CN109623208B - Automatic welding system for robot - Google Patents
Automatic welding system for robot Download PDFInfo
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- CN109623208B CN109623208B CN201811589042.8A CN201811589042A CN109623208B CN 109623208 B CN109623208 B CN 109623208B CN 201811589042 A CN201811589042 A CN 201811589042A CN 109623208 B CN109623208 B CN 109623208B
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- 238000003466 welding Methods 0.000 title claims abstract description 111
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000008093 supporting effect Effects 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 11
- 238000007599 discharging Methods 0.000 claims abstract description 5
- 238000003825 pressing Methods 0.000 claims description 35
- 230000008569 process Effects 0.000 claims description 9
- 125000006850 spacer group Chemical group 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 19
- 239000000463 material Substances 0.000 description 16
- 230000007306 turnover Effects 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000001939 inductive effect Effects 0.000 description 3
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- 230000002708 enhancing effect Effects 0.000 description 2
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- 230000002265 prevention Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
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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 for a procedure covered by only one of the other main groups of this subclass
-
- 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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
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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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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Abstract
The invention relates to an automatic welding system for a robot, which comprises a conveying rail, wherein a feeding station, a welding station and a discharging station are sequentially arranged along the conveying rail, an overturning supporting mechanism is slidably arranged on the conveying rail, a driving device is arranged on the conveying rail, and the driving device drives the overturning supporting mechanism to move to different stations along the conveying rail; the overturning supporting mechanism comprises a support and a flexible clamping assembly which is rotatably arranged on the support; the flexible clamping assembly comprises a frame, a plurality of cross beams arranged on the frame in a sliding mode and a plurality of clamps used for clamping the section to be welded. The invention is provided with two or more than two overturning supporting mechanisms which can move to different stations along the conveying track, and the two overturning supporting mechanisms can simultaneously carry out different procedures, thereby improving the efficiency of batch processing of workpieces.
Description
Technical Field
The invention relates to automatic welding equipment, in particular to an automatic welding system for a robot.
Background
For the welding of the plane frame, the front and the back of the splicing part of a plurality of sectional materials need to be welded and fixed. In the prior art, the welding of the planar frame is generally divided into the following steps according to the production process: 1. feeding, namely feeding a plurality of sectional materials onto an operation platform, and splicing the sectional materials into a prototype of the planar frame for preliminary fixing; 2. welding and fixing all welding points on one surface of the assembled planar frame; 3. turning over the plane frame with one welded surface for the next welding; 4. and (6) blanking.
In the process, the steps are generally operated manually, and the manual operation has the problems of low efficiency, poor welding quality and the like. In order to make up for the defects of manual operation and reduce the influence of the technical level and the operating specification of an operator on the product quality, the prior art discloses some automatic welding production lines, a feeding station, a welding station and a discharging station are sequentially arranged according to the production process, a conveying mechanism is arranged to transfer a plane frame among the stations, the conveying mechanism generally adopts a conveyor belt, a material processing table is formed above the conveyor belt, the feeding station is used for feeding the material processing table, a plurality of positioning fixtures are arranged on the material processing table, the positioning fixtures are used for primarily positioning the material, then the material processing table and the material on the material processing table are conveyed to the welding station for welding processing, the welding station is provided with an automatic welding mechanism, a lifting mechanism and a turnover mechanism, the plane frame conveyed to the welding station is welded through the automatic welding mechanism, after welding of one side is completed, the lifting mechanism lifts the planar frame to a position away from the material processing table board, then the turnover mechanism works to turn over the planar frame, the lifting mechanism moves the turned planar frame to the material processing table board again, welding of the other side is carried out, and after all welding spots are completed, the conveying mechanism conveys the material processing table board together with materials on the material processing table board to a blanking station for blanking. Above-mentioned automatic weld production line exists following not enough:
1. the position of the clamp on the material processing table-board is fixed, and a welding production line can only process a welding workpiece with a specific standard, so that the universality is poor;
2. the steps are complicated, in the batch processing process of the welded workpieces, according to the automatic welding production line with the structure, the welding processing of the next workpiece can be carried out only after all the steps of the previous workpiece are finished, and the work period of the batch processing of the workpieces is long.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide an automatic welding system for a robot, which can improve the efficiency of batch processing of workpieces.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention discloses an automatic welding system for a robot, which comprises a conveying track (1), wherein a feeding station, a welding station and a discharging station are sequentially arranged along the conveying track (1), welding mechanisms (6) are arranged on two sides of the welding station, each welding mechanism (6) comprises a rotating arm (61) with multiple degrees of freedom and a welding head (62) arranged on each rotating arm (61), and the automatic welding system is characterized in that two or more turnover supporting mechanisms (2) are slidably arranged on the conveying track (1), a driving device is arranged on the conveying track, and the driving device drives the turnover supporting mechanisms (2) to move to different stations along the conveying track (1); the overturning supporting mechanism (2) comprises a support (21) and a flexible clamping assembly (22) which is rotatably arranged on the support (21); the flexible clamping assembly (22) comprises a frame (221), a plurality of cross beams (222) arranged on the frame (221) and a plurality of clamps for clamping the section to be welded; the frame (221) is a plane frame, the frame (221) is arranged on the support, the cross beams (222) are connected to the frame (221) in a sliding mode, and all the cross beams are arranged in parallel and can freely slide in a plane where the frame is located; the cross beam is connected with a plurality of groups of clamps in a sliding mode, each group of clamps comprise a first clamp used for pressing the section from the upper side and a second clamp used for pressing the section from the side edge, and the section to be welded is locked at a specified position on the frame through the cooperation of the plurality of groups of clamps.
As a preferable technical scheme, the support (21) comprises a base (211) and upright frames (212), the base (211) is slidably mounted on the conveying track (1), at least two upright frames (212) which are arranged in the front and at the back in the sliding direction of the base are arranged on the base (211), the two upright frames (212) are identical in structure and symmetrically arranged, a position changing device (213) used for driving the flexible clamping assembly (22) to rotate is arranged on each upright frame (212), each position changing device (213) comprises a driving assembly (2131) used for providing power and a first connecting piece (2132) used for connecting the flexible clamping assembly (22), the output end of the driving assembly (2131) is connected with one end of the first connecting piece (2132), and the first connecting piece (2132) is rotatably mounted on the upright frames (212) through a bearing.
As a preferred technical scheme, the base (211) comprises a plurality of base units which are spliced and extended along the sliding direction of the base units.
According to a preferable technical scheme, a first sensor (214) for detecting the position or the state of the flexible clamping assembly (22) is arranged on the support (21), and the first sensor (214) detects whether the flexible clamping assembly (22) rotates in place before preparation for welding; the support (21) is provided with a second sensor (215) for detecting the position or the state of the welding head, and the second sensor (215) detects the moving welding position and the moving welding state of the welding head in the welding process.
As a preferable technical scheme, a second slide rail (2212) which is symmetrical along the rotating shaft of the frame (221) is arranged on the frame, and two end parts of the cross beam (222) are connected to the second slide rails (2212) at two sides of the cross beam in a sliding manner; and a locking assembly is arranged to lock the relative position of the cross beam (222) and the second slide rail (2212).
As a preferable technical scheme, the first clamp (4) comprises a sliding seat A (41), a pressure rod A (43) and a driving part A (42), the sliding seat A (41) is connected to the cross beam in a sliding mode, the driving part A (42) is installed on the sliding seat A (41), the pressure rod A (43) is connected with the output end of the driving part A (42), and the pressure rod A (43) moves up and down under the driving of the driving part A (42); the pressure bar A (43) is provided with one or more pressure parts (431) for contacting the profiles (3) placed on the cross beam.
As a preferable technical scheme, the pressure rod A (43) is rotatably connected to the output end of the driving piece A (42), and the pressure rod A (43) can rotate within a certain range in a horizontal plane under the action of external driving force and can be locked.
As a preferable technical scheme, the second clamp (5) comprises a sliding seat B (51), a pressing block B (53) and a driving piece B (52), the bottom of the sliding seat B (51) is connected to the cross beam (222) in a sliding mode, the driving piece B (52) is installed on the sliding seat B (51), the pressing block B (53) is connected with the output end of the driving piece B (52), and the pressing block B (53) is driven by the driving piece B (52) to move back and forth.
As a preferred technical scheme, a cushion block (54) is arranged on the sliding seat B (51) to lift the driving piece B (52) and the pressing block B (53), the cushion block (54) comprises a transverse plate and a vertical plate which are mutually perpendicular and connected, the driving piece B (52) is installed on the vertical plate of the cushion block (54), and the pressing block B (53) is installed on an output shaft of the driving piece B (52).
According to a preferable technical scheme, the welding head (62) comprises a welding gun, a stop switch is arranged on the welding head (62), the stop switch comprises a conducting strip (623) and a conducting contact (624) which are arranged on the radial outer side of the welding gun, the conducting contact (624) and the conducting strip (623) are disconnected in a normal state, and after the welding gun deviates from the axial direction by a certain angle, the welding gun can push the conducting contact (624) or the conducting strip (623) to act to change the on-off state between the conducting contact (624) and the conducting strip (623).
The invention is provided with two or more than two overturning supporting mechanisms which can move to different stations along the conveying track, and the two overturning supporting mechanisms can simultaneously carry out different procedures, thereby shortening the construction period of batch processing of workpieces; and the flexible clamping assembly in the overturning support structure can rotate integrally, and the cross beam and the clamp on the overturning support structure can move freely in a plane, so that the locking positions of the cross beam and the clamp on the cross beam can be set according to the shape of the planar frame profile to be welded, and the universality of the welding device is enhanced.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of a support of the overturning supporting mechanism in the invention.
Fig. 3 is a cross-sectional view of fig. 2.
Fig. 4 is a schematic structural view of a flexible clamping assembly of the turnover mechanism in the invention.
Fig. 5 is an enlarged view of a portion a in fig. 4.
Fig. 6 is a schematic view of fig. 4 from another angle.
Fig. 7 is a schematic structural view of a beam and a clamp thereon.
Fig. 8 is a schematic structural view of one embodiment of the first clamp.
Fig. 9 is a schematic structural view of a second embodiment of the first clamp.
Fig. 10 is a schematic structural view of one embodiment of the second jig (the carriage B is not illustrated).
Fig. 11 is a schematic structural view of a second embodiment of the second jig.
Fig. 12 is a cross-sectional view of the weld head.
Wherein: 1. the welding device comprises a conveying track, 2, a turnover supporting mechanism, 21, a support, 211, a base, 212, a stand, 213, a displacement device, 2131, a driving component, 2132, a first connecting piece, 214, a first sensor, 215, a second sensor, 22, a flexible clamping assembly, 221, a frame, 2211, a connecting part of the first connecting piece, 2212, a second sliding rail, 222, a beam, 223, a sliding block A, 3, a section to be welded, 4, a first clamp, 41, a sliding seat A, 42, a driving piece A, 43, a pressure rod A, 431, a pressing part, 5, a second clamp, 51, a sliding seat B, 52, a driving piece B, 53, a pressing block B, 54, a cushion block, 6, a welding mechanism, 61, a rotating arm, 62, a welding head, 621, a ball head collision prevention, 622, a ball head prevention, 623, a conducting strip head seat, and a conducting contact.
Detailed Description
Preferred embodiments of this patent are described in further detail below with reference to the accompanying drawings.
In the present application, for convenience of description, a direction parallel to the sliding direction of the turn-over support mechanism is referred to as a longitudinal direction, and a direction perpendicular to the sliding direction of the turn-over support mechanism is referred to as a width direction.
An automatic welding system for a robot as shown in fig. 1 includes a conveying track, along which a feeding station, a welding station and a discharging station are sequentially disposed. And welding mechanisms are arranged on two sides of the welding station, and each welding mechanism comprises a rotating arm with a plurality of degrees of freedom and a welding head arranged on the rotating arm. The conveying track 1 is provided with two or more overturning supporting mechanisms 2 in a sliding mode, the conveying track 1 is provided with a driving device, and the driving device 1 drives the overturning supporting mechanisms 2 to move to different stations along the conveying track 1. In practical application, the conveying track 1 is linearly arranged, the driving device is a driving motor, and the driving device and the overturning supporting mechanism 2 can be switched between circumferential motion and linear motion through a ball screw pair or a gear transmission assembly and the like.
The overturning supporting mechanism 2 comprises a support 21 and a flexible clamping assembly 22 arranged on the support 21. The structure of the support 21 in the present application is shown in fig. 2-3, and includes a base 211 and a stand 212, where the base 211 is slidably mounted on the conveying track 1, and a first sliding groove matched with the conveying track 1 is provided on a bottom surface of the base 211. The base 211 is provided with at least two vertical frames 212 arranged back and forth along the sliding direction of the base, and the two vertical frames 212 are identical in structure and are symmetrically arranged. In this embodiment, two vertical frames 212 are disposed on the base 211, two adjacent vertical frames 212 on the support 21 and the base 211 at the lower portion thereof are substantially in a shape of "concave", and the concave portion thereof is used for mounting the flexible clamping assembly 22, so as to provide a rotation space for the flexible clamping assembly 22. Preferably, the base 211 includes a plurality of base units spliced two by two, and the number of the base units forming the base 211 can be adjusted according to an actual use scene, so as to adjust a relative distance between the two stands 212 disposed on the base 211, thereby meeting space requirements of the flexible clamping assemblies 22 of different specifications to a certain extent. The vertical frame 212 is provided with a position changing device 213 for driving the flexible clamping assembly 22 to rotate, the position changing device 213 comprises a driving assembly 2131 for providing power and a first connecting piece 2132 for connecting the flexible clamping assembly 22, an output end of the driving assembly 2131 is connected with one end of the first connecting piece 2132, and the first connecting piece 2132 is rotatably mounted on the vertical frame 212 through a bearing. The driving assembly 2131 in this embodiment includes a displacement motor or a displacement cylinder and a speed reducer, the displacement motor or the displacement cylinder operates to drive the speed reducer to move, and the speed reducer drives the first connecting member 2132 to rotate relative to the stand 212. In order to control the rotation range of the flexible clamping assembly 22, in an embodiment, a first sensor 214 for detecting the position or state of the flexible clamping assembly 22 may be arranged on the support 21, and the first sensor 214 is used for detecting whether the flexible clamping assembly 22 is rotated in place before being ready for welding. The first sensor 214 in this embodiment is disposed on the stand 212 by using a travel switch, and the travel switch is electrically connected to an external controller to limit the rotation range of the flexible clamping assembly 22. The travel switch is arranged near the concave part of the support 21, a contact of the travel switch extends into the concave part of the support 21 and is positioned on a rotating path of the flexible clamping assembly 22, and the travel switch can be triggered after the flexible clamping assembly 22 rotates for a certain angle.
The support 21 is provided with a second sensor 215 for detecting the position or state of the bonding head, and the second sensor 215 detects the moving bonding position and state of the bonding head during the bonding process. The second sensor 215 in this embodiment is a proximity switch disposed on the top of the stand, and the proximity switch is electrically connected to an external controller.
The flexible clamping assembly is constructed as shown in fig. 4-7, and includes a frame 221, a plurality of cross members 222 disposed on the frame 221, and a plurality of clamps for clamping the profiles to be welded. The frame 221 is a closed loop structure formed by connecting two sections in the same plane, two ends of the frame 221 in the length direction are respectively provided with a connecting part 2211 corresponding to the first connecting part 2132 on one stand 212, the frame is connected with the first connecting part 2132 at the connecting part 2211, and after the frame 221 and the first connecting part 2132 are connected, the frame 221 and the first connecting part 2132 move synchronously. In an embodiment, one end of the first connecting member 2132 is connected to the stand 212 through a bearing, the other end of the first connecting member 2132 is used as a plugging end, a plugging slot exposed outside the stand 212 is formed in the other end, the plugging ends of the first connecting members 2132 on the stand 212 on two sides are symmetrically arranged, a plug connector matched with the plugging slot is arranged on the connecting portion of the frame 221, and the connection between the frame 221 and the support 21 is realized through the plugging cooperation of the plug connector and the plugging slot. In an embodiment, the radial limit and the axial limit between the insertion groove and the insertion head may be achieved by interference fit, or by using a rivet or other structures for limiting the axial or radial limit of the insertion head. Preferably, the connecting portion 2211 of the frame and the first connector 2132 may be connected by a fastener such as a screw. The connecting portion 2211 of the frame and the first connecting member 2132 may be matched with each other only by a plug and a socket, or the connecting portion 2211 of the frame and the first connecting member 2132 may be connected only by a fastener such as a screw, or the connecting portion 2211 of the frame and the first connecting member 2132 may be simultaneously matched with each other by a plug and a socket and further fixed by a fastener such as a screw. It is further preferable that a positioning protrusion and a positioning hole are further disposed between the connecting portion 2211 of the frame and the first connecting member 2132, so that the connecting holes of the connecting portion 2211 of the frame and the first connecting member 2132 are aligned for fastening.
A plurality of cross members 222 are provided inside the closed-loop frame 221. The frame 221 is provided with a set of second slide rails 2212 symmetrical along the rotation axis thereof, two end portions of the beam 222 are slidably connected to the second slide rails 2212 on two sides thereof, and a locking assembly is provided to lock the relative positions of the beam 222 and the second slide rails 2212, so as to facilitate subsequent welding. In this embodiment, the frame 221 is rectangular, and the set of second sliding rails 2212 are disposed on the inner side of the long side of the frame 221. The end part of the cross beam is provided with a second sliding chute in sliding fit with the second sliding rail. In the embodiment, the two side ends of the cross beam 222 are connected with the sliding blocks a223, the sliding blocks a223 and the cross beam 222 are connected through common fasteners such as screws, and the second sliding groove is formed on the sliding blocks a 223. With the above structure, the second sliding groove is formed independently, and is easier to process than the second sliding groove formed directly on the cross beam 222. The fixture is arranged on the cross beam 222, and the relative positions of the cross beams 222 on the frame 221 are adjusted, so that the flexible clamping assembly 22 can be suitable for various metal profiles to be welded with different specifications, and the universality of the device is enhanced. In this embodiment, the bottom of the second sliding groove is disposed toward the second sliding rail 2212, and the bottom of the second sliding groove is provided with a plurality of connecting holes a. A plurality of connecting holes B are distributed on the long side of the frame 221 along the length direction, and after the connecting holes a from the movable beam 222 to the second sliding groove are aligned with the corresponding number of connecting holes B on the long side, the relative position of the beam 222 and the frame 221 is locked by fasteners such as screws. The locking assembly in this embodiment includes a connecting hole a, a connecting hole B, and a fastener such as a screw. After the screws are loosened, the cross beam 222 can freely slide relative to the second slide rail, and the locking screws can lock the relative position between the cross beam 222 and the frame 221. The cross member 223 can be locked in different positions by selecting different attachment holes on the frame. Preferably, an adjusting bolt may be further provided to press the beam end from above to further secure the reliability of the beam locking structure.
After the profile 3 to be welded is placed on the cross-beam 222 of the frame, it is locked in its intended position on the frame by means of a clamp fit. In the embodiment, for a profile 3 to be welded, the profile is generally fixed by two or more sets of clamps. Each set of clamps comprises a first clamp 4 for pressing the profile from above and a second clamp 5 for pressing the profile from the side, and the number of the first clamp 4 and the second clamp 5 in one set of clamps can be 1 or more than 1 according to actual requirements.
The first clamp 4 comprises a sliding seat A41, a pressure lever A43 and a driving element A42, wherein the sliding seat A41 is connected to the cross beam in a sliding mode, the driving element A42 is installed on the sliding seat A41, the pressure lever A43 is connected with the output end of the driving element A42, and the pressure lever A43 moves up and down under the driving of the driving element A42. The stop position of the pressure lever a42 in the lifting direction is preset so that the pressure lever a43 can press or release the profile 3 placed on the cross beam. The pressure lever a43 is provided with one or more pressing parts 431 for contacting the profile 3 placed on the cross beam, and preferably, the pressure lever a43 can rotate freely in the horizontal plane, so that the pressing parts 431 on the pressure lever a43 can press the profile 3 placed at different positions in the horizontal plane, thereby enhancing the universality of the first clamp. The pressure lever A43 can be driven by external driving device to rotate in horizontal plane, or can be driven by manual operation to rotate and lock in horizontal plane. For example, the output shaft of the driving element a42 is vertically arranged, the rotation plane of the pressure lever a43 is perpendicular to the output shaft of the driving element a42, one end of the pressure lever a43 is provided with a downward pressing part 431, and the other end of the pressure lever a43 is connected to the output shaft of the driving element a 42. The output shaft of the driving piece A42 comprises a first section and a second section which have different radial sizes in the axial direction, wherein the radial size of the first section is larger than that of the second section, one end of the pressure rod A43 connected with the driving piece A42 is provided with a longitudinal through hole, the through hole is in interference fit with the first section of the output shaft of the driving piece A42, and the radial size of the longitudinal through hole on the pressure rod A43 is larger than that of the second section. By the arrangement, the rotation adjustment in the horizontal plane can be realized by moving the pressure lever A43 to be matched with the second section on the output shaft; after rotating to a required position in a horizontal plane, the pressure rod A43 is moved along the axial direction of the output shaft of the driving piece A42 to be in interference fit with the first segment of the output shaft, so that the positioning in the horizontal direction can be realized. Referring to fig. 8, which shows a specific embodiment of the first clamp, in this embodiment, the driving member a42 is an air cylinder, one end of the pressing rod a43 is rotatably installed at the output end of the driving member a42, and the other end of the pressing rod a43 is provided with a pressing portion 431 facing downward. In another embodiment of the first clamping apparatus, as shown in fig. 9, in this embodiment, two ends of the pressing rod a are respectively provided with a pressing portion 431 facing each other, the middle of the pressing rod a43 is rotatably mounted at the output end of the driving member a42, and the first clamping apparatus is arranged such that the pressing rod a can press two profiles at a time.
The second clamp 5 comprises a sliding seat B51, a pressing block B53 and a driving element B52, the bottom of the sliding seat B51 is connected to the cross beam 222 in a sliding mode, the driving element B52 is installed on the sliding seat B51, the pressing block B53 is connected with the output end of the driving element B52, the pressing block B53 is driven by the driving element B52 to move forwards and backwards, and the pressing block B53 can be driven by the driving element B52 to press or loosen the profile 3 to be welded on the frame from the side edge by presetting the stroke of the forward and backward movement of the pressing block B53. The specific structure of the second clamp can be seen from fig. 10, the housing of the driving element B51 is directly connected to the sliding seat B, the housing of the driving element B51 and the sliding seat B can be integrally arranged or separately arranged, and in this structure, the installation height of the pressing block B53 is directly determined by the height of the housing of the driving element B51. In other embodiments, the sliding seat B51 may further have a spacer 54 to raise the driving member B52 and the pressing block B53, and the height of the spacer 54 may be selected according to actual requirements. The raising of the mounting height of the mass B53 by the spacer 54 takes up less space and is easier to machine than changing the mounting height of the mass B53 by changing the housing height of the actuator B52. As shown in fig. 11, in the present embodiment, the pad 54 includes a horizontal plate and a vertical plate that are vertically connected to each other, the driving member B52 is an air cylinder, the driving member B52 is installed on the vertical plate of the pad 54, and the pressing block B53 is installed on the output shaft of the driving member B52. To enhance the support strength of the spacer 54, the spacer includes reinforcing plates that bear on the cross plates at one end and on the vertical plates at the other end. The spacer 54 may be integrally formed with the slider B or may be fixed to the slider B by a fastener.
Wherein, a screw rod is respectively connected on the slide A41 of the first clamp and the slide B51 of the second clamp to press or release the beam so as to lock the positions of the first clamp 4 and the second clamp 5 on the beam 222. An operator can adjust the positions of the first clamp and the second clamp on the cross beam according to the shape of the planar frame section to be welded and lock the first clamp and the second clamp.
Since the profile to be welded is a metal profile, preferably, the part of the pressure lever a43 and/or the pressure piece B53 that contacts the profile to be welded has magnetism. Therefore, the reliability of clamping the section by the fixture can be further ensured, and the influence on the welding position caused by the looseness of the section in the subsequent processing process is prevented.
Preferably, at least one clamp in each group of clamps is provided with an inductive switch, and the inductive switch is in communication connection with an external controller to control all driving members in one group of clamps to act simultaneously. And an inductive switch is arranged to detect whether the section to be welded at the clamping position is in place or not, and once the section is detected to be in place, a switching signal is sent to a controller, and the controller controls a driving piece A and a driving piece B in a group of clamps to simultaneously act and clamp the section.
In the above embodiment, the mounting positions of the first clamp 4 and the second clamp 5 on the cross beam 222 are adjustable, and the profile 3 to be welded is positioned by the clamps, so that the positions of the clamps in the fixing plane of the frame can be freely adjusted by adjusting the relative positions of the clamps on the cross beam 222 and the cross beam 222 provided with the clamps in the frame 221, thereby realizing the processing of plane frames with various specifications and enhancing the universality of the device.
In this embodiment, the sliding connection between the sliding seat a41 and the sliding seat B51 and the cross beam is realized in a sliding way and a sliding way. For example, the cross beam is made of T-shaped steel or I-shaped steel, and sliding grooves matched with the upper parts of the T-shaped steel or I-shaped steel are formed in the sliding seat A and the sliding seat B.
After the feeding is completed at the feeding station, the workpiece is moved to a welding station for welding, welding mechanisms 6 are arranged on two sides of the welding station, each welding mechanism 6 comprises a rotating arm 61 with multiple degrees of freedom and a welding head 62 installed on the rotating arm, and both the rotating arm 61 and the welding head 62 are in the prior art. Generally speaking, the welding head 62 includes a ball seat 621, a ball head 622 and a welding gun, the ball seat 621 is fixed on the rotating arm 61, the ball head 622 is rotatably mounted on the ball seat 621 and the ball seat 621 limits the radial deviation of the ball head 622, a channel for connecting the welding gun is provided along the diameter direction of the ball head 622, at least two positioning devices for compressing the ball head from the outside are further provided on the ball seat 621, the positioning devices include a spring and a small ball provided at one end of the spring, the small ball is pressed to the surface of the ball head 622 by the spring to perform a certain positioning function on the ball head 622, but once the welding gun receives an external radial acting force, the welding gun drives the ball head 622 to rotate along the axial direction thereof. The welding head 62 of the present embodiment is different from the prior art in that, as shown in fig. 12, a stop switch is provided on the welding head 62 in the present application, the stop switch includes a conductive sheet 623 and a conductive contact 624 which are provided at the radial outer side of the welding gun, the conductive contact 624 and the conductive sheet 623 are disconnected in a normal state, and after the welding gun deviates from the axial direction by a certain angle, the welding gun pushes the conductive contact 624 or the conductive sheet 623 to act to change the on-off state between the conductive contact 624 and the conductive sheet 623. The stop switch is electrically connected with the controller, and once the on-off state of the stop switch is changed, the controller can send a stop signal to the welding mechanism 6 to stop working. Through setting up stop switch, can in time stop the action after welder receives external force striking skew radial certain angle, prevent that welder from breaking.
The automatic welding system comprises a flexible clamping assembly, a turnover supporting mechanism, a flexible clamping assembly, a flexible clamping mechanism and a welding machine, wherein the flexible clamping assembly is arranged on the flexible clamping assembly; then moving the turnover supporting mechanism to a welding station for welding; meanwhile, moving the other overturning support mechanism to a feeding station for feeding; after welding of the section on one overturning supporting mechanism is completed, moving to a blanking station to prepare blanking; meanwhile, the other turnover supporting mechanism for completing feeding moves to a welding station for welding. Above-mentioned automatic weld system can process on different stations simultaneously, is favorable to improving welding efficiency.
Claims (7)
1. An automatic welding system for a robot comprises a conveying track (1), wherein a feeding station, a welding station and a discharging station are sequentially arranged along the conveying track (1), welding mechanisms (6) are arranged on two sides of the welding station, each welding mechanism (6) comprises a rotating arm (61) with multiple degrees of freedom and a welding head (62) arranged on the corresponding rotating arm (61), and the automatic welding system is characterized in that two or more overturning supporting mechanisms (2) are slidably arranged on the conveying track (1), a driving device is arranged on the conveying track, and the driving device drives the overturning supporting mechanisms (2) to move to different stations along the conveying track (1); the overturning supporting mechanism (2) comprises a support (21) and a flexible clamping assembly (22) which is rotatably arranged on the support (21); the flexible clamping assembly (22) comprises a frame (221), a plurality of cross beams (222) arranged on the frame (221) and a plurality of clamps for clamping the section to be welded; the frame (221) is a plane frame, the frame (221) is arranged on the support, the cross beams (222) are connected to the frame (221) in a sliding mode, and all the cross beams are arranged in parallel and can freely slide in a plane where the frame is located; the cross beam is connected with a plurality of groups of clamps in a sliding manner, each group of clamps comprises a first clamp used for compressing the profile from the upper part and a second clamp used for compressing the profile from the side edge, the profile to be welded is locked at a designated position on the frame through the cooperation of the plurality of groups of clamps, the frame (221) is provided with second slide rails (2212) which are symmetrical along the rotating shaft of the frame, and two end parts of the cross beam (222) are connected to the second slide rails (2212) at two sides of the cross beam in a sliding manner; a locking component is arranged to lock the relative position of the cross beam (222) and the second slide rail (2212); the first clamp (4) comprises a sliding seat A (41), a pressure rod A (43) and a driving part A (42), the sliding seat A (41) is connected to the cross beam in a sliding mode, the driving part A (42) is installed on the sliding seat A (41), the pressure rod A (43) is connected with the output end of the driving part A (42), and the pressure rod A (43) moves up and down under the driving of the driving part A (42); one or more pressing parts (431) which are used for contacting with the section bar (3) arranged on the cross beam are arranged on the pressure lever A (43); the pressure lever A (43) is rotatably connected to the output end of the driving piece A (42), and the pressure lever A (43) can rotate within a certain range in a horizontal plane under the external driving force and is locked.
2. The automatic welding system for the robot is characterized in that the support (21) comprises a base (211) and a stand (212), the base (211) is slidably mounted on the conveying track (1), at least two stands (212) which are arranged in the front-back direction of the base in the sliding direction of the base are arranged on the base (211), the two stands (212) are identical in structure and are symmetrically arranged, a position changing device (213) for driving the flexible clamping assembly (22) to rotate is arranged on each stand (212), the position changing device (213) comprises a driving assembly (2131) for providing power and a first connecting piece (2132) for connecting the flexible clamping assembly (22), the output end of the driving assembly (2131) is connected with one end of the first connecting piece (2132), and the first connecting piece (2132) is rotatably mounted on the stand (212) through a bearing.
3. The automated welding system for robots of claim 2, wherein the base (211) comprises a plurality of base units that are spliced and extended along the sliding direction thereof.
4. The automatic welding system for robots according to claim 1, characterized in that the support (21) is provided with a first sensor (214) for detecting the position or state of the flexible clamping assembly (22), the first sensor (214) detecting whether the flexible clamping assembly (22) is rotated in place before being ready for welding; the support (21) is provided with a second sensor (215) for detecting the position or the state of the welding head, and the second sensor (215) detects the moving welding position and the moving welding state of the welding head in the welding process.
5. The automatic welding system for robots according to claim 1, wherein the second clamp (5) comprises a sliding base B (51), a pressing block B (53) and a driving element B (52), the bottom of the sliding base B (51) is slidably connected to the cross beam (222), the driving element B (52) is mounted on the sliding base B (51), the pressing block B (53) is connected with the output end of the driving element B (52), and the pressing block B (53) is driven by the driving element B (52) to move back and forth.
6. The automatic welding system for the robot according to claim 5, wherein a spacer block (54) is provided on the slide base B (51) to raise the driving member B (52) and the pressing piece B (53), the spacer block (54) comprises a horizontal plate and a vertical plate which are vertically connected with each other, the driving member B (52) is installed on the vertical plate of the spacer block (54), and the pressing piece B (53) is installed on the output shaft of the driving member B (52).
7. The automatic welding system for the robot of claim 1, wherein the welding head (62) comprises a welding gun, a stop switch is arranged on the welding head (62), the stop switch comprises a conductive sheet (623) and a conductive contact (624) which are arranged on the radial outer side of the welding gun, the conductive contact (624) and the conductive sheet (623) are disconnected in a normal state, and after the welding gun deviates from the axial direction by a certain angle, the welding gun pushes the conductive contact (624) or the conductive sheet (623) to act so as to change the on-off state between the conductive contact (624) and the conductive sheet (623).
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| CN201811589042.8A CN109623208B (en) | 2018-12-25 | 2018-12-25 | Automatic welding system for robot |
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| CN201811589042.8A CN109623208B (en) | 2018-12-25 | 2018-12-25 | Automatic welding system for robot |
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| CN109623208B true CN109623208B (en) | 2021-03-30 |
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