary encoder 7, an upper supporting protective shell 12, a driving connecting shaft 17, a positioning pin 18, a motor 19, a first rolling ball bearing 25, a positioning key 26, an upper bearing positioning flange 27, a rotary signal emitter 28, a driving gear 29, a lower supporting protective shell 30, a lower bearing positioning flange 31, an electrode cap cutting detector 36, a milling transmission primary gear 37, a milling transmission secondary gear 38, a milling transmission tertiary gear 39, a cutter mounting seat 40, a second rolling ball bearing 41 and a milling cutter 42.
In the invention, the electrode cap milling and die repairing functional module adopts a three-stage gear transmission principle, thereby achieving the functions of reducing speed and increasing torque. The electrode cap milling and die repairing functional module is connected with the electrode cap disassembling functional module and the floating vibration damper with the secondary vibration damping function.
The motor 19 in the electrode cap milling and die repairing functional module is arranged on one side of the supporting shell 16, a driving shaft of the motor 19 is connected with the driving gear 29 through a driving connecting shaft 17, wherein the driving connecting shaft 17 is connected with the shaft of the motor 19 through a conical positioning pin 18, and the driving gear 29 of the motor 19 is fixed through a positioning key 26. The driving gear 29 of the motor 19 is arranged between the first rolling ball bearing 25 and the upper bearing positioning flange plate 27 and the lower bearing positioning flange plate 31, and is matched with a gear train of an electrode cap milling and die-repairing functional module arranged in the upper support protecting shell 12 and the lower support protecting shell 30, so that the driving force and the speed of the motor 19 are transmitted to the milling transmission primary gear 37, and the milling cutter 42 arranged on the inner ring cutter mounting seat 40 of the milling transmission tertiary gear 39 has proper cutting speed and proper cutting force to complete cutting work through the reduction transmission of the milling transmission secondary gear 38 and the milling transmission tertiary gear 39.
To control the exact position of the electrode cap cut into the system milling cutter 42, the cutting speed of the milling cutter 42, the cutting pressure and the feed rate. Proximity switches are respectively arranged on the side surfaces of the milling transmission three-stage gear 39 and the cutter mounting seat 40 to form an electrode cap cutting detector 36; the rotary encoder 7 is arranged on the upper side of the driving gear 29 of the motor 19, the principle structure of the rotary encoder is composed of a proximity switch and a semicircular metal rotary signal emitter 28 which is coaxially arranged with the driving gear 29 of the motor 19, and the cutting speed of the milling cutter 42 is accurately calculated by combining the transmission ratio of a gear train. A pressure sensor 22 is arranged between the guide sleeve 23 and the stepped hole of the support shell 16, the pressure sensor 22 is in a circular ring structure and is sleeved on the guide post 21, and the pressure sensor is used for more accurately controlling the floating vibration damper and providing control feedback signals for constant force cutting and detection of the electrode cap mounting of the electrode cap milling and die repairing functional module.
The electrode cap disassembly functional module also adopts a four-stage gear reduction transmission structure to increase transmission torque, thereby achieving the effect of improving clamping force. The gear train of the electrode cap removal functional module is also mounted between the electrode cap removal module upper support protective shell 12 and the lower support protective shell 30. The entire gear train is likewise driven by the motor 19. Milling drive primary gear 37 and electrode cap disassembly drive primary gear 49, and electrode cap disassembly drive secondary gear 52 and electrode cap disassembly drive tertiary gear 43 are double-layer gears, wherein milling drive primary gear 37 and electrode cap disassembly drive secondary gear 52 are large gears in the double-layer gears, and electrode cap disassembly drive primary gear 49 and electrode cap disassembly drive tertiary gear 43 are small gears. The electrode cap disassembly transmission primary gear 49 is meshed with the electrode cap disassembly transmission secondary gear 52, the electrode cap disassembly transmission tertiary gear 43 coaxially arranged on the other layer is used as an electrode cap replacement module transmission transfer transmission gear to be meshed with the electrode cap disassembly transmission quaternary gear 50 with the same function, and meanwhile, the electrode cap disassembly transmission quaternary gear 50 transmits speed and torque to the positive electrode cap disassembly transmission gear 53 meshed with the electrode cap disassembly transmission primary gear 49. The positive electrode cap disassembly transmission gear 53 is externally meshed with the negative electrode cap disassembly transmission gear 51, so that the purpose that the rotation directions of the two gears are opposite is achieved.
In the positive electrode cap dismounting transmission gear 53 and the negative electrode cap dismounting transmission gear 51, the same cam grooves are uniformly machined on the inner rings of the two gears, the cam grooves are distributed at 120 degrees around the geometric circle center of the gears, and the cams in a zigzag shape are respectively arranged in the cam grooves in the anticlockwise direction and the clockwise direction and positioned by pin shafts to form a positive electrode cap dismounting chuck 46 and a negative electrode cap dismounting chuck 47.
In order to detect whether the electrode cap enters the designated positions of the positive electrode cap unloading chuck 46 and the negative electrode cap unloading chuck 47 in the working process, a positive electrode cap detector 44 and a negative electrode cap detector 48 are arranged on the sides of a positive electrode cap disassembly transmission gear 53 and a negative electrode cap disassembly transmission gear 51 in an upper supporting and protecting shell, and a main structure is a proximity switch, and a spring is arranged on the rear side of the proximity switch to attenuate external vibration.
The electrode cap milling and die repairing functional module is provided with a closed type scrap collecting module, an upper milling dust-separating cover 34 and a lower milling dust-separating cover 33 are arranged on the milling transmission three-stage gear 39, the cutter mounting seat 40 and the milling cutter 42, and the closed type dust collection structure can effectively prevent copper scraps generated by milling from splashing. The dust-proof cover is provided with a dust-removing air-supplying pipe orifice 10 on the side face, the dust-removing air-supplying pipe orifice 10 is connected with an air source orifice in the water-air quick-inserting assembly through a hose (rubber pipe), and the air supply control of the pipe orifice is completed by a dust-blowing electromagnetic valve 6 and a controller of the system which are arranged on the upper side of a closed copper dust collector 32. The cylindrical closed copper scrap collector 32 is connected with the position, close to the milling cutter 42, of the lower dust-separating cover by a metal pipe, the whole device is provided with air pressure of 0.6MPa by the water-air quick-inserting assembly 4, and copper scraps generated by die repairing are blown to the closed copper scrap collector 32 by taking air discharged by the scrap-cleaning air-supplying pipe orifice 10 as power. The top end of the sealing barrel is provided with an opening which is sealed by a transparent plastic film, so that the copper scrap capacity inside can be observed conveniently.
In the invention, the electrode cap mounting function module refers to an electrode cap storage mounting device 5 which is independently mounted on a supporting section bar 13, and the cartridge clip type double-row positive and negative two-side supply structure principle is adopted. The main structure of the electrode cap storage mounting device 5 includes: electrode cap storage supply mechanism 54, spare electrode cap 55, lock mounting mechanism, return spring 57, pressure spring 58, electrode cap number detector 59, and rotary lock switch 35, etc. The electrode cap storage and supply mechanism 54 is connected to and disconnected from the lock mounting mechanism through a side chute and is locked by the rotary lock switch 35. The spare electrode cap 55 is pressed by the pressure spring 58 into the lock mounting mechanism along the slide groove in the electrode cap storage and supply mechanism 54, and a plurality of electrode caps can be stored in the lock mounting mechanism. When the electrode cap is installed on the welding tongs by the system, the industrial robot breaks away from the electrode cap along the straight line direction, and the locking hooks in the locking installation mechanism are stressed to open so as to break away the electrode cap. When the electrode cap is completely separated, the locking switch is locked again by the elastic force of the reverse-side compression return spring 57, and meanwhile, the standby electrode cap 55 is automatically located along the sliding groove by the pressure spring 58. Spare electrode caps 55 provided on both sides of the electrode cap storage and mounting device 5 are provided with electrode cap number detectors 59, respectively, so that recording and monitoring of the electrode cap number reserves are completed.
The electrode cap detection shape detector is arranged on the supporting section 13, and mainly consists of an electrode cap detection plate 60 and a tension pressure sensor 61, and the function of the electrode cap detection shape detector is to detect whether a new electrode cap replaced on a fixed welding tongs is qualified or not by the system. The main body structure of the electrode cap detection plate 60 is that corresponding grooves in the shape of an electrode cap are respectively processed at the front and rear of the metal plate, and a tension pressure sensor 61 is arranged at the connection part with the section bar. After the electrode cap on the fixed welding tongs is replaced by the system, the electrode cap detection plate 60 and the tension pressure sensor 61 are combined and moved to the corresponding position of the electrode cap on the fixed welding tongs by the industrial robot, the corresponding groove is matched with the electrode cap for installation, and whether the installed electrode cap is qualified or not is determined through rated pressure calibrated in advance. The electrode cap detection plate 60 and the pull pressure sensor 61 can be used for independently detecting the positive and negative electrode caps on the fixed electrode holder, and also can be used for detecting the closing pressure of the positive and negative electrode caps of the fixed electrode holder through symmetrical grooves, and the specific detection method is discussed in the following system control principle and method.
In the invention, the control module mainly has the functions of detecting, correcting and adjusting the state of the real-time work of the system through the rotary encoder 7, the pressure sensor 22, the electrode cap cutting detector 36, the positive electrode cap clamping detector, the negative electrode cap clamping detector, the electrode cap quantity detector 59 and the pull pressure sensor 61, and automatically completing the work task of the system in cooperation with the industrial robot and correcting errors generated in the work, and the specific steps are as follows:
1. the system is rapidly switched on the industrial robot;
after 200 welding spots are welded by the fixed welding tongs, a welding controller in the robot control cabinet group sends a request for milling an electrode cap to industrial robots, the industrial robots move to a tool parking support, a gripping apparatus is placed on the gripping apparatus parking support through a quick switching device, and a locking structure is controlled to unlock through an electromagnetic valve in the quick switching device. When unlocking is completed, the robot moves to the position above the bracket where the fixed welding tongs automatically coping and electrode cap replacing system stops according to the programmed track. Then, by matching the robot-side quick switching device 3 with the system tool-side quick switching device 2, the solenoid valve of the starting device controls the locking mechanism to lock. At this time, the power supply module, the air supply module and the I/O module on the robot side are communicated with the power supply module, the air supply module and the I/O module on the tool side.
2. Grinding;
the industrial robot moves the electrode cap milling and replacing system of the fixed resistance spot welding tongs to a position where the electrode cap of the fixed welding tongs needs to be repaired, so that the electrode cap of the fixed welding tongs is sleeved into the inner rings of the cutter mounting seat 40 and the milling cutter 42, and the whole process is tested by the electrode cap cutting detector 36. When the electrode cap enters the correct die repair station, the electrode cap cutting detector 36 is started, and a signal is transmitted to the industrial robot control cabinet group through a 24-core control line by a communication module (IP 6-7). At this time, the control cabinet group starts the counter, sends a path of current of 24V,500mA to the communication module (IP 6-7) through the I/O module, controls the suction of a positive-switching contactor in the electric box, connects 380V power electricity to a circuit breaker in the motor control box 11 through the contactor, and starts the motor 19 to drive the gear train and the milling cutter 42 in the electrode cap milling and die repairing function module to rotate. And meanwhile, the industrial robot control cabinet group sends out an instruction to the fixed welding tongs to control the fixed welding tongs to be closed and pressurized to 3kN, and the pressure value is detected by a pressure sensor 22 in a suspension device in the system. When the indices meet the predetermined requirements, the system starts milling, the whole process is maintained for 1.5-2 seconds, the cutting speed of the milling cutter 42 is controlled by the rotary encoder 7, and the constant milling feed is controlled by the pressure sensor 22. After finishing grinding, the fixed welding tongs are opened through the industrial robot control cabinet group, meanwhile, the milling rotation detector sends a signal to the communication module, the communication module transmits the signal to the industrial robot control cabinet group through the bus, the communication module is controlled to stop supplying 24V and 500mA current to the contactor in the motor control box 11, the positive-switching contactor in the motor control box 11 is disconnected, 380V power electricity of the motor 19 is closed, and grinding is stopped. Finally, the robot drives the automatic fixed welding tongs polishing and electrode cap replacing system to leave the fixed welding tongs polishing position according to the programmed track, moves to the automatic fixed welding tongs polishing and electrode cap replacing device to stop the support and put down system, and switches to the robot clamp again through the quick switching device.
3. Automatic assembling and disassembling electrode cap
(1) Disassembling electrode cap
And after the grinding is performed for 4-5 times, a counter in the robot control cabinet group sends a request for replacing the electrode cap to the industrial robot through the welding controller. The industrial robot is switched into the automatic repair and grinding and electrode cap replacement system of the fixed welding tongs again according to the step 1. The industrial robot then moves with the fixed electrode holder auto-coping and electrode cap replacement system to the position where the fixed electrode holder electrode cap needs to be replaced, and detects whether the electrode cap is nested within the positive electrode cap unloading chuck 46 by the positive electrode cap detector 44. When the electrode cap enters a proper position, the positive electrode cap detector 44 transmits signals to the industrial robot control cabinet group through the communication module (IP 6-7) by the 24-core control wire, at the moment, the control cabinet group starts the counter and sends a path of current of 4V and 500mA to the communication module (IP 6-7) through the I/O module, so that a positive-electrode contact in the control electric box is attracted, 380V power electricity is connected to a circuit breaker in the motor control box 11 through the contact, the motor 19 is started to drive the positive electrode cap unloading chuck 46 in the electrode cap disassembling function module to lock the electrode cap, and the positive electrode cap is removed along the axial direction of the electrode rod under the moving fit of the industrial robot. After the electrode cap is successfully unloaded, the robot drives the system to move above the waste electrode cap recovery barrel, the robot control cabinet group sends a current for stopping supplying 24V and 500mA to the contactor in the motor control box 11 to the communication module (IP 6-7), the contactor in the motor control box 11 is controlled to be opened, 380V power of the motor 19 is closed, meanwhile, the communication module (IP 6-7) sends a current of 24V and 500mA to enable the reverse contactor in the motor control box 11 to be sucked, the motor 19 is controlled to reversely turn on the positive electrode cap unloading chuck 46, the electrode cap falls into the recovery barrel, and the counter in the robot control cabinet group is cleared.
The disassembly process of the negative electrode cap is the same as above, and a detailed description thereof is omitted.
(2) Electrode cap
When the electrode cap is detached from the fixed welding tongs, the robot control cabinet group requests the industrial robot to install the electrode cap. An electrode cap number detector 59 in the system detects the presence of an electrode cap in the latching mechanism 56. After the electrode caps are determined, the electrode cap number detector 59 transmits signals to the industrial robot control cabinet group through the 24-chip control line through the communication module (IP 6-7), and controls the industrial robot to drive the electrode cap storage device on the fixed welding tongs to automatically repair and grind and electrode cap replacement device to the position where the electrode caps are arranged on the positive electrode rod, so that the electrode caps are arranged, and the pressure sensor 22 in the suspension vibration reduction device detects the installation state of the electrode caps. When the installation is determined to be correct and tight, the system is disengaged from the fixed electrode holders by bi-directional movement of the industrial robot. And then the industrial robot is controlled to continuously replace the negative electrode cap of the fixed welding tongs, and the replacement principle is the same as that of the positive electrode cap.
(3) Detection electrode cap
When the electrode cap of the fixed welding tongs is installed, the robot control cabinet group sends a control signal to the industrial robot, the robot moves the electrode cap detection plate 60 in the system to the positive electrode cap of the fixed welding tongs, and whether the position is correct or not is determined by pulling the pressure sensor 61. If the position is correct, the robot control cabinet group controls the fixed welding tongs to be closed, a support stud in the welding tongs drives the negative electrode cap to pressurize the negative electrode cap position of the electrode cap detection plate 60, when the closing pressure reaches about 3000kN (+ -500N), the electrode cap on the fixed welding tongs is determined to be correctly installed, otherwise, the control program of the step 3 (2) is started to be reinstalled.
The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (6)
1. An industrial robot fixed resistance spot welding clamp electrode cap milling and replacing system, comprising:
the main body framework comprises a positioning flange, a positioning plate which is arranged on the same plane is arranged on one side of the positioning flange, a supporting shell is arranged at the front end of the positioning flange and positioned on the lower side of the positioning flange, and a supporting section bar is arranged on the supporting shell towards the direction of the positioning plate;
the quick switching device comprises a tool side quick switching device for realizing tool switching and a robot side quick switching device for realizing quick connection with a robot, wherein the tool side quick switching device is arranged on the positioning flange, the size of the positioning flange is adjusted according to the installation sizes of the ball locking rolling gun changing disc, the cam locking rolling gun changing disc and the cylindrical locking rolling gun changing disc, the robot side quick switching device is arranged on the upper side of the tool side quick switching device, and a water-gas quick-insertion assembly is arranged on the periphery of the tool side quick switching device;
the power assembly comprises a motor, a connecting shaft and a driving gear, wherein the motor is arranged below the positioning flange, the connecting shaft is in power connection with the motor, the driving gear is arranged at the tail end of the connecting shaft, and the driving gear is rotatably arranged on the main body framework through a first rolling ball bearing;
the floating vibration damper comprises a guide sleeve fixedly arranged on the main body framework, a guide pillar is arranged in the guide sleeve, an upper vibration damper spring is arranged at the front end of the guide sleeve, a lower vibration damper spring is arranged at the rear end of the guide sleeve, and the upper vibration damper spring and the lower vibration damper spring are both sleeved on the guide pillar;
the electrode cap milling and die repairing functional module and the electrode cap disassembling functional module are arranged in the supporting and protecting shell and comprise a milling transmission system meshed with the driving gear and a disassembling transmission system, wherein the milling transmission system comprises a milling transmission primary gear, a milling transmission secondary gear and a milling transmission tertiary gear which are meshed in sequence, a cutter holder is arranged on the milling transmission tertiary gear, and a milling cutter is arranged through the cutter holder;
the disassembly transmission system comprises an electrode cap disassembly transmission primary gear, an electrode cap disassembly transmission secondary gear, an electrode cap disassembly transmission tertiary gear, an electrode cap disassembly transmission quaternary gear, a negative electrode cap disassembly transmission gear and a positive electrode cap disassembly transmission gear which are sequentially meshed, wherein the negative electrode cap disassembly transmission gear and the positive electrode cap disassembly transmission gear are arranged side by side and are in meshed transmission, a plurality of cam grooves with the same structure are formed in the inner rings of the negative electrode cap disassembly transmission gear and the positive electrode cap disassembly transmission gear, all cam grooves are arranged at equal intervals, a chuck is arranged in each cam groove, and the electrode cap disassembly functional module and the electrode cap milling and die repairing functional module are arranged in a protective shell formed in an upper supporting protective shell and a lower supporting protective shell;
the electrode cap storage and installation device adopts a double-row cartridge clip structure, the electrode cap storage and installation device is arranged on the supporting section bar, the electrode cap storage and installation device comprises an electrode cap storage and supply mechanism for loading a standby electrode cap, a locking and installation mechanism, a reset spring and a pressure spring, the electrode cap storage and supply mechanism is detachably connected with the locking and installation mechanism, a chute is formed in the electrode cap storage and supply mechanism, the pressure spring is arranged in the chute, an electrode cap installation opening capable of being opened and closed automatically is formed in the bottom of the electrode cap storage and supply mechanism, and the opening and closing of the electrode cap installation opening are completed through the reset spring arranged on the side face;
the control module comprises a controller, an electrode cap checking and detecting device, an electrode cap cutting detector and a rotation detecting device, wherein the electrode cap checking and detecting device is connected with the controller through signals, the controller is arranged in an electric cabinet, the electric cabinet is arranged on the positioning plate, the electrode cap checking and detecting device comprises a positive electrode cap detector, a negative electrode cap detector, an electrode cap shape detector and an electrode cap quantity detector, the positive electrode cap detector and the negative electrode cap detector are arranged in the upper supporting protection shell and face the positive electrode cap dismounting transmission gear and the negative electrode cap dismounting transmission gear respectively, the electrode cap quantity detector is arranged on the electrode cap storage and supply mechanism and faces the electrode cap mounting port, the electrode cap detecting shape detector is composed of an electrode cap detecting plate and a pulling pressure sensor and is arranged on a supporting section of a main body framework, the electrode cap cutting detector is arranged in the upper supporting protection shell and faces the milling transmission three-stage gear, the rotation detecting device comprises a rotation encoder and a rotation encoder, and the rotation encoder can be arranged on the main body in a rotary encoder, and the rotation encoder is arranged on the main body in a corresponding manner.
2. The industrial robot fixed resistance spot welding clamp electrode cap milling and replacement system of claim 1, wherein,
the novel dust collector comprises a dust collecting module, and is characterized by further comprising a closed copper dust collector, wherein an upper milling dust-separating cover and a lower milling dust-separating cover with a closed function are arranged on the outer side of the milling transmission three-stage gear, a dust-cleaning air-supplying pipe orifice is arranged on the lower milling dust-separating cover, the dust-cleaning air-supplying pipe orifice is connected with an air source orifice in the water-gas quick-inserting assembly through a hose, and the lower milling dust-separating cover is connected with the closed copper dust collector through a hard pipe.
3. The industrial robot fixed resistance spot welding clamp electrode cap milling and replacement system of claim 1, wherein,
the electrode cap checking and detecting device comprises an electrode cap detecting plate and a tension pressure sensor, wherein the electrode cap detecting plate is arranged on the supporting section bar, the tension pressure sensor is arranged between the electrode cap detecting plate and the supporting section bar, and the tension pressure sensor is in signal connection with the controller.
4. The industrial robot fixed resistance spot welding clamp electrode cap milling and replacement system of claim 1, wherein,
the electrode cap storage and installation device is characterized by further comprising electrode cap quantity detectors which are arranged on the supporting section bar and are respectively arranged at two sides of the electrode cap storage and installation device, and the electrode cap quantity detectors are in signal connection with the controller.
5. The industrial robot fixed resistance spot welding clamp electrode cap milling and replacement system of claim 1, wherein,
the milling transmission system and the disassembling transmission system are arranged into two transmission branches in a herringbone mode.
6. The industrial robot fixed resistance spot welding clamp electrode cap milling and replacement system of any one of claims 1 to 5,
the main body framework is a steel and aluminum alloy main body framework, and the main body framework is of a movable integrated structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710655973.2A CN107253206B (en) | 2017-08-03 | 2017-08-03 | Electrode cap milling and replacing system of fixed resistance spot welding pliers of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710655973.2A CN107253206B (en) | 2017-08-03 | 2017-08-03 | Electrode cap milling and replacing system of fixed resistance spot welding pliers of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107253206A CN107253206A (en) | 2017-10-17 |
| CN107253206B true CN107253206B (en) | 2023-05-23 |
Family
ID=60025699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710655973.2A Active CN107253206B (en) | 2017-08-03 | 2017-08-03 | Electrode cap milling and replacing system of fixed resistance spot welding pliers of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107253206B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111085801A (en) * | 2019-11-29 | 2020-05-01 | 上汽大众汽车有限公司 | Star disk type element storage device with power |
| CN114226351B (en) * | 2021-08-16 | 2024-01-30 | 重庆大学 | Complex multi-working-condition self-adaptive dust removing device for dry cutting processing of composite material |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103537847A (en) * | 2013-10-22 | 2014-01-29 | 长城汽车股份有限公司 | Electrode cap grinding device and automatic welding system |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1648715A2 (en) * | 1989-02-13 | 1991-05-15 | Д. Ш. Шари , Д. X. Касрадзе, А. И. Белый, В. И. Кобец, В. И. Дзыкович и Т. Г. Каланди | Apparatus for restoration of holes in casing parts |
| JPH10323763A (en) * | 1997-05-28 | 1998-12-08 | Toyota Motor Corp | Welding robot |
| JP3650928B2 (en) * | 2000-05-26 | 2005-05-25 | 株式会社キョクトー | Dresser device |
| CN1111113C (en) * | 2000-08-11 | 2003-06-11 | 福裕事业股份有限公司 | Cutting tool storage and exchange unit of special machine tool |
| DE102009058937B3 (en) * | 2009-12-17 | 2011-05-19 | Schweißtechnik Bräuer GmbH | Magazine for electrode caps |
| CN101863036A (en) * | 2010-05-09 | 2010-10-20 | 俞建峰 | Robot tool exchanging device driven by air pressure |
| CN103071903B (en) * | 2012-12-14 | 2014-10-01 | 上汽依维柯红岩商用车有限公司 | Installation device of electrode cap of spot welding machine |
| KR101518914B1 (en) * | 2013-09-30 | 2015-05-11 | 현대자동차 주식회사 | Spot welding apparatus |
| CN104002218B (en) * | 2014-05-05 | 2017-02-01 | 广州明珞汽车装备有限公司 | Electrode cap coping-replacing all-in-one machine |
| CN203887657U (en) * | 2014-05-05 | 2014-10-22 | 广州明珞汽车装备有限公司 | Electrode cap grinding and replacing integrated machine |
| MX2016007918A (en) * | 2014-07-02 | 2016-09-13 | Doben Ltd | System and method with floating welder for high rate production welding. |
| US9505132B1 (en) * | 2015-03-30 | 2016-11-29 | X Development Llc | Methods and systems for calibrating a sensor of a robotic device |
| CN104985425B (en) * | 2015-06-05 | 2017-07-11 | 深圳市鸿栢科技实业有限公司 | A kind of more exchange device that repairs a die of electrode welder cap |
| CN105904071B (en) * | 2016-06-17 | 2018-01-16 | 雄华机械(苏州)有限公司 | The equipment of slide rail in a kind of assembling |
| CN106392591A (en) * | 2016-10-14 | 2017-02-15 | 广州明珞汽车装备有限公司 | Bi-direction automatic electrode cap changing equipment for welding gun |
| CN207290114U (en) * | 2017-08-03 | 2018-05-01 | 长春理工大学 | The pliers spot welding head electrode cap milling of industrial robot fixed resistance is with replacing system |
-
2017
- 2017-08-03 CN CN201710655973.2A patent/CN107253206B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103537847A (en) * | 2013-10-22 | 2014-01-29 | 长城汽车股份有限公司 | Electrode cap grinding device and automatic welding system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107253206A (en) | 2017-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4310958A (en) | Production-line automatic machine | |
| CN107253206B (en) | Electrode cap milling and replacing system of fixed resistance spot welding pliers of industrial robot | |
| US20140323279A1 (en) | Tool Changing Method and Machine Tool | |
| US20220168858A1 (en) | Automatic tool changer and control method therefor and machine tool including same | |
| CN110733049A (en) | processing system capable of realizing automatic replacement of end effector in mechanical arm | |
| CN111299788A (en) | Mechanism for replacing electrode cap based on pneumatic drive | |
| US20210046599A1 (en) | Machine tool system | |
| KR100372272B1 (en) | Apparatus for replace a ring in opening/closing valve equipped in ducts or pipes for passage of fluid | |
| CN205074925U (en) | Polish joint fixing device of cutter of burr | |
| CN113649899A (en) | Titanium alloy part polishing equipment and polishing method | |
| CN113146009A (en) | Automatic grinding system and method for robot welding electrode cap | |
| JP2020049549A (en) | Robot unit | |
| CN207290114U (en) | The pliers spot welding head electrode cap milling of industrial robot fixed resistance is with replacing system | |
| CN101804570B (en) | Double change-table processing center hydraulic clamp on-line control device | |
| CN208628699U (en) | A kind of gravity send hat type to replace electrode cap device automatically | |
| CN116000918A (en) | Multifunctional composite robot based on omni-directional mobile AGV chassis | |
| JP2017056511A (en) | Tool exchanging device | |
| CN114273967A (en) | Ultra-precision machining method based on composite cutting | |
| CN115139133A (en) | Feeding and discharging structure of flexible blade processing robot | |
| CN110328470B (en) | Movable welding material updating equipment | |
| CN113843478A (en) | Automatic welding device for seat | |
| CN217442832U (en) | Riveting nut detection device and workpiece clamp with same | |
| CN212705896U (en) | Automatic change device and ceramic polishing machine polishing production line | |
| CN213054834U (en) | Mechanical grabbing device of dc-to-ac converter | |
| JP2021074819A (en) | Automatic assembling system for insert |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |