CN109530983B - Automatic welding system and welding method - Google Patents
Automatic welding system and welding method Download PDFInfo
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- CN109530983B CN109530983B CN201811329564.4A CN201811329564A CN109530983B CN 109530983 B CN109530983 B CN 109530983B CN 201811329564 A CN201811329564 A CN 201811329564A CN 109530983 B CN109530983 B CN 109530983B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention provides an automatic welding system, which comprises: the welding fixture is used for clamping a workpiece; a transfer robot for mounting or removing a workpiece to or from the welding jig and for adjusting a welding angle of the workpiece on the welding jig; the welding robot is used for realizing automatic welding of the workpiece; the conveying belt is located on one side of the welding fixture and used for conveying the workpiece to a welding station where the welding fixture is located or moving the workpiece out of the welding station. The invention can realize the adjustment of the angle of the workpiece weldment, thereby facilitating the omnibearing welding of each side surface of the workpiece by the welding robot. The invention not only can realize the automatic welding of the workpiece, but also can automatically adjust the welding angle of the workpiece, thereby ensuring that the welding robot can realize the all-round automatic welding of all surfaces of the workpiece.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to an automatic welding system and a welding method.
Background
With the wide application of automatic welding equipment of robots, the requirements on welding fixtures of workpieces are higher and higher. When the welding angle of the robot is not good, how to change the welding angle of the workpiece by matching the welding fixture so as to meet the requirement of the robot on the best welding angle of the workpiece is a technical problem which needs to be solved urgently by the automatic welding system of the robot at present.
The invention aims to provide an automatic welding system and a welding method, which not only can realize automatic welding of workpieces, but also can automatically adjust the welding angle of the workpieces, thereby ensuring that a welding robot can realize all-dimensional automatic welding of all surfaces of the workpieces.
Disclosure of Invention
In order to achieve the above object, a first aspect of the present invention provides an automatic welding system, which has the following specific technical solutions:
an automated welding system, comprising:
the welding fixture is used for clamping and positioning the workpiece;
the handling robot is used for mounting or dismounting a workpiece to or from the welding fixture and is also used for adjusting the welding angle of the workpiece on the welding fixture so as to realize accurate positioning of the workpiece;
and the welding robot is used for realizing automatic welding of the workpiece.
The conveying belt is located on one side of the welding fixture and used for conveying the workpiece to a welding station where the welding fixture is located or moving the workpiece out of the welding station.
In a particular embodiment, the welding fixture includes: passive rotary device, passive rotary device includes first installing support and sets up be used for the first clamping part of the first end of centre gripping work piece on the first installing support, first clamping part includes: the clamping device comprises a clamping seat, a first mounting bracket and a second mounting bracket, wherein a clamping cavity is formed in the clamping seat, the clamping seat is connected to the first mounting bracket through a universal connecting rotating shaft, and the universal connecting rotating shaft can rotate up and down around the first mounting bracket to drive the clamping seat to rotate up and down in the vertical direction, so that the welding angle of a workpiece in the vertical direction is adjusted; the clamping device comprises at least one first clamping cylinder, wherein the first clamping cylinder penetrates through the clamping seat, when a piston rod of the first clamping cylinder extends outwards, the piston rod of the first clamping cylinder extends inwards to the clamping cavity to clamp the first end of a workpiece, and when the piston rod of the first clamping cylinder retracts inwards, the piston rod of the first clamping cylinder leaves the clamping cavity to release the first end of the workpiece.
In a specific embodiment, the clamping seat is provided with a mounting hole, the clamping seat is sleeved on the universal connection rotating shaft through the mounting hole, and the clamping seat can rotate around the universal connection rotating shaft in the horizontal direction forwards and backwards, so that the welding angle of a workpiece in the horizontal direction is adjusted.
In a specific embodiment, the passive rotating device further includes a limiting portion disposed on the first mounting bracket and located on one side of the clamping seat, and the limiting portion includes: a limiting cylinder; the limiting plate is vertically arranged, is connected to the top end of a piston rod of the limiting cylinder and is positioned between the limiting cylinder and the clamping seat; when the piston rod of the limiting cylinder extends out, the limiting plate abuts against the clamping seat to limit the clamping seat to rotate vertically, and when the piston rod of the limiting cylinder retracts, the limiting plate leaves the clamping seat.
In a specific embodiment, the welding fixture further comprises: the second clamping part comprises a second clamping cylinder and a second baffle plate which are oppositely arranged, and a clamping space for clamping a second end of the workpiece is formed between the second clamping cylinder and the second baffle plate; when the piston rod of the second clamping cylinder extends outwards, the piston rod of the second clamping cylinder moves towards the second baffle plate so as to clamp the second end of the workpiece; when the piston rod of the second clamping cylinder retracts inwards, the piston rod of the second clamping cylinder deviates from the second baffle to move, so that the second end of the workpiece is released.
The second aspect of the invention provides an automatic welding method, wherein the automatic welding system provided by the first aspect of the invention realizes automatic welding of workpieces, and the specific technical scheme is as follows:
an automated welding method, comprising:
conveying the workpiece to be welded to a welding station by a conveying belt;
the carrying robot is used for mounting the workpiece to be welded on the welding fixture, and the welding fixture is used for clamping the workpiece to be welded;
the carrying robot continuously adjusts the welding angle of the workpiece to realize the omnibearing welding of the welding robot to the workpiece in the welding process;
after welding, the carrying robot takes the welded workpiece off the welding fixture and places the welded workpiece on the conveying belt;
the conveyor belt moves the workpiece out of the welding station.
Therefore, the automatic welding system and the automatic welding method provided by the invention not only can realize automatic welding of the workpiece, but also can automatically adjust the welding angle of the workpiece, thereby ensuring that the welding robot can realize all-dimensional automatic welding of all surfaces of the workpiece.
Drawings
Fig. 1 is a schematic structural diagram of an automatic welding system according to an embodiment of the present invention.
FIG. 2 is a schematic structural diagram of a welding fixture in the embodiment of FIG. 1;
FIG. 3 is an enlarged view of a portion of the weld fixture of FIG. 2;
FIG. 4 is an assembly view of the weld fixture and workpiece of the embodiment of FIG. 1 in a first weld configuration;
FIG. 5 is an assembly view of the weld fixture and workpiece of the embodiment of FIG. 1 in a second weld condition;
FIG. 6 is an assembly view of the weld fixture and workpiece of the embodiment of FIG. 1 in a third weld condition.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the present invention provides an automatic welding system including a welding jig 100, a conveyor belt 300, a transfer robot 400, and a welding robot 500.
The welding fixture 100 is used for clamping a workpiece 200. The location of the welding fixture 100 forms a welding station.
The conveyor 300 is disposed at one side of the welding jig 100, and is used to convey the workpiece 200 to be welded to a welding station and move the welded workpiece 200 out of the welding station.
The transfer robot 400 and the welding robot 500 are disposed at the other side of the welding jig 100, wherein: the transfer robot 400 is used to mount the workpiece 200 to be welded from the conveyor 300 to the welding jig 100, adjust the welding angle of the workpiece 200 during welding, and finally remove the welded workpiece 200 from the welding jig 100 and place it on the conveyor 300.
The welding robot 500 is used to perform automatic welding of the workpiece 200.
In order to achieve flexible adjustment of the welding angle of the workpiece 200 to achieve omnidirectional welding of the surfaces of the workpiece 200.
As shown in fig. 2 to 3, in a specific embodiment, the welding fixture 100 includes a bottom plate 101 disposed horizontally, one end of the bottom plate 101 is provided with a passive rotating device, the passive rotating device includes a first mounting bracket 103, and the other end of the bottom plate 101 is provided with a second mounting bracket 102. Wherein:
the first mounting bracket 103 is provided with a first clamping portion for clamping a first end of a workpiece, and the first clamping portion comprises a clamping seat 106 and two first clamping cylinders 107 arranged on the clamping seat 106 in a penetrating manner. A clamping cavity for accommodating a first end of a workpiece is formed in the clamping seat 106, when the piston rod of the first clamping cylinder 107 extends outwards, the piston rod of the first clamping cylinder 107 extends inwards into the clamping cavity to clamp the first end of the workpiece, and when the piston rod of the first clamping cylinder 107 retracts inwards, the piston rod of the first clamping cylinder 107 leaves the clamping cavity to release the first end of the workpiece.
The clamping seat 106 is connected to the first mounting bracket 103 through a universal connecting rotating shaft 111, and the universal connecting rotating shaft 111 can rotate up and down around the first mounting bracket 103 to drive the clamping seat 106 to rotate up and down in the vertical direction, so that the welding angle of a workpiece in the vertical direction can be adjusted.
Preferably, in this embodiment, two first baffle plates 112 corresponding to the two first clamping cylinders 107 one to one are disposed in the clamping cavity of the clamping seat 106, and a clamping space for clamping a first end of a workpiece is formed between the first baffle plates 112 and the corresponding first clamping cylinders 107.
The clamping base 106 is provided with a mounting hole (not shown), the clamping base 106 is sleeved on the universal connection rotating shaft 111 through the mounting hole, and the clamping base 106 can turn around the universal connection rotating shaft 111 in the front and back direction in the horizontal direction, so that the welding angle of the workpiece in the horizontal direction can be adjusted.
A second clamping portion is arranged on the second mounting bracket 102, the second clamping portion comprises a second clamping cylinder 104 and a second baffle 105 which are arranged oppositely, and a clamping space for clamping a second end of the workpiece is formed between the second clamping cylinder 104 and the second baffle 105. When the piston rod of the second clamping cylinder 104 extends outwards, the piston rod of the second clamping cylinder 104 moves towards the second baffle 105 to clamp the second end of the workpiece. When the piston rod of the second clamping cylinder 104 retracts inward, the piston rod of the second clamping cylinder 104 moves away from the second stop 105 to release the second end of the workpiece.
Preferably, the heights of the second mounting bracket 102 and the first mounting bracket 103 are substantially equal, and when the two ends of the workpiece are clamped to the first clamping portion and the second clamping portion respectively, the workpiece is in a substantially horizontal state.
The welding process of the welding system of the present invention is generally as follows: work piece 200 is delivered to the assigned position by conveyer belt 300, the transfer robot presss from both sides and gets work piece 200 and place welding jig 100 on, and it is tight to the assigned position to promote work piece 200 at the work piece left side, welding robot 400 implements welding operation then, when having welded the one side, transfer robot at first lifts up work piece 200's one end to a take the altitude, then upset work piece 200 is after another welding position, put down the work piece again and carry out the centre gripping, continue to weld, process above repetition, thereby realize the full-automatic welding of assembling of work piece, a large amount of manual works have been saved.
In order to more clearly understand the welding process of the welding system of the present invention, the welding process of the welding system of the present invention in one embodiment will be described in detail with reference to fig. 1, 4 to 6, and the following specific processes are performed:
step one, the piston rods of the first clamping cylinder 107 and the second clamping cylinder 104 are controlled to retract into the cylinder body, and meanwhile, the transfer robot 400 grasps the clamping seat 106 and adjusts the clamping seat 106 to a horizontal position.
And step two, the conveying belt 300 conveys the workpiece 200 to be welded to a welding station.
And step three, the transfer robot 400 clamps the workpiece 200 to be welded from the conveyor belt 300, and places a first end of the workpiece 200 to be welded in the clamping cavity of the clamping seat 106 and places a second end of the workpiece 200 to be welded between the second clamping cylinder 104 and the second baffle 105. And then the piston rods of the first clamping cylinder 107 and the second clamping cylinder 104 are controlled to extend outwards, so that the two ends of the workpiece 200 to be welded are clamped into the first clamping part and the second clamping part respectively. As shown in fig. 4, after the mounting is completed, the workpiece 200 to be welded is horizontally fixed on the welding jig 100, and the welding robot 500 located at the side of the welding jig 100 starts the welding operation on the top of the workpiece 200.
And fourthly, controlling the piston rod of the second clamping cylinder 104 to retract into the cylinder body to release the second end of the workpiece 200, and enabling the transfer robot 400 to grasp the second end of the workpiece 200 and pull upwards, so as to drive the clamping seat 106 to rotate upwards around the universal connecting rotating shaft 111, and finally enabling the second end of the workpiece 200 to be lifted upwards to achieve adjustment of the welding angle of the workpiece 200 in the vertical direction. As shown in fig. 5, after the welding angle adjustment is completed, the work is fixed to the weldment jig 100 at a predetermined inclination angle. At this time, the welding robot 500 starts welding the front and rear side surfaces of the workpiece 200. Of course, the transfer robot 400 may also press down the second end of the workpiece 200 to adjust the welding angle of the workpiece 200 in the vertical direction during welding.
Step five, the transfer robot 400 again grasps the second end of the workpiece 200 and turns over the workpiece 200, thereby driving the clamping holder 106 to turn over in the horizontal direction around the universal connection rotating shaft 111, and finally turning over the bottom of the workpiece 200 to an operable orientation. As shown in fig. 5, after the adjustment of the welding angle in the horizontal direction is completed, the bottom of the work 200 is turned upward. At this time, the welding robot starts the welding operation to the bottom of the work 200.
After the welding is completed, the piston rod of the first clamping cylinder 107 is controlled to be retracted into the cylinder to release the welded workpiece 200, and simultaneously, the transfer robot 400 grasps the workpiece 200 and transfers the workpiece 200 onto the conveyor 300. The transfer 300 transports the workpiece 200 away from the welding station.
Therefore, the welding system provided by the invention not only can realize automatic welding of the workpiece, but also can automatically and accurately adjust the welding angle of the workpiece, thereby ensuring that the welding robot can carry out all-dimensional automatic welding on all surfaces of the workpiece.
In a preferred embodiment, the passive rotating device further includes a limiting portion disposed on the first mounting bracket 103 and located outside the clamping seat 106. The spacing portion includes: a limiting cylinder 108 and a limiting plate 109 perpendicular to the bottom plate 101. The limit plate 109 is connected to the top of the piston rod of the limit cylinder 108 and is located between the limit cylinder 108 and the clamping seat 106.
When the piston rod of the limiting cylinder 108 extends out, the limiting plate 109 moves towards the clamping seat 106 and finally abuts against the clamping seat 106, when the piston rod of the limiting cylinder 108 retracts, the limiting plate 109 is far away from the clamping seat 106, and at the moment, the clamping seat 106 can rotate up and down in the vertical direction.
As shown in fig. 4, when the workpiece 200 needs to be kept in the horizontal position, the limiting cylinder 108 controls the limiting plate 109 to move towards the clamping seat 106, so as to limit the clamping seat 106, and at this time, the clamping seat 106 cannot rotate up and down. As shown in fig. 5, when the welding angle of the workpiece 200 in the vertical direction needs to be adjusted, the air cylinder 108 controls the limiting plate 109 to move away from the clamping seat 106, so that the limiting plate 109 is away from the clamping seat 106 to release the limitation on the clamping seat 106, and at this time, the clamping seat 106 can rotate up and down in the vertical direction.
As shown in fig. 3, preferably, a plurality of rubber pads 110 are disposed on the position-limiting plate 109, and when the position-limiting plate 109 moves close to the holder 106, the holder 106 abuts against the plurality of rubber pads 110.
The invention has been described above with a certain degree of particularity. It will be understood by those of ordinary skill in the art that the description of the embodiments is merely exemplary and that all changes that come within the true spirit and scope of the invention are desired to be protected. The scope of the invention is defined by the appended claims rather than by the foregoing description of the embodiments.
Claims (5)
1. An automated welding system, comprising:
the welding fixture is used for clamping and positioning the workpiece;
the handling robot is used for mounting or dismounting a workpiece to or from the welding fixture and is also used for adjusting the welding angle of the workpiece on the welding fixture so as to realize accurate positioning of the workpiece;
the welding robot is used for realizing automatic welding of the workpiece;
the conveying belt is positioned on one side of the welding fixture and used for conveying the workpiece to a welding station where the welding fixture is positioned or moving the workpiece out of the welding station;
after one side of the workpiece is welded by the welding robot, the carrying robot lifts one end of the workpiece and turns the workpiece to another surface to be welded, then the workpiece is placed on the welding fixture for clamping, and the welding robot welds the surface to be welded;
the welding jig includes:
the passive rotating device comprises a first mounting bracket and a first clamping part which is arranged on the first mounting bracket and used for clamping a first end of a workpiece, wherein the first clamping part comprises a clamping seat, and the clamping seat is connected to the first mounting bracket through a universal connecting rotating shaft;
passive rotary device is still including setting up on the first installing support and being located the spacing portion of grip slipper one side, spacing portion includes:
a limiting cylinder;
the limiting plate is vertically arranged, is connected to the top end of a piston rod of the limiting cylinder and is positioned between the limiting cylinder and the clamping seat;
when the piston rod of the limiting cylinder stretches out, the limiting plate moves towards the clamping seat and can be abutted against the clamping seat to limit the clamping seat to rotate up and down in the vertical direction, and when the piston rod of the limiting cylinder retracts, the limiting plate leaves the clamping seat.
2. The automated welding system of claim 1,
a clamping cavity is formed in the clamping seat, and the universal connecting rotating shaft can rotate up and down around the first mounting bracket to drive the clamping seat to rotate up and down in the vertical direction, so that the welding angle of a workpiece in the vertical direction is adjusted;
the first clamping portion further comprises at least one first clamping cylinder, the first clamping cylinder penetrates through the clamping seat, when a piston rod of the first clamping cylinder extends outwards, the piston rod of the first clamping cylinder extends inwards to the clamping cavity to clamp the first end of the workpiece, and when the piston rod of the first clamping cylinder retracts inwards, the piston rod of the first clamping cylinder leaves the clamping cavity to release the first end of the workpiece.
3. The automated welding system of claim 2,
the universal joint fixture is characterized in that a mounting hole is formed in the clamping seat, the clamping seat is sleeved with the mounting hole and arranged on the universal joint rotating shaft, and the clamping seat can wind the universal joint rotating shaft to turn around in the horizontal direction, so that the welding angle of a workpiece in the horizontal direction is adjusted.
4. The automated welding system of claim 2, wherein the welding fixture further comprises:
the second clamping part comprises a second clamping cylinder and a second baffle plate which are oppositely arranged, and a clamping space for clamping a second end of the workpiece is formed between the second clamping cylinder and the second baffle plate;
when the piston rod of the second clamping cylinder extends outwards, the piston rod of the second clamping cylinder moves towards the second baffle plate so as to clamp the second end of the workpiece;
when the piston rod of the second clamping cylinder retracts inwards, the piston rod of the second clamping cylinder deviates from the second baffle to move, so that the second end of the workpiece is released.
5. An automatic welding method for performing automatic welding of a workpiece using the automatic welding system of claim 1, comprising:
conveying the workpiece to be welded to a welding station by a conveying belt;
the carrying robot mounts the workpiece to be welded on a welding fixture which clamps the workpiece to be welded
A member;
the carrying robot continuously adjusts the welding angle of the workpiece to realize the omnibearing welding of the welding robot to the workpiece in the welding process;
after welding, the carrying robot takes the welded workpiece off the welding fixture and places the welded workpiece on the conveying belt;
the conveyor belt moves the workpiece out of the welding station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811329564.4A CN109530983B (en) | 2018-11-09 | 2018-11-09 | Automatic welding system and welding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811329564.4A CN109530983B (en) | 2018-11-09 | 2018-11-09 | Automatic welding system and welding method |
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| Publication Number | Publication Date |
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| CN109530983A CN109530983A (en) | 2019-03-29 |
| CN109530983B true CN109530983B (en) | 2021-10-22 |
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| CN201811329564.4A Active CN109530983B (en) | 2018-11-09 | 2018-11-09 | Automatic welding system and welding method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113681362B (en) * | 2021-10-27 | 2022-04-05 | 徐州铁手五金工具制造有限公司 | High-efficient grinding device of metal work piece |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108665783A (en) * | 2018-06-15 | 2018-10-16 | 河池学院 | One kind being based on Six-DOF industrial robot apparatus for demonstrating |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000343280A (en) * | 1999-06-07 | 2000-12-12 | Komatsu Ltd | Method and device for controlling welding positioner |
| CN201342671Y (en) * | 2009-01-09 | 2009-11-11 | 厦门思尔特机器人系统有限公司 | Robot device for welding for thrust wheels |
| CN103141199B (en) * | 2012-12-05 | 2015-05-13 | 四川省农业机械研究设计院 | Seeder general chassis matched with mini-cultivator |
| CN204308433U (en) * | 2014-11-14 | 2015-05-06 | 南京熊猫电子股份有限公司 | Heavy duty transfer robot and welding robot combine comprehensive automatically welding workstation |
| CN105945499B (en) * | 2016-07-01 | 2017-12-26 | 无锡先导智能装备股份有限公司 | A kind of elastic clamping jaw device |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108665783A (en) * | 2018-06-15 | 2018-10-16 | 河池学院 | One kind being based on Six-DOF industrial robot apparatus for demonstrating |
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