CN109623208A - A kind of robot welding system for robot - Google Patents
A kind of robot welding system for robot Download PDFInfo
- Publication number
- CN109623208A CN109623208A CN201811589042.8A CN201811589042A CN109623208A CN 109623208 A CN109623208 A CN 109623208A CN 201811589042 A CN201811589042 A CN 201811589042A CN 109623208 A CN109623208 A CN 109623208A
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- actuator
- welding
- robot
- frame
- fixture
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- 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
-
- 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
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
Abstract
The present invention relates to a kind of robot welding systems for robot, including delivery track, feeding station, welding post and discharge station are successively arranged along delivery track, turning-over support mechanism is slidably fitted on delivery track, delivery track is equipped with driving device, and driving device drives turning-over support mechanism to move to different station along delivery track；Turning-over support mechanism includes support and may be rotatably mounted at the flexible clamping assembly on support；Flexible clamping assembly includes frame, is slidably arranged in multiple crossbeams on frame and the multiple clamping apparatus for clamping profile to be welded.Two or more is arranged in the present invention can move to the turning-over support mechanism of different station along delivery track, and Liang Ge turning-over support mechanism can carry out different processes simultaneously, can be improved the efficiency of batch workpiece processing.
Description
Technical field
The present invention relates to automatic welding equipment more particularly to a kind of automatic welding systems for robot.
Background technique
Welding for plane framework needs that the front and back sides by multiple profile stitching portions are welded and fixed.It is existing
In technology, welding for plane framework is generally divided into following steps: 1, feeding by production technology, will expect on multiple profiles
On operating platform, and multiple section assemblings tentatively fix at the blank of plane framework；2, to the plane framework after assembly
All pads of one side be welded and fixed；3, the plane framework overturning after one side is welded will be completed and carries out next step weldering
It connects；4, blanking.
In above process, above-mentioned steps generally pass through manual hand manipulation, and there are inefficiency, welding matter for manual operation
The problems such as amount difference.In order to make up manually-operated defect, the technical level and job specification for reducing operator are to product quality
Influence, disclose some automatic welding production lines in the prior art, set gradually feeding station, welding post by production technology
And discharge station, and transport establishment is set and transmits plane framework between each station, the transport establishment is generally using biography
Band is sent, material machine table face is formed above conveyer belt, materiel machining table top, materiel machining table top is expected on feeding station carries out
Multiple positioning fixtures are equipped with, Primary Location are carried out to material by positioning fixture, then by materiel machining table top together with thereon
Material transportation carry out welding processing to welding post, welding post, which is equipped with, carries out automatic welding mechanism, lifting mechanism and overturning
The plane framework for transporting welding post welds by automatic welding mechanism in mechanism, after the completion of welding on one side, is lifted machine
Plane framework is raised to and is detached from materiel machining table top by structure, afterwards turns over mechanism work and overturns plane framework, is lifted machine
Structure re-moves the plane framework after overturning to materiel machining table top, carries out the welding of another side, after the completion of all solder joints, fortune
Materiel machining table top is carried out blanking together with material transportation thereon to discharge station by transfer mechanism.Above-mentioned automatic welding production line,
It has the disadvantage that
1, the position of the fixture on materiel machining table top is fixed, and a kind of welding production line can only process a kind of specific criteria
Welding workpiece, poor universality；
2, it in the relatively complicated and batch processes in welding workpiece of above-mentioned steps, delivers a child by the automatic welding of above structure
Producing line after the completion of the Overall Steps of previous workpiece can only be waited to execute, then carries out the welding processing of next workpiece, batch workpiece
The duration of processing is longer.
Summary of the invention
To solve the above-mentioned problems, the purpose of the present invention is to provide a kind of robot welding system for robot, energy
Enough improve the efficiency of batch workpiece processing.
In order to achieve the above purpose, present invention employs technical solutions below:
The invention discloses a kind of robot welding systems for robot, including delivery track (1), along delivery track
(1) it is successively arranged feeding station, welding post and discharge station, welding post two sides are equipped with welding mechanism (6), the bonding machine
Structure (6) includes the plumb joint (62) for having the cursor (61) of multiple freedom degrees and being mounted on cursor (61), feature
It is, is slidably fitted on delivery track (1) turning-over support mechanism (2), delivery track is equipped with driving device, and driving device is driven
Dynamic turning-over support mechanism (2) move to different station along delivery track (1)；Turning-over support mechanism (2) includes support (21) and can
The flexible clamping assembly (22) being rotatably installed on support (21)；Flexible clamping assembly (22) includes frame (221), is arranged in frame
Multiple crossbeams (222) on frame (221) and the multiple clamping apparatus for clamping profile to be welded；The frame (221) is plane
Frame, frame (221) are installed on the support, and the crossbeam (222) is slidably connected on frame (221), and all crossbeams are set in parallel
Set and can frame institute it is planar free to slide；Slidably connect multiple groups fixture on crossbeam, every group of fixture include for from
Side compresses the first fixture of profile and for the second fixture from side compressing profile, will be to be welded by the cooperation of multiple groups fixture
Profile is locked in the designated position on frame.
As optimal technical scheme, the support (21) includes pedestal (211) and stand (212), pedestal (211) sliding peace
On delivery track (1), the stand (212) that front and back is arranged in pedestal glide direction at least provided with two on pedestal (211),
The structure of two stands (212) is identical and arranged symmetrically, and stand (212) is equipped with for driving flexible clamping assembly to rotate (22)
Displacement device (213), the displacement device (213) includes the driving assembly (2131) being used to provide power and soft for connecting
The one of the first connector (2132) of property clamping assembly (22), the output end of driving assembly (2131) and the first connector (2132)
End connection, the first connector (2132) are rotatably installed on stand (212) by bearing.
As optimal technical scheme, pedestal (211) includes that multiple slide along splices extended base unit on direction.
As optimal technical scheme, support (21) is equipped with for detecting flexible clamping assembly (22) position or state
One sensor (213), first sensor (213) detect whether flexible clamping assembly (22) rotate in place before preparing welding；Branch
Seat (21) is equipped with the second sensor (215) for detecting plumb joint position or state, second sensor (215) detection welding
Head mobile welding position in the welding process and state.
As optimal technical scheme, frame (221) is equipped with along symmetrical second sliding rail (2212) of its shaft, crossbeam
(222) both ends are slidably connected on the second sliding rail (2212) of its two sides；And locked component is equipped with to lock crossbeam (222)
With the relative position of the second sliding rail (2212).
As optimal technical scheme, the first fixture (4) includes slide A (41), compression bar A (43) and actuator A (42), described
Slide A (41) is slidably connected on crossbeam, and actuator A (42) is mounted on slide A (41), compression bar A (43) and actuator A (42)
Output end connection, compression bar A (43) moves up and down under the driving of (42) actuator A；Compression bar A (43) is equipped with one or more
Compressed part (431) for being contacted with the profile (3) being placed on crossbeam.
As optimal technical scheme, compression bar A (43) is rotatably connected on the output end of (42) actuator A, and compression bar A (43) can be
A certain range is rotated under external motivating force in the horizontal plane and is locked.
As optimal technical scheme, the second fixture (5) includes slide B (51), briquetting B (53) and actuator B (52), slide
B (51) basal sliding is connected on crossbeam (222), and actuator B (52) is mounted on slide B (51), briquetting B (53) and actuator
The output end of B (52) connects, and briquetting B (53) drives fore-aft motion by actuator B (52).
As optimal technical scheme, slide B (51) be equipped with cushion block (54) to raise actuator B (52) and briquetting B (53),
The cushion block (54) includes the transverse slat and riser being mutually connected vertically, and the actuator B (52) is mounted on the riser of cushion block (54)
On, briquetting B (53) is mounted on the output shaft of (52) actuator B.
As optimal technical scheme, plumb joint (62) includes welding gun, and plumb joint (62) is equipped with shutdown switch, the stopping
Switch includes the conductive sheet (623) and conductive contact (624) that welding gun radial outside is arranged in, conductive contact (624) and conductive sheet
(623) it disconnects under normal conditions, after welding gun deviates axial certain angle, welding gun will push conductive contact (624) or conductive sheet
(623) movement changes the on off operating mode between conductive contact (624) and conductive sheet (623).
Two or more is arranged in the present invention can move to the turning-over support mechanism of different station, two overturnings along delivery track
Supporting mechanism can carry out different processes simultaneously, shorten the duration of batch workpiece processing；And it is soft in overturning support structure
Property clamping it is total integral rotatable, crossbeam and fixture thereon can be moved freely planar, thus can be according to be welded
The shape setting crossbeam of the plane framework profile connect and the latched position of the fixture on crossbeam, enhance the general of welder
Property.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram of the support of turning-over support mechanism in the present invention.
Fig. 3 is the cross-sectional view of Fig. 2.
Fig. 4 is the structural schematic diagram of the flexible clamping assembly of turnover mechanism in the present invention.
Fig. 5 is enlarged drawing at the A in Fig. 4.
Fig. 6 is the schematic diagram of another angle of Fig. 4.
Fig. 7 is the structural schematic diagram of crossbeam and fixture thereon.
Fig. 8 is the structural schematic diagram of one of embodiment of the first fixture.
Fig. 9 is two structural schematic diagram of the embodiment of the first fixture.
Figure 10 is the structural schematic diagram (slide B does not illustrate) of one of embodiment of the second fixture.
Figure 11 is two structural schematic diagram of the embodiment of the second fixture.
Figure 12 is the cross-sectional view of plumb joint.
Wherein: 1, delivery track, 2, turning-over support mechanism, 21, support, 211, pedestal, 212, stand, 213, displacement dress
Set, 2131, driving assembly, the 2132, first connector, 214, first sensor, 215, second sensor, 22, flexible clamping it is total
At, 221, frame, the interconnecting piece of the 2211, first connector, the 2212, second sliding rail, 222, crossbeam, 223, sliding block A, 3, to be welded
Profile, the 4, first fixture, 41, slide A, 42, actuator A, 43, compression bar A, 431, compressed part, the 5, second fixture, 51, slide
B, 52, actuator B, 53, briquetting B, 54, cushion block, 6, welding mechanism, 61, cursor, 62, plumb joint, 621, anticollision ball cup,
622, anticollision bulb, 623, conductive sheet, 624, conductive contact.
Specific embodiment
The preferred embodiment of this patent is described in further detail with reference to the accompanying drawing.
In the application, for the convenience of description, the direction parallel with turning-over support mechanism slips direction is known as length direction,
The direction vertical with turning-over support mechanism slips direction is known as width direction.
A kind of robot welding system for robot as shown in Figure 1, including delivery track, successively set along delivery track
There are feeding station, welding post and discharge station.Welding post two sides are equipped with welding mechanism, and the welding mechanism includes with more
The cursor of a freedom degree and the plumb joint being mounted on cursor.It is slidably fitted on delivery track 1 two or more
Turning-over support mechanism 2, delivery track 1 are equipped with driving device, and driving device 1 drives turning-over support mechanism 2 to transport along delivery track 1
Move different station.In practice, delivery track 1 is linearly arranged, and driving device is driving motor, driving device with turn over
Turn to realize between circumferential movement and linear motion by ball screw assembly, or gear-driven assembly etc. between supporting mechanism 2
Switching.
Turning-over support mechanism 2 includes support 21 and the flexible clamping assembly 22 being mounted on support 21.Support in the application
21 structure is as Figure 2-3, including pedestal 211 and stand 212, pedestal 211 are slidably mounted on delivery track 1, pedestal 211
Bottom surface be equipped with the first sliding groove that cooperates with the delivery track 1.On pedestal 211 at least provided with two in pedestal glide direction
The stand 212 of front and back setting, the structure of two stands 212 are identical and arranged symmetrically.In the present embodiment, pedestal 211 is equipped with two
A stand 212, it is substantially in concave, recess that the pedestal 211 of two adjacent stands 212 and its underpart is whole on support 21
Place provides rotation space for installing flexible clamping assembly 22, for flexible clamping assembly 22.Preferably, pedestal 211 includes more
A base unit spliced two-by-two, can be according to the number of the base unit of actual use scene adjustment composition pedestal 211, and then adjusts
Relative distance between whole two be arranged on pedestal 211 stand 212, to meet the soft of different size to a certain extent
The space requirement of property clamping assembly 22.Stand 212 is equipped with the displacement device 213 for driving flexible clamping assembly rotation 22,
The displacement device 213 includes the driving assembly 2131 being used to provide power and the first company for connecting flexible clamping assembly 22
Fitting 2132, the output end of driving assembly 2131 are connect with one end of the first connector 2132, and the first connector 2132 passes through axis
It holds and is rotatably installed in stand 212.Driving assembly 2131 in the present embodiment includes conjugating motor or variable-position cylinder and retarder,
It conjugates motor or variable-position cylinder work drives retarder movement, retarder drives the first connector 2132 to rotate relative to stand 212.
In order to control the slewing area of flexible clamping assembly 22, in embodiment, can be arranged on support 21 for detecting flexible dress
The first sensor 213 of 22 position of clamp assembly or state, first sensor 213 are preparing to weld for detecting flexible clamping assembly 22
Whether it rotate in place before connecing.First sensor 213 in the present embodiment selects travel switch to be arranged in stand 212, and stroke is opened
Pass is electrically connected to limit the slewing area of flexible clamping assembly 22 with peripheral control unit.The recess of support 21 is arranged in travel switch
Near place, the contact of travel switch protrudes into the recess of support 21 and is located on the rotation path of flexible clamping assembly 22, flexible
Clamping assembly 22 can trigger travel switch after turning an angle.
Support 21 is equipped with the second sensor 215 for detecting plumb joint position or state, and second sensor 215 detects
Plumb joint mobile welding position in the welding process and state.Second sensor 215 in the present embodiment is selected close to switch,
This is electrically connected close at the top of switch setting on the support stand, close to switch with external controller.
The structure of flexible clamping assembly as shown in figs. 4-7, including frame 221, the multiple crossbeams being arranged on frame 221
222 and the multiple clamping apparatus for clamping profile to be welded.The frame 221 is to be in conplane profile two-by-two by multiple
The closed loop structure surrounded is connected, the both ends on frame 221 on length direction respectively correspond the first connection in a stand 212
Part 2132 is equipped with interconnecting piece 2211, and frame connects the first connector 2132, frame 221 and the first connector in its interconnecting piece 2211
After the completion of 2132 connections, frame 221 is moved synchronously with the first connector 2132.In embodiment, the one of the first connector 2132
End is connected in stand 212 by bearing, the other end of the first connector 2132 as inserted terminal, form thereon be exposed to it is vertical
The inserted terminal of inserting groove outside frame 212, the first connector 2132 on two side stands 212 is symmetrical arranged, the connection of frame 221
Portion be equipped with the matched connection-peg of inserting groove, pass through the mating realization frame 221 of connection-peg and inserting groove and support 21
Connection.Realize that radial direction limits and the mode of axial limiting can be interference and match in embodiment, between inserting groove and connection-peg
It closes, or the other structures such as rivet by axially or radially being limited to connection-peg.Preferably, the interconnecting piece 2211 of frame and
It can also be attached by fasteners such as screws between a connection piece 2132.The interconnecting piece 2211 and the first connector of frame
It can be only by between connection-peg and inserting groove cooperation or the interconnecting piece 2211 and the first connector 2132 of frame between 2132
Grafting only can be passed through by the interconnecting piece 2211 and the first connector 2132 of the connection of the fasteners such as screw or frame simultaneously
Head, inserting groove are cooperatively connected, and are further fixed by fasteners such as screws.As further preferred, in the interconnecting piece of frame
2211 and first are additionally provided with mutually matched positioning protrusion and location hole between connector 2132, in order to the interconnecting piece of frame
2211 and the first connecting hole alignment on connector 2132 carry out the connection of fastener.
The inside of closed loop frame 221 is arranged in multiple crossbeams 222.Frame 221 is equipped with one group and rotates axial symmetry along it
The second sliding rail 2212, the both ends of crossbeam 222 are slidably connected on the second sliding rail 2212 of its two sides, and are equipped with locking group
Part is convenient for subsequent welding processing to lock the relative position of crossbeam 222 and the second sliding rail 2212.In the present embodiment, frame 221
Whole is in rectangle, and one group of second sliding rail 2212 is oppositely arranged on the inside of 221 long side of frame.Beam-end is equipped with and the second sliding rail
The second sliding slot being slidably matched.In embodiment, 222 both side ends of crossbeam are connected with sliding block A223, sliding block A223 and crossbeam 222
Between by the conventional fasteners connection such as screw, second sliding slot forms on sliding block A223.By above structure, second sliding slot is independent
Molding, compared to being molded directly on crossbeam 222, it is easier to process.Fixture is mounted on crossbeam 222, by adjusting multiple cross
Relative position of the beam 222 on frame 221, can make flexible clamping assembly 22 can be suitably used for the to be welded of a variety of different sizes
Mental section enhances the versatility of the present apparatus.Second sliding slot bottom is arranged towards the second sliding rail 2212 in the present embodiment, and second is sliding
Trench bottom is equipped with several connecting hole A.Multiple connecting hole B, moving beam 222 is distributed in the long side of frame 221 along its length
After several connecting hole A into the second sliding slot are aligned with the connecting hole B of respective numbers in long side, locked by fasteners such as screws
Determine the relative position of crossbeam 222 Yu frame 221.Locked component described in the present embodiment i.e. include connecting hole A, connecting hole B and
The fasteners such as screw.After unclamping screw, crossbeam 222 can be made free to slide relative to the second sliding rail, lock-screw lockable crossbeam
Relative position between 222 and frame 221.By the different connecting holes on Selection Framework, crossbeam 223 can be locked in difference
Position.Bolt beam-end pressed from above is adjusted preferably, can also be arranged to be further ensured that crossbeam locking structure
Reliability.
After profile 3 to be welded is placed on the crossbeam 222 of frame, it is locked it on frame by fixture cooperation
Designated position.In embodiment, the profile 3 of processing to be welded for one generally fixes the type by two groups and with upper fixture
Material.Every group of fixture include for the first fixture 4 of profile pressed from above and for the second fixture 5 from side compressing profile,
According to actual needs, the quantity of the first fixture 4 in one group of fixture and the second fixture 5 can be 1 or 1 or more.
First fixture 4 includes slide A41, compression bar A43 and actuator A42, and the slide A41 is slidably connected on crossbeam,
Actuator A42 is mounted on slide A41, and compression bar A43 is connect with the output end of actuator A42, and compression bar A43 is actuator A42's
Driving is lower to be moved up and down.Stop position of the compression bar A42 on lifting direction is preset, compression bar A43 can be made to compress or unclamp
The profile 3 being placed on crossbeam.Compression bar A43 is equipped with one or more compressed parts for contacting with the profile 3 being placed on crossbeam
431, preferably, compression bar A43 can be freely rotated in the horizontal plane, to make the compressed part 431 on compression bar A43 is compressible to be placed in
The profile 3 of different location in horizontal plane reinforces the versatility of the first fixture.Compression bar A43 can be to be driven in external driver device
It is rotated in the horizontal plane under dynamic, is also possible to turn an angle and lock in the horizontal plane under manual drive.For example, driving
The output shaft of part A42 is vertically arranged, output shaft of the rotational plane of compression bar A43 perpendicular to actuator A42, one end of compression bar A43
Equipped with the compressed part 431 being arranged downward, the other end of compression bar A43 is connected on the output shaft of actuator A42.Actuator A42's
Output shaft includes the different first segment and second segment of radial dimension in its axial direction, wherein the radial dimension of first segment is greater than the
One end of two sections of radial dimension, compression bar A43 connection actuator A42 is equipped with longitudinal hole, the output of the through-hole and actuator A42
The first segment of axis is interference fitted, and the radial dimension of the longitudinal hole on compression bar A43 is greater than the radial dimension of second segment.It sets in this way
It sets, compression bar A43 is moved to the rotation that then can be achieved in the horizontal plane with the second segment cooperation on output shaft and is adjusted；In horizontal plane
After inside turning to the position of needs, compression bar A43 is extremely matched with its first segment interference along the axial movement of the output shaft of actuator A42
Close the positioning that can be achieved in the horizontal direction.It is illustrated in figure 8 a kind of specific embodiment of the first fixture, in the present embodiment,
The actuator A42 is cylinder, and one end of compression bar A43 is rotatably installed in the output end of actuator A42, the other end of compression bar A43
Equipped with the compressed part 431 being arranged downward.It is illustrated in figure 9 the another embodiment of the first fixture, in the present embodiment, compression bar A
Both ends be respectively equipped with the compressed part 431 towards setting, the output end of actuator A42 is rotatably installed in the middle part of compression bar A43, the
One fixture is by this way, compression bar A can once compress two profiles.
Second fixture 5 includes slide B51, briquetting B53 and actuator B52, and slide B51 basal sliding is connected to crossbeam 222
On, actuator B52 is mounted on slide B51, and briquetting B53 is connect with the output end of actuator B52, and briquetting B53 is by actuator B52
Fore-aft motion is driven, by presetting the stroke of briquetting B53 moved forward and backward, it can be made to be pressed by actuator B52 driving from side
Tight or release is placed in profile 3 to be welded on frame.The specific structure of second fixture can refer to shown in Figure 10, actuator B51's
Shell is connected directly between on slide B, and the shell and slide B of actuator B51, which can be to be wholely set, is also possible to split settings, this
Under kind structure, the mounting height of briquetting B53 is directly determined by the outer cover height of actuator B51.In other embodiments, slide
Cushion block 54 is also provided on B51 to raise actuator B52 and briquetting B53, the height of the cushion block 54 can be according to practical need
Ask selection.The mounting height that briquetting B53 is raised by cushion block 54, compared to by change actuator B52 outer cover height come
The mode for changing the mounting height of briquetting B53 takes up space smaller and is easier to process.As shown in figure 11, in the present embodiment, institute
Stating cushion block 54 includes the transverse slat and riser being mutually connected vertically, and actuator B52 is cylinder, and actuator B52 is mounted on cushion block 54
On riser, briquetting B53 is mounted on the output shaft of actuator B52.In order to reinforce the support strength of cushion block 54, cushion block includes reinforcing
Plate, stiffening plate one end are carried on transverse slat, and the other end is carried on riser.The cushion block 54 can be integrally formed with slide B, can also be with
It is to be fixed on by fastener on slide B.
Wherein, be connected separately with screw rod on the slide A41 of the first fixture and slide B51 of the second fixture with compress or pine
Crossbeam is opened to lock the position of the first fixture 4 and the second fixture 5 on crossbeam 222.Operator can weld according to actual needs
The position and locking of the first fixture of Adjusting Shape of the plane framework profile connect and the second fixture on crossbeam.
Since profile to be welded is mental section, preferably, the compression bar A43 and/or briquetting B53 is to be welded for contacting
The position of direct type material has magnetism.It can be further ensured that the reliability of clamp profile in this way, prevent profile in following process
Occur loosening in the process influencing welding position.
Preferably, at least one fixture in every group of fixture is equipped with inductive switch, the inductive switch and external control
Device communication connection is to control the simultaneously operation of all actuators in one group of fixture.Inductive switch is set to detect the clip position
Whether in place profile to be welded, once detecting profile in place, sends switching signal to controller, controller controls one group of fixture
In actuator A and actuator B simultaneously operation clamp profile.
Adjustable, the to be welded type of the installation site of first fixture 4 and the second fixture 5 on crossbeam 222 in above-described embodiment
Material 3 is positioned by fixture, therefore, passes through relative position of the alignment jig on crossbeam 222, and the crossbeam equipped with the fixture
222 relative position in frame 221, can position of the free alignment jig in the fixed pan of frame, realize to a variety of
The processing of the plane framework of different size enhances the versatility of the present apparatus.
In the present embodiment, realizes and slide by way of sliding rail sliding slot cooperates respectively between slide A41 and slide B51 and crossbeam
Dynamic connection.For example, crossbeam uses T-steel or I-steel, formed and T-steel or the cooperation of I-steel top on slide A and slide B
Sliding slot.
It is moved to welding post after the completion of feeding station feeding and carries out welding processing, welding post two sides are equipped with bonding machine
Structure 6, the welding mechanism 6 include the plumb joint 62 for having the cursor 61 of multiple freedom degrees and being mounted on cursor, institute
Stating cursor 61 and plumb joint 62 is the prior art.In general, plumb joint 62 includes anticollision ball cup 621, anticollision bulb
622 and welding gun, anticollision ball cup 621 be fixed on cursor 61, anticollision bulb 622 may be rotatably mounted at anticollision ball cup 621
Upper and anticollision ball cup 621 limits the offset in the radial direction of anticollision bulb 622, and anticollision bulb 622 is equipped with along its diametrical direction
The channel of welding gun is connected, at least two positioning devices from external compression anticollision bulb are additionally provided on anticollision ball cup 621, it is described
Positioning device includes that by spring and the bead of spring one end is arranged in, and the bead presses to 622 surface of anticollision bulb by spring,
Certain positioning action is played to anticollision bulb 622, once but active force of the welding gun by outer radial, welding gun drive anticollision
Bulb 622 can be rotated along its axial direction.62 difference with the prior art of plumb joint in the present embodiment is, such as Figure 12 institute
Show, is equipped with shutdown switch in the application on plumb joint 62, the shutdown switch includes the conduction that welding gun radial outside is arranged in
Piece 623 and conductive contact 624, conductive contact 624 and conductive sheet 623 disconnect under normal conditions, deviate axial certain angle in welding gun
Afterwards, welding gun will push the on-off shape between conductive contact 624 or the movement of conductive sheet 623 change conductive contact 624 and conductive sheet 623
State.The shutdown switch is electrically connected with the controller, once the on off operating mode of shutdown switch changes, controller can send stopping
Signal makes it stop working to welding mechanism 6.It, can be in welding gun by external force collision Off-Radial one by the way that shutdown switch is arranged
Stopping in time acting after determining angle, prevents welding gun from fractureing.
The course of work of above-mentioned robot welding system is as follows, and one of turning-over support mechanism is moved to feeding work first
Position, the manual feeding of operator to flexible clamping assembly；Then the turning-over support mechanism welding post is moved to weld；
Meanwhile another turning-over support mechanism is moved to feeding station and carries out feeding；Profile welding in one turning-over support mechanism
After the completion, it is moved to discharge station, prepares blanking；Meanwhile the turning-over support mechanism that another feeding is completed is moved to Welder
Position carries out welding processing.Above-mentioned robot welding system can be processed on different station simultaneously, be conducive to can be improved weldering
Connect efficiency.
Claims (10)
1. a kind of robot welding system for robot, including delivery track (1) are successively arranged feeding along delivery track (1)
Station, welding post and discharge station, welding post two sides are equipped with welding mechanism (6), and the welding mechanism (6) includes with more
The cursor (61) of a freedom degree and the plumb joint (62) being mounted on cursor (61), which is characterized in that delivery track (1)
On be slidably fitted with turning-over support mechanism (2), delivery track be equipped with driving device, driving device drive turning-over support mechanism
(2) different station is moved to along delivery track (1)；Turning-over support mechanism (2) includes support (21) and may be rotatably mounted at support
(21) the flexible clamping assembly (22) on；Flexible clamping assembly (22) include frame (221), setting it is more on frame (221)
A crossbeam (222) and the multiple clamping apparatus for clamping profile to be welded；The frame (221) is plane framework, frame (221)
On the support, the crossbeam (222) is slidably connected on frame (221), and all crossbeams are arranged in parallel and can be in frame institute for installation
It is planar free to slide；Multiple groups fixture is slidably connected on crossbeam, every group of fixture includes for profile pressed from above
One fixture and for the second fixture from side compressing profile, is cooperated by multiple groups fixture profile to be welded being locked in frame
On designated position.
2. a kind of robot welding system for robot according to claim 1, which is characterized in that the support (21)
Including pedestal (211) and stand (212), pedestal (211) is slidably mounted on delivery track (1), on pedestal (211) at least provided with
Two stands (212) that front and back is arranged in pedestal glide direction, the structure of two stands (212) is identical and arranged symmetrically, stands
Frame (212) is equipped with the displacement device (213) for driving flexible clamping assembly rotation (22), displacement device (213) packet
The driving assembly (2131) being used to provide power and the first connector (2132) for connecting flexible clamping assembly (22) are included, is driven
The output end of dynamic component (2131) is connect with one end of the first connector (2132), and the first connector (2132) is rotated by bearing
It is mounted on stand (212).
3. a kind of robot welding system for robot according to claim 2, which is characterized in that pedestal (211) packet
It includes multiple slide along and splices extended base unit on direction.
4. a kind of robot welding system for robot according to claim 1, which is characterized in that support is set on (21)
There is the first sensor (213) for detecting flexible clamping assembly (22) position or state, first sensor (213) detection is flexible
Whether clamping assembly (22) rotate in place before preparing welding；Support (21) is equipped with for detecting plumb joint position or state
Second sensor (215), second sensor (215) detect plumb joint mobile welding position in the welding process and state.
5. a kind of robot welding system for robot according to claim 1, which is characterized in that on frame (221)
Equipped with along symmetrical second sliding rail (2212) of its shaft, the both ends of crossbeam (222) are slidably connected at the second sliding rail of its two sides
(2212) on；And locked component is equipped with to lock the relative position of crossbeam (222) Yu the second sliding rail (2212).
6. a kind of robot welding system for robot according to claim 1, which is characterized in that the first fixture (4)
Including slide A (41), compression bar A (43) and actuator A (42), the slide A (41) is slidably connected on crossbeam, actuator A
(42) it is mounted on slide A (41), compression bar A (43) is connect with the output end of actuator A (42), and compression bar A (43) is in actuator A
(42) it is moved up and down under driving；Compression bar A (43) is equipped with what one or more was used to contact with the profile (3) being placed on crossbeam
Compressed part (431).
7. a kind of robot welding system for robot according to claim 6, which is characterized in that compression bar A (43) turns
The dynamic output end for being connected to (42) actuator A, compression bar A (43) can rotate in the horizontal plane a certain range simultaneously under external motivating force
Locking.
8. a kind of robot welding system for robot according to claim 1, which is characterized in that the second fixture (5)
Including slide B (51), briquetting B (53) and actuator B (52), slide B (51) basal sliding is connected on crossbeam (222), driving
Part B (52) is mounted on slide B (51), and briquetting B (53) is connect with the output end of actuator B (52), and briquetting B (53) is by actuator
B (52) drives fore-aft motion.
9. a kind of robot welding system for robot according to claim 8, which is characterized in that on slide B (51)
Equipped with cushion block (54) to raise actuator B (52) and briquetting B (53), the cushion block (54) include the transverse slat being mutually connected vertically and
Riser, the actuator B (52) are mounted on the riser of cushion block (54), and briquetting B (53) is mounted on the output shaft of (52) actuator B
On.
10. a kind of robot welding system for robot according to claim 1, which is characterized in that plumb joint (62)
Including welding gun, plumb joint (62) is equipped with shutdown switch, and the shutdown switch includes the conductive sheet that welding gun radial outside is arranged in
(623) it is disconnected under normal conditions with conductive contact (624), conductive contact (624) and conductive sheet (623), deviates axial one in welding gun
After determining angle, welding gun will push conductive contact (624) or conductive sheet (623) movement changes conductive contact (624) and conductive sheet
(623) on off operating mode between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811589042.8A CN109623208B (en) | 2018-12-25 | 2018-12-25 | Automatic welding system for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811589042.8A CN109623208B (en) | 2018-12-25 | 2018-12-25 | Automatic welding system for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109623208A true CN109623208A (en) | 2019-04-16 |
| CN109623208B CN109623208B (en) | 2021-03-30 |
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ID=66077266
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811589042.8A Active CN109623208B (en) | 2018-12-25 | 2018-12-25 | Automatic welding system for robot |
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| CN110270778A (en) * | 2019-05-20 | 2019-09-24 | 上海科大重工集团有限公司 | Rubber conveyer supporting leg intelligent robot welding system |
| CN110303283A (en) * | 2019-05-27 | 2019-10-08 | 厦门实启机械有限公司 | It a kind of flexible fixture and marks time the flexible fixture of skeleton applied to single order |
| CN110480244A (en) * | 2019-08-30 | 2019-11-22 | 深圳市利和兴股份有限公司 | A kind of welding tooling of automatic turning |
| CN110508963A (en) * | 2019-09-05 | 2019-11-29 | 亚太绿建(北京)智能机器人科技有限公司 | A kind of environment protection Side fascia connector robot full-automatic welding process |
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| CN110270778A (en) * | 2019-05-20 | 2019-09-24 | 上海科大重工集团有限公司 | Rubber conveyer supporting leg intelligent robot welding system |
| CN110303283A (en) * | 2019-05-27 | 2019-10-08 | 厦门实启机械有限公司 | It a kind of flexible fixture and marks time the flexible fixture of skeleton applied to single order |
| CN110480244A (en) * | 2019-08-30 | 2019-11-22 | 深圳市利和兴股份有限公司 | A kind of welding tooling of automatic turning |
| CN110508963A (en) * | 2019-09-05 | 2019-11-29 | 亚太绿建(北京)智能机器人科技有限公司 | A kind of environment protection Side fascia connector robot full-automatic welding process |
| CN110508963B (en) * | 2019-09-05 | 2021-11-12 | 亚太绿建(北京)智能机器人科技有限公司 | Full-automatic robot welding process for environment-friendly integrated external wall panel connecting piece |
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| CN110560980B (en) * | 2019-09-24 | 2024-03-19 | 天津九鹏汽车装备技术有限公司 | Welding workstation for agricultural machinery frame |
| CN110788449B (en) * | 2019-10-31 | 2021-08-24 | 佛山市固高自动化技术有限公司 | Welding equipment for middle groove of coal mining machine |
| CN110788449A (en) * | 2019-10-31 | 2020-02-14 | 佛山市固高自动化技术有限公司 | Welding equipment for middle groove of coal mining machine |
| CN111098080A (en) * | 2019-12-30 | 2020-05-05 | 程力重工股份有限公司 | Platform bottom plate welding set behind watering lorry |
| CN111098080B (en) * | 2019-12-30 | 2022-04-12 | 程力重工股份有限公司 | Platform bottom plate welding set behind watering lorry |
| CN112719731B (en) * | 2020-12-24 | 2024-04-16 | 万生智能科技无锡有限公司 | Integrated workstation of welding system of electric heating rod robot |
| CN112719731A (en) * | 2020-12-24 | 2021-04-30 | 万生智能科技无锡有限公司 | Integrated workstation of electric heating rod robot welding system |
| CN112917056A (en) * | 2021-01-28 | 2021-06-08 | 陶定红 | Welding construction method for steel structure house framework |
| CN113102910B (en) * | 2021-04-12 | 2022-06-14 | 天人汽车底盘（芜湖）股份有限公司 | Torsion beam milling-free welding equipment and welding process |
| CN113102910A (en) * | 2021-04-12 | 2021-07-13 | 天人汽车底盘（芜湖）股份有限公司 | Torsion beam milling-free welding equipment and welding process |
| CN113210994A (en) * | 2021-06-11 | 2021-08-06 | 湖北天高桥梁工程有限公司 | Internal welding system and internal welding method for welding longitudinal seam ship position of plate unit |
| CN113210993A (en) * | 2021-06-11 | 2021-08-06 | 湖北天高桥梁工程有限公司 | Plate unit longitudinal seam ship position welding system and application and welding method thereof |
| CN113727535A (en) * | 2021-10-29 | 2021-11-30 | 南通华钛电子科技有限公司 | Welding device for PCB processing |
| CN113727535B (en) * | 2021-10-29 | 2022-01-04 | 南通华钛电子科技有限公司 | Welding device for PCB processing |
| CN114161033A (en) * | 2021-11-12 | 2022-03-11 | 鑫磊压缩机股份有限公司 | Welding equipment and welding method for underframe of screw machine |
| CN113953694A (en) * | 2021-11-15 | 2022-01-21 | 郑州宝钢钢材加工配送有限公司 | Laser tailor-welding prepositioning device |
| CN114227103A (en) * | 2021-12-14 | 2022-03-25 | 山东中车同力达智能装备有限公司 | Flexible welding production line for small parts in railway wagon |
| CN114654142A (en) * | 2022-05-24 | 2022-06-24 | 广州市星康科技有限公司 | Intelligent welding set is used in computer hardware processing |
| CN117206757A (en) * | 2023-10-07 | 2023-12-12 | 广州市捷迈智能装备制造有限公司 | Welding workstation with walking displacement mechanism |
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