CN109794702B - Multi-station full-automatic disc robot welding equipment - Google Patents
Multi-station full-automatic disc robot welding equipment Download PDFInfo
- Publication number
- CN109794702B CN109794702B CN201910266884.8A CN201910266884A CN109794702B CN 109794702 B CN109794702 B CN 109794702B CN 201910266884 A CN201910266884 A CN 201910266884A CN 109794702 B CN109794702 B CN 109794702B
- Authority
- CN
- China
- Prior art keywords
- welding
- robot
- station
- motor
- infrared sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003466 welding Methods 0.000 title claims abstract description 236
- 230000006698 induction Effects 0.000 claims description 23
- 230000007246 mechanism Effects 0.000 claims description 23
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 238000007599 discharging Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 230000006835 compression Effects 0.000 abstract 1
- 238000007906 compression Methods 0.000 abstract 1
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Landscapes
- Resistance Welding (AREA)
Abstract
The invention discloses a multi-station full-automatic disc robot welding device, which comprises: the welding robot, grab and put and get the robot, disc welding set and controlling means, wherein, controlling means control grab and put and get the robot and snatch the weldment and place the weldment on current welding station, and control first motor and power unit start operation, power unit drives the plectane and rotates, when rotating to the first gyro wheel of current welding station below and second gyro wheel meshing, the motor support compression promotes the unit, controlling means controls welding robot and welds the weldment, after welding robot welds the weldment and accomplishes, controlling means control grab and put and get the robot and snatch the weldment that the welding was accomplished and place the collection area with it, and then this equipment realizes whole full automatization, intellectuality, has kept the good meshing degree of first gyro wheel and second gyro wheel, has kept the stationarity of welding station in the welding process, further improved the welding precision.
Description
Technical Field
The invention relates to the technical field of welding, in particular to multi-station full-automatic disc robot welding equipment.
Background
At present, the welding parts on the welding equipment in the prior art are put and taken manually, and for station rotation, the rotary gear is generally adopted for meshing transmission, so that the problems are that firstly, the welding parts are put and taken manually, and the welding robot is not easy to accurately put into a welding station, so that the welding position of the welding robot is inaccurate; secondly, adopt the rotatory technical means of gyration gear engagement messenger welding station, under the circumstances that gear wearing and tearing are serious or warp, the gear interlock is not good easily appears, causes the station rotation trouble then, or the station shake is unstable, has reduced welded precision, has increased the rejection rate.
Thus, there is a need for improvements in this technology.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent.
Therefore, the invention aims to provide the multi-station full-automatic disc robot welding equipment which can be used for welding accurately and has the advantages of no manual participation, full automation, full intelligence.
In order to achieve the above object, an embodiment of the present invention provides a multi-station full-automatic disc robot welding apparatus, including: the device comprises a welding robot, a feeding robot, a discharging robot, a disc welding device and a control device; welding robot fixed mounting is in one side of disc welding set, material loading robot, unloading robot set up the opposite side of disc welding set, wherein, disc welding set includes: the circular plate and the power mechanism used for rotating the circular plate are connected with the power mechanism through a connecting plate below the center of the circular plate, and the power mechanism is fixed on the frame through a fixing plate; the edge of the circular plate is provided with a plurality of welding stations, each welding station is arranged on the circular plate through a bearing seat, the lower part of each welding station is fixedly connected with a shaft, and the other end of the shaft is provided with a first roller; the second roller is meshed with the first roller, the second roller is arranged on a first motor shaft, a first motor bracket is connected below the first motor, the sliding block is fixedly connected below the motor bracket, the sliding block slides on a sliding block guide rail matched with the sliding block, and the sliding block guide rail is fixedly connected with the frame through a guide rail bottom plate; the pushing unit is in natural contact with the sliding block and is used for keeping the first roller and the second roller well meshed; the control device controls the feeding robot to grab the welding piece and place the welding piece on the current welding station, then controls the first motor and the power mechanism to start running, the power mechanism drives the circular plate to rotate, when the first roller below the current welding station rotates to be meshed with the second roller, the motor support compresses the pushing unit, the control device controls the welding robot to weld the welding piece, after the welding robot finishes welding the welding piece, the control device controls the discharging robot to grab the welding piece and place the welding piece in a collecting area.
According to the multi-station full-automatic disc robot welding equipment provided by the embodiment of the invention, the control device controls the feeding robot to grab a welding piece and place the welding piece on the current welding station, and controls the first motor and the power mechanism to start to operate, the power mechanism drives the circular plate to rotate, when the first roller rotating to the lower part of the current welding station is meshed with the second roller, the motor support compresses the pushing unit, the control device controls the welding robot to weld the welding piece, after the welding of the welding piece by the welding robot is completed, the control device controls the discharging robot to grab the welding piece after the welding is completed and place the welding piece in the collecting area, so that the whole process from grabbing the welding piece, placing the welding piece on the welding station and grabbing the welding piece from the welding station to the welding completion welding piece does not need manual participation, full automation and intellectualization are realized, and good meshing degree of the first roller below the welding station and the second roller connected with the shaft of the first motor for rotating the welding station is maintained.
According to one embodiment of the invention, the pushing unit consists of a fixed seat, a spring guide rod and a drop-proof nut; the fixing seat is arranged on one side of the sliding block, which is close to the central shaft direction of the circular plate, the spring guide rod is arranged on the fixing seat, the spring guide rod is sleeved with the spring, one end of the spring guide rod is in natural contact with the sliding block, and the other end of the spring guide rod is provided with a anticreep nut.
According to one embodiment of the invention, the power mechanism comprises a second motor, a clutch, a speed reducer and a cam divider, wherein the second motor is connected with the clutch, the clutch is connected with the speed reducer, the speed reducer is connected with the cam divider, the upper part of the cam divider is connected with the connecting plate, and the lower part of the cam divider is fixedly connected with the frame through a fixing plate.
According to one embodiment of the invention, the welding robot comprises: the welding gun comprises a base, a cylinder, a first support, a second support and a welding gun, wherein the base is fixedly connected with the frame, the upper part of the base is connected with the fixed end of the cylinder, the movable end of the cylinder is connected with one end of the first support, the other end of the first support is connected with one end of the second support, and the other end of the second support is connected with the welding gun.
According to one embodiment of the invention, the control device: the magnetic induction welding device comprises a first magnetic induction switch, a second magnetic induction switch, a proximity switch inductor, a first infrared sensor, a second infrared sensor, a third infrared sensor and a controller, wherein the first magnetic induction switch is arranged at the fixed end of the cylinder, the second magnetic induction switch is arranged at the movable end of the cylinder, the proximity switch inductor is arranged at one side, far away from the center axis, of the sliding block guide rail, the first infrared sensor is arranged at a feeding position, the second infrared sensor is arranged at a welding position, the third infrared sensor is arranged at a discharging position, and the first magnetic induction switch, the second magnetic induction switch, the proximity switch inductor and the infrared sensor are electrically connected with the controller.
According to one embodiment of the invention, the controller is electrically connected to the first motor; the controller is electrically connected with the second motor.
According to one embodiment of the invention, the controller is a PLC controller, and the controller is also connected with a power supply.
According to one embodiment of the invention, the frame is a cuboid or a cube.
According to one embodiment of the invention, a guard plate is arranged on the outer side of the frame.
According to one embodiment of the invention, the frame is formed by welding a plurality of square tubes, the four corners below the frame are fixedly connected with the caster plates, and each caster plate is connected with a caster.
Compared with the prior art, the invention has the following beneficial effects: the equipment realizes that the whole process of grabbing welding parts from grabbing welding parts, placing welding parts onto welding stations and welding the welding parts to grabbing welding from the welding stations is completed without manual participation, the whole process is full-automatic and intelligent, the welding is accurate, the good meshing degree of the first roller below the welding stations and the second roller connected with the shaft of the first motor for rotating the welding stations is maintained, the unstable condition of the welding stations in the welding process is avoided, the welding is inaccurate, and the higher rejection rate is caused.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will be apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, wherein,
fig. 1 is a schematic structural view of a multi-station full-automatic disc robot welding apparatus according to an embodiment of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a left side view of the base of FIG. 1;
FIG. 4 is a cross-sectional view A-A of the disc welding apparatus of FIG. 1;
FIG. 5 is an enlarged partial view of portion 316 of FIG. 4;
FIG. 6 is a top view of a frame in a multi-station fully automated disc robot welding apparatus according to an embodiment of the present invention;
FIG. 7 is a section B-B of FIG. 6;
FIG. 8 is a block schematic diagram of a power mechanism in a multi-station fully automated disc robot welding apparatus according to an embodiment of the present invention;
fig. 9 is a block schematic diagram of a control device in a multi-station full-automatic disc robot welding apparatus according to an embodiment of the present invention.
Reference numerals: the welding robot 1, the feeding robot 2, the disc welding device 3, the control device 4, the welding piece 5, the blanking robot 6 and the multi-station full-automatic disc robot welding equipment 100;
the welding gun comprises a cylinder 11, a first bracket 12, a second bracket 13, a welding gun 14 and a base 15;
a first support 151, a second support 152 and a third support 153;
a circular plate 301, a connecting plate 302, a fixing plate 304, a frame 305, a welding station 306, a bearing block 307, a shaft 308, a first roller 309, a second roller 310, a first motor 311, a motor bracket 312, a slider 313, a slider rail 314, a rail base plate 315, and a pushing unit 316;
a fixed seat 3161, a spring 3162, a spring guide 3163 and a drop nut 3164;
a second motor 3031, a clutch 3032, a speed reducer 3033 and a cam divider 3034;
a first magnetic induction switch 41, a second magnetic induction switch 42, a proximity switch sensor 43, a first infrared sensor 44, a second infrared sensor 46, a third infrared sensor 47, and a controller 45;
caster plate 3051, casters 3052, apron 3053, floor one 3054, and floor two 3055.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
The multi-station full-automatic disc robot welding equipment according to the embodiment of the invention is described below with reference to the accompanying drawings.
Specifically, as shown in fig. 1-9, a multi-station fully automated disc robot welding apparatus 100 includes: a welding robot 1; further comprises: a disc welding device 3 and a control device 4 of a feeding robot 2 and a discharging robot 6; the welding robot 1 is fixedly installed at one side of the disc welding device 3, and the loading robot 2 and the unloading robot 6 (not shown in the drawing) are disposed at the other side of the disc welding device 3, wherein,
as shown in fig. 1, 2 and 4, the disc welding apparatus 3 includes: a circular plate 301 and a power mechanism 303 for rotating the circular plate 301, wherein the power mechanism 303 is connected with the circular plate 301 through a connecting plate 302 below the center of the circular plate 301, and the power mechanism 303 is fixed on a frame 305 through a fixing plate 304;
the edge of the circular plate 301 is provided with a plurality of welding stations 306, each welding station 306 is arranged on the circular plate 301 through a bearing seat 307, the lower part of each welding station 306 is fixedly connected with a shaft 308, and the other end of the shaft 308 is provided with a first roller 309;
the second roller 310 meshed with the first roller 309, the second roller 310 is arranged on the shaft of the first motor 311, the motor bracket 312 is connected below the first motor 311, the slider 313 is fixedly connected below the motor bracket 312, the slider 313 slides on a slider guide rail 314 matched with the slider bracket 313, and the slider guide rail 314 is fixedly connected with the frame 305 through a guide rail bottom plate 315;
the pushing units 316, the pushing units 316 are naturally contacted with one sides of the sliding block 313 and the motor bracket 312, and are used for keeping the first roller 309 and the second roller 310 well meshed;
the control device 4 controls the feeding robot 2 to grab the welding piece 5 and place the welding piece 5 on the current welding station 306, the control device 4 controls the first motor 311 and the power mechanism 303 to start to operate, the power mechanism 303 drives the circular plate 301 to rotate, when the first roller 309 rotating to the position below the current welding station 306 is meshed with the second roller 310, the motor support 312 compresses the pushing unit 316, the control device 4 controls the welding robot 1 to weld the welding piece 5, and after the welding robot 1 finishes welding the welding piece 5, the control device 4 controls the discharging robot 6 to grab the welding piece 5 after the welding is finished and place the welding piece 5 in the collecting area.
It should be noted that the number of the welding stations 306 is at least three (loading, unloading and welding positions), wherein the second roller 310 is provided with two grooves for filling the O-shaped rubber ring to increase the friction between the first roller 309 and the second roller 310.
According to an embodiment of the present invention, as shown in fig. 5, the pushing unit 316 is composed of a fixed seat 3161, a spring 3162, a spring guide 3163, and a drop-preventing nut 3164; the fixing base 3161 is disposed on one side of the slider 313 near the central axis direction of the circular plate 301, the fixing base 3161 is provided with a spring guide rod 3163, the spring guide rod 3163 is sleeved with a spring 3162, one end of the spring guide rod 3163 is naturally contacted with one side of the slider 313 and one side of the motor support 312, and the other end of the spring guide rod 3163 is provided with a anti-drop nut 3164.
It will be appreciated that when the circular plate 301 rotates, the welding station 306 on the circular plate 301 rotates along with the circular plate, at this time, the spring 3162 in the pushing unit 316 is in a natural extension state, when the welding station 306 rotates to approach the second roller 310, the first roller 309 under the welding station 306 contacts with the second roller 310 and presses the second roller 310, the spring 3162 is in a compressed state, and thus the first roller 309 and the second roller 310 are always in a good engagement state, even if the welding station 306 is long in time, the position is shifted, the engagement state between the first roller 309 and the second roller 310 is not affected, so that the welding station 306 rotates stably, welding is stable, and accuracy is better.
After the welding is completed, the circular plate 301 rotates, the welding station 306 is far away from the second roller 310, the pressed spring 3162 rebounds, the anti-drop nut 3164 prevents the spring guide rod 3163 from being separated from the fixed seat 3161, and when the next welding station rotates, the previous steps are repeated, so that the first roller 309 and the second roller 310 always keep good meshing due to the action of the spring 3162.
According to an embodiment of the present invention, as shown in fig. 8, the power mechanism 303 includes a second motor 3031, a clutch 3032, a speed reducer 3033 and a cam divider 3034, the second motor 3031 is connected with the clutch 3032, the clutch 3032 is connected with the speed reducer 3033, the speed reducer 3033 is connected with the cam divider 3034, the upper part of the cam divider 3034 is connected with the connecting plate 302, and the lower part of the cam divider 3034 is fixedly connected with the frame 305 through the fixing plate 304.
According to one embodiment of the present invention, as shown in fig. 1, 2 and 3, a welding robot 1 includes: base 15, cylinder 11, support one 12, support two 13 and welder 14, base 15 and frame fixed connection, base 15 top is connected with the stiff end of cylinder 11, and the expansion end of cylinder 11 is connected with the one end of support one 12, and the other end of support one 12 is connected with the one end of support two 13, and the other end of support two 13 is connected with welder 14.
The first bracket 12 is a first L-shaped plate, four screw holes are formed in the front end of the first L-shaped plate '1' and used for being fixedly connected with the movable end of the air cylinder 11, four screw holes are formed in the first L-shaped plate 'one' and used for being fixedly connected with the second bracket 13, the second bracket 13 is a second L-shaped plate, four screw holes matched with the first L-shaped plate 'one' are formed in the second L-shaped plate '1', and screw holes fixedly connected with the welding gun 14 are formed in the second L-shaped plate 'one'. In addition, the base 15 is composed of a first support 151, a second support 152 and a third support 153, a fixing plate for fixing the cylinder is arranged at the top of the first support 151, two trapezoid plates are fixedly connected below the fixing plate and are respectively fixed on the first support 151, the first support 151 is connected with the second support 152 through bolts, the second support 152 is fixedly connected with the third support 153 through bolts, and the third support 153 is fixed with the frame through bolts.
The welding angle between the welding gun 14 and the welding part at the welding station is preferably 45 degrees.
According to one embodiment of the present invention, as shown in fig. 9, the control device 4 includes: the first magnetic induction switch 41, the second magnetic induction switch 42, the proximity switch inductor 43, the first infrared sensor 44, the second infrared sensor 46, the third infrared sensor 47 and the controller 45, the first magnetic induction switch 41 sets up the stiff end at the cylinder 11, the second magnetic induction switch 42 sets up the expansion end at the cylinder 11, the proximity switch inductor 43 sets up the one side of keeping away from the centre of a circle axis at the slider guide rail 314, first infrared sensor 44 sets up the material loading position department, the second infrared sensor 46 sets up in welding position department, the third infrared sensor 47 sets up in unloading position department, first magnetic induction switch 41, the second magnetic induction switch 42, the proximity switch inductor 43, first infrared sensor 44, the second infrared sensor 46, the third infrared sensor 47 all is connected with the controller 45 electricity.
According to one embodiment of the present invention, as shown in fig. 9, the controller 45 is electrically connected with the first motor 311; the controller 45 is electrically connected to the second motor 3031.
According to one embodiment of the present invention, the controller 45 is a PLC controller, and a power supply (not shown in the figure) is further connected to the controller 45.
The control principle of the multi-station (taking four stations as an example) full-automatic disc robot welding equipment 100 is as follows: first, the apparatus 100 is powered on, and the controller 45 controls the first motor 311 to start to operate, then controls the second motor 3031 to operate, and then drives the cam divider 3034 to operate, so as to drive the circular plate 301 to rotate (preferably, to rotate clockwise). It will be appreciated that the controller 45 controls the second motor 3031 to operate, and that the controller 45 controls the second motor 3031 to stop operating each time the current welding station is rotated 90 degrees clockwise (and then stopped after 120 degrees of rotation if three stations are present).
When the current station rotates to the feeding position, the first infrared sensor 44 at the feeding position detects whether a welding piece exists on the current welding station, if the first infrared sensor 44 does not detect the welding piece, the controller 45 controls the feeding robot 2 to grasp the welding piece which is not welded according to the detected signal and control the feeding robot to place the welding piece 5 on the current welding station, if the first infrared sensor 44 detects the welding piece, the operation is not performed until the welding piece is detected, and then the steps are repeated.
When the current welding station rotates to the welding position, the second infrared sensor 46 at the welding position detects whether a welding piece exists on the current welding station, if the second infrared sensor 46 detects that a welding piece exists on the current welding station, the controller 45 controls the proximity switch sensor 43 to detect whether the motor bracket 312 is far away, when the proximity switch sensor 43 detects that the motor bracket 312 is far away (the initial position of the motor bracket 312 is close to the proximity switch sensor), the current welding station is rotated to a position where the welding robot can weld at the moment, the controller 45 controls the first magnetic induction switch 41 to open the cylinder 11 according to a signal detected by the proximity switch sensor 43, so as to push the bracket I12 and the bracket II 13 to push the welding gun 14 to the welding station, and when the second magnetic induction switch 42 detects the signal, the controller 45 controls the welding gun 14 to weld the welding piece, after one circle of welding station rotation, the controller 45 controls the welding gun 14 to stop welding, and controls the cylinder 11 to pull the welding gun 14 back, and the welding is far away from the welding station is completed; when the proximity switch sensor 43 detects that the motor bracket 312 is close, the welding station is rotated out of the welding robot welding range; if the second infrared sensor 46 detects that there is no weld at the current welding station, the above steps are not performed until after the weld is detected, and are repeated.
When the current welding station rotates to the blanking position, the third infrared sensor 47 at the blanking position detects whether the welding piece exists on the current welding station, and if so, the controller 45 controls the blanking robot 6 to grab the welding piece on the welding station and place the collecting area; if no weldment is detected, the steps are not performed until the weldment is detected, and then the steps are repeated.
According to one embodiment of the present invention, as shown in fig. 6 and 7, the frame 305 is rectangular or square.
Preferably a cube.
According to one embodiment of the invention, as shown in fig. 6 and 7, a guard plate 3053 is mounted on the outside of the frame 305.
According to an embodiment of the present invention, as shown in fig. 6 and 7, the frame 305 is welded by a plurality of square tubes, and the caster plates 3051 are fixedly connected to four corners below the frame 305, and each caster plate 3051 is connected to a caster 3052.
When the frame 305 is square, the length and width of the frame 305 are 1220mm, and the height is 539mm. The square tube is formed by welding a plurality of square tubes, and the side length of each square tube is 80mm. The bottom of the frame 305 is provided with a 'II' -shaped frame, wherein two square tubes are continuously arranged at a position with a distance of 141.5mm from the left boundary, namely, one vertical rod in the 'II' -shaped frame, a first bottom plate 3054 for fixing the slide block guide rail 314 is arranged on the two square tubes, and the other vertical rod in the 'II' -shaped frame is arranged at a position 300mm from the right boundary. In addition, two base plates 3055 for fixing the cam divider 3034 are provided on the two cross bars of the "ii" frame.
In summary, according to the multi-station full-automatic disc robot welding equipment provided by the embodiment of the invention, the control device controls the feeding robot to grab a welding piece and place the welding piece on the current welding station, and controls the first motor and the power mechanism to start to operate, the power mechanism drives the circular plate to rotate, when the first roller below the current welding station is meshed with the second roller, the motor support compresses the pushing unit, the control device controls the welding robot to weld the welding piece, after the welding robot finishes welding the welding piece, the control device controls the discharging robot to grab the welding piece after the welding is finished and place the welding piece in the collecting area, and then the equipment realizes that the whole process of grabbing the welding piece from the welding piece to the welding station is finished without manual participation, full automation and intellectualization are not needed, and the welding is accurate, so that the good meshing degree of the first roller below the welding station and the second roller which is connected with the shaft of the first motor for rotating the welding station is maintained, the stability of the welding station in the welding process is further improved.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
For this reason, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, upper, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intervening medium, and may be in communication with each other between two elements or in an interactive relationship between the two elements, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level less than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. A multi-station fully automatic disc robot welding apparatus comprising: the welding robot (1) is characterized by further comprising: a feeding robot (2), a discharging robot (6), a disc welding device (3) and a control device (4); the welding robot (1) is fixedly arranged at one side of the disc welding device (3), the feeding robot (2) and the discharging robot (6) are arranged at the other side of the disc welding device (3), wherein,
the disc welding device (3) comprises: the circular plate (301) and a power mechanism (303) for rotating the circular plate (301), wherein the lower part of the circle center of the circular plate (301) is connected with the power mechanism (303) through a connecting plate (302), and the power mechanism (303) is fixed on a frame (305) through a fixing plate (304);
the edge of the circular plate (301) is provided with a plurality of welding stations (306), each welding station (306) is installed on the circular plate (301) through a bearing seat (307), the lower part of each welding station (306) is fixedly connected with a shaft (308), and the other end of the shaft (308) is provided with a first roller (309);
the second roller (310) is meshed with the first roller (309), the second roller (310) is arranged on the shaft of the first motor (311), a motor bracket (312) is connected below the first motor (311), a sliding block (313) is fixedly connected below the motor bracket (312), the sliding block (313) slides on a sliding block guide rail (314) matched with the sliding block, and the sliding block guide rail (314) is fixedly connected with the frame (305) through a guide rail bottom plate (315);
the pushing units (316) are naturally contacted with one sides of the sliding blocks (313) and the motor brackets (312) and are used for keeping the first rollers (309) and the second rollers (310) well meshed;
the control device (4) controls the feeding robot (2) to grab a welding part (5) and place the welding part (5) on a current welding station (306), the control device (4) controls the first motor (311) and the power mechanism (303) to start to operate, the power mechanism (303) drives the circular plate (301) to rotate, when a first roller (309) below the current welding station (306) is meshed with a second roller (310), the motor support (312) compresses the pushing unit (316), the control device (4) controls the welding robot (1) to weld the welding part (5), and after the welding robot (1) finishes welding the welding part (5), the control device (4) controls the discharging robot (6) to grab the welding part (5) after the welding is finished and place the welding part (5) in a collecting area.
2. The multi-station full-automatic disc robot welding apparatus according to claim 1, wherein the pushing unit (316) is composed of a fixed seat (3161), a spring (3162), a spring guide rod (3163) and a drop-proof nut (3164); the fixing seat (3161) is arranged on one side, close to the central shaft direction of the circular plate (301), of the sliding block (313), the spring guide rod (3163) is arranged on the fixing seat (3161), the spring guide rod (3163) is sleeved with the spring (3162), one end of the spring guide rod (3163) is naturally contacted with one side of the sliding block (313) and one side of the motor support (312), and the other end of the spring guide rod (3163) is provided with a drop-proof nut (3164).
3. The multi-station full-automatic disc robot welding apparatus according to claim 1, wherein the power mechanism (303) comprises a second motor (3031), a clutch (3032), a speed reducer (3033) and a cam divider (3034), the second motor (3031) is connected with the clutch (3032), the clutch (3032) is connected with the speed reducer (3033), the speed reducer (3033) is connected with the cam divider (3034), the upper part of the cam divider (3034) is connected with the connecting plate (302), and the lower part of the cam divider (3034) is fixedly connected with the frame (305) through a fixing plate (304).
4. The multi-station, fully automated disc robot welding apparatus of claim 1, wherein the welding robot comprises: base (15), cylinder (11), support one (12), support two (13) and welder (14), base (15) with frame fixed connection, base (15) top with the stiff end of cylinder (11) is connected, the expansion end of cylinder (11) with the one end of support one (12) is connected, the other end of support one (12) with the one end of support two (13) is connected, the other end of support two (13) with welder (14) is connected.
5. The multi-station fully automatic disc robot welding apparatus according to claim 4, wherein the control device (4) comprises: first magnetic induction switch (41), second magnetic induction switch (42), proximity switch inductor (43), first infrared sensor (44), second infrared sensor, third infrared sensor and controller (45), first magnetic induction switch (41) set up the stiff end of cylinder (11), second magnetic induction switch (42) set up the expansion end of cylinder (11), proximity switch inductor (43) set up slider guide rail (314) keep away from one side of centre of a circle axis, first infrared sensor (44) set up in the material loading position department, second infrared sensor (46) set up in welding position department, third infrared sensor (47) set up in unloading position department, first magnetic induction switch (41) second magnetic induction switch (42) proximity switch inductor (43) first infrared sensor (44) second infrared sensor (46) third infrared sensor (47) all are connected with controller (45) electricity.
6. A multi-station fully automatic disc robot welding apparatus according to claim 3, characterized in that a controller (45) is electrically connected to the first motor (311); the controller (45) is electrically connected to the second motor (3031).
7. The multi-station full-automatic disc robot welding apparatus according to claim 5 or 6, wherein the controller (45) is a PLC controller, and the controller (45) is further connected with a power supply.
8. The multi-station fully automatic disc robot welding apparatus according to claim 1, wherein the frame (305) is a cuboid or a cube.
9. The multi-station full-automatic disc robot welding apparatus according to claim 7, wherein a guard plate (3053) is installed at the outer side of the frame (305).
10. The multi-station full-automatic disc robot welding equipment according to claim 8 or 9, wherein the frame (305) is formed by welding a plurality of square tubes, and the four corners below the frame (305) are fixedly connected with caster plates (3051), and each caster plate (3051) is connected with a caster (3052).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910266884.8A CN109794702B (en) | 2019-04-03 | 2019-04-03 | Multi-station full-automatic disc robot welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910266884.8A CN109794702B (en) | 2019-04-03 | 2019-04-03 | Multi-station full-automatic disc robot welding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109794702A CN109794702A (en) | 2019-05-24 |
| CN109794702B true CN109794702B (en) | 2024-01-30 |
Family
ID=66563424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910266884.8A Active CN109794702B (en) | 2019-04-03 | 2019-04-03 | Multi-station full-automatic disc robot welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109794702B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112518088A (en) * | 2020-11-30 | 2021-03-19 | 苏州幕特克自动化设备有限公司 | Control system of automatic welding equipment |
| CN114871609B (en) * | 2021-03-16 | 2024-08-06 | 余姚市超成机械制造有限公司 | Multi-station fire extinguisher bottle mouth welding equipment |
| CN113681214A (en) * | 2021-08-27 | 2021-11-23 | 深圳市朗奥洁净科技股份有限公司 | Multi-station welding machine |
| CN117245297B (en) * | 2023-11-20 | 2024-02-23 | 江苏瑞材装备有限公司 | Automatic welding robot device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005023540B3 (en) * | 2005-05-21 | 2006-07-20 | Federal-Mogul Wiesbaden Gmbh & Co. Kg | Slide bearing bush and thrust washer or washer ring welding device, has assembling station with one pressing device that compresses and locks two retaining units that retain bush and washer, and welding station welding bush and washer |
| CN103769718A (en) * | 2014-02-28 | 2014-05-07 | 广西睿奕科技发展有限公司 | Automatic battery welding device |
| WO2014203414A1 (en) * | 2013-06-17 | 2014-12-24 | 本田技研工業株式会社 | Spot welding apparatus |
| CN205437472U (en) * | 2016-04-12 | 2016-08-10 | 保定苏博汽车零件制造有限公司 | Multistation shang , blanking machine for projection welder |
| CN210160600U (en) * | 2019-04-03 | 2020-03-20 | 亚太绿建（北京）科技集团有限公司 | Multi-station full-automatic disc robot welding equipment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080116182A1 (en) * | 2006-11-21 | 2008-05-22 | Palo Alto Research Center Incorporated | Multiple Station Scan Displacement Invariant Laser Ablation Apparatus |
-
2019
- 2019-04-03 CN CN201910266884.8A patent/CN109794702B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005023540B3 (en) * | 2005-05-21 | 2006-07-20 | Federal-Mogul Wiesbaden Gmbh & Co. Kg | Slide bearing bush and thrust washer or washer ring welding device, has assembling station with one pressing device that compresses and locks two retaining units that retain bush and washer, and welding station welding bush and washer |
| WO2014203414A1 (en) * | 2013-06-17 | 2014-12-24 | 本田技研工業株式会社 | Spot welding apparatus |
| CN103769718A (en) * | 2014-02-28 | 2014-05-07 | 广西睿奕科技发展有限公司 | Automatic battery welding device |
| CN205437472U (en) * | 2016-04-12 | 2016-08-10 | 保定苏博汽车零件制造有限公司 | Multistation shang , blanking machine for projection welder |
| CN210160600U (en) * | 2019-04-03 | 2020-03-20 | 亚太绿建（北京）科技集团有限公司 | Multi-station full-automatic disc robot welding equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109794702A (en) | 2019-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109794702B (en) | Multi-station full-automatic disc robot welding equipment | |
| CN1331633C (en) | Automatic welding machine for annular seam in specially shaped tank | |
| CN110027726B (en) | Auxiliary device for replacing aircraft tire | |
| CN107671548A (en) | Solar battery sheet welding system | |
| CN210160600U (en) | Multi-station full-automatic disc robot welding equipment | |
| CN211905623U (en) | Full-automatic voltage internal resistance test system | |
| CN114453905B (en) | Tin ring forming equipment for welding metal parts | |
| CN113670246B (en) | Metal product thickness detection device | |
| CN117300644B (en) | Die cutting welding device for battery pole piece | |
| JP2010162662A (en) | Chip collecting device | |
| CN208008069U (en) | Automatic piling system | |
| CN111922542A (en) | Fan impeller machining equipment and process | |
| CN218982380U (en) | Automatic tolerance grade screening device for large roller diameter | |
| CN108891880B (en) | Bidirectional clutch driving structure and feeding and discharging transverse moving platform thereof | |
| CN114310017B (en) | Welding machine for lithium battery pole piece and battery core body | |
| CN217050260U (en) | Automatic change loading attachment for transfer chain | |
| CN214054140U (en) | High-efficient metal tubular product welding equipment | |
| CN115901450A (en) | Petrochemical machinery pipeline strength detection device | |
| CN209407715U (en) | A kind of crimping material strip automatically inductive weld device | |
| CN210854128U (en) | Carrying trolley capable of moving automatically | |
| CN109703838A (en) | A kind of automatic weighing track | |
| CN111889907A (en) | Fan assembling device and assembling method thereof | |
| CN113070380A (en) | Quick automatic riveting equipment for producing battery liquid cooling plate | |
| CN111252290A (en) | Automatic counting and stacking machine for gloves | |
| CN210166644U (en) | Automatic control device for testing frequency converter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20231229 Address after: No. 11 Hongsi Street, Hongsi Village, Xiaodian Street, Xiaodian District, Taiyuan City, Shanxi Province, 030032 Applicant after: Shanxi Yongsheng Jingchuang Intelligent Technology Co.,Ltd. Address before: 1702 Folk Culture Street, Gaobeidian, Chaoyang District, Beijing Applicant before: ASIA PACIFIC GREEN ARCHITECTURE (BEIJING) TECHNOLOGY GROUP CO.,LTD. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |