CN109877520A - A kind of positioner based on welding robot - Google Patents

A kind of positioner based on welding robot Download PDF

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Publication number
CN109877520A
CN109877520A CN201910320357.0A CN201910320357A CN109877520A CN 109877520 A CN109877520 A CN 109877520A CN 201910320357 A CN201910320357 A CN 201910320357A CN 109877520 A CN109877520 A CN 109877520A
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CN
China
Prior art keywords
welding
fixture
turntable
welding robot
fixture driving
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Pending
Application number
CN201910320357.0A
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Chinese (zh)
Inventor
李培超
沈爱茹
杨昊
陆佳依
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Shanghai University of Engineering Science
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Shanghai University of Engineering Science
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Priority to CN201910320357.0A priority Critical patent/CN109877520A/en
Publication of CN109877520A publication Critical patent/CN109877520A/en
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

The invention discloses a kind of positioners based on welding robot, including sequentially connected grip device, fixture driving device, welding stage, rotating device, turntable and liftable supporter;Grip device is for fixing workpiece to be welded;Fixture driving device includes fixture driving plate and fixture driving motor, and fixture driving plate and fixture driving motor are connect with grip device, and for driving fixture device and fixture driving plate relative motion occurs for fixture driving motor;Rotating device is for driving welding stage and turntable that relative rotation occurs;The angle of plane and plane where turntable is fixed where welding stage;Liftable supporter is used to support turntable, is used to adjust the telescoping shoring column of the angle of turntable and horizontal plane including at least one.Positioner of the invention, adjustment dimension is more, and the welding range and welding quality that can significantly improve welding robot while ensure that welding quality, significantly improve welding efficiency compared to manual welding;Flexibility is good.

Description

A kind of positioner based on welding robot
Technical field
The invention belongs to Intelligent welding technical field, be related to a kind of positioner based on welding robot, in particular to one Plant the positioner based on welding robot for mitigating the moving loads of welding robot.
Background technique
With the propulsion of economic development, scientific and technological progress and the modernization of industry, the commercial production levels in China have had very Big raising, welding robot use more and more, and the requirement to welding quality also becomes harshness naturally.In order to reach Fine quality, meets pose demand, then welding robot and positioner is required to cooperate jointly.Positioner can change Weldment position and direction can allow weld seam to move to specified after the initial position of workpiece to be welded passes through its revolution shifting movement Place is subjected to again.
Positioner is equipment important but weak in the automation of welding production machinery, not only practical but also reliable, is applied to Automatic welding machine people's work station especially overturns difficult and more weld seam occasion to be welded.Auxiliary machine is welded with other Tool is compared, its intelligence can be improved the production efficiency of welding, change traditional handwork condition and can guarantee to weld Quality is connect, there is irreplaceable role.Workpiece to be welded is fixed on corresponding fixture, and a robot implements independent weldering It connects, this workbench for implementing welding to fixed workpiece by a robot is called single welding robot workstation.This work Making station, there are some defects: when the workpiece of processing complex contour multiplicity, welding gun possibly can not avoid workpiece, occur with workpiece dry It relates to;The region allowed for weld seam range beyond robot possibly can not be handled, and robot works at range coverage edge When, the state performance of robot may decline;When welding the curved welding seam of spatial complex multiplicity, on each welding position of weld seam Corresponding some welding procedure characteristics are variations, to the requirement of these techniques, it is difficult to ensure that consistency.
Therefore, a kind of displacement based on welding robot that can satisfy various different shapes and type of workpiece processing is developed The great realistic meaning of machine.
Patent of invention content
It is an object of the invention to overcome prior art list welding robot workstation be difficult to meet various different shapes and The defect of type of workpiece process requirements, provide a kind of adaptability it is good and can satisfy various different shapes and type of workpiece processing Positioner based on welding robot.
To achieve the above object, the invention provides the following technical scheme:
A kind of positioner based on welding robot, including sequentially connected grip device, fixture driving dress from top to bottom It sets, welding stage, rotating device, turntable and liftable supporter;
The grip device is for fixing workpiece to be welded;
The fixture driving device includes fixture driving plate and fixture driving motor, and the fixture driving plate and fixture drive Motor is connect with grip device, and for driving fixture device and fixture driving plate relative motion occurs for the fixture driving motor;
The rotating device is for driving welding stage and turntable that relative rotation occurs;
The angle of plane and plane where turntable is fixed where the welding stage;
The liftable supporter includes the telescoping shoring column that at least one is used to adjust the angle of turntable and horizontal plane.
Positioner based on welding robot of the invention can include horizontal position, horizontal rotation and table inclination It is conjugated in multiple dimensions Deng including, by changing the position of workpiece to be welded, welding robot can be significantly improved and treated The adaptability of welder's part, moreover it is possible to significantly improve the quality of welding, positioner of the invention is compared to common positioner, displacement angle More, various different shapes and type of workpiece processing be can satisfy.Positioner and miniaturization welding robot cooperation of the invention The quality and adaptability of welding can be significantly improved.
As a preferred technical scheme:
A kind of positioner based on welding robot as described above, the grip device include jig plate, clamp rail, Pushing block, fixture mount and fastening nut, fixture mount are fixedly connected with clamp rail by fastening nut, on same clamp rail Two fixture mount sides adjacents on be mounted on pushing block for compressing workpiece to be welded, clamp rail is fixedly connected with jig plate, Jig plate has protrusion.Grip device of the invention is not limited to that, this time only as example.Grip device of the invention The similar scheme of the prior art can also be used, the installation site of pushing block is also not limited to the sides adjacent of fixture mount, can basis The shape of actual workpiece to be welded is mounted on the different location of fixture mount.Clamp rail of the invention can make fixture mount It is slided along clamp rail, to adapt to the workpiece to be welded of different size shapes.
A kind of positioner based on welding robot as described above is provided in the fixture driving plate convex with jig plate The groove to match is acted, the fixture driving motor is mounted on fixture driving plate side.
It is mutual to be also provided with multiple groups on the jig plate and welding stage for a kind of positioner based on welding robot as described above Matched through-hole.On the one hand through-hole on welding stage can facilitate installs other components, on the other hand can also exist without fixture When being moved in welding plate, it is mounted directly jig plate or the other kinds of fixture of installation, to improve its adaptability.
A kind of positioner based on welding robot as described above, the rotating device include rotating electric machine and with rotation The harmonic speed reducer of the power output end connection of motor, the rotating electric machine is for driving harmonic speed reducer, the harmonic reduction The power output end of device is connect with welding stage.Harmonic speed reducer of the invention plays a part of to slow down, turn to and increase torque, is revolving Drive welding stage and turntable that relative rotation occurs under the drive of rotating motor.Rotating device of the invention is not limited to that, only with For this, those skilled in the art can select suitable equipment to make welding stage and turntable that relative rotation occur according to the actual situation , the speed adjustable range of rotating electric machine of the invention is wider, can guarantee its reliability with higher in welding stage run-off the straight And positioning accuracy.
A kind of positioner based on welding robot as described above, plane where plane where the welding stage and turntable It is parallel to each other.Plane where welding stage and turntable place plane can also be not parallel, if both be able to maintain it is relatively stable i.e. It can.
A kind of positioner based on welding robot as described above, the liftable supporter include two fixed branch Frame, a telescoping shoring column and telescope motor, telescoping shoring column and fixed bracket are connect by spherical surface universal joint with turntable, are stretched Contracting motor is fixed on telescoping shoring column far from rotation end, and the telescope motor is for driving telescoping shoring column to carry out in the longitudinal direction Flexible, the length of the fixed bracket in the longitudinal direction is fixed.Telescope motor positive and negative rotation is able to realize telescoping shoring column height Increase and reduce, to change the angle of turntable and welding stage (i.e. workbench).When height change occurs for telescoping shoring column, Turntable can run-off the straight, i.e., welding stage also can run-off the straight therewith to cater to welding robot improve welding range and welding matter Amount, universal joint of the invention is not limited in spherical surface universal joint, as long as can guarantee the steady of positioner under turntable heeling condition It is fixed.
A kind of positioner based on welding robot as described above, further includes central controller, the fixture driving electricity Machine, rotating electric machine and telescope motor are connect with central controller respectively.Central controller not only can individually control positioner Each motor adjusts the angle of workpiece to be welded to cater to welding robot, but also the technological parameter of adjustable welding robot To guarantee optimal soldering angle, positioner of the invention and welding robot cooperation can significantly improve the welding of welding robot Range and welding quality, great market prospects.
The utility model has the advantages that
(1) a kind of positioner based on welding robot of the invention, adjustment dimension is more, can significantly improve welding robot Welding range and welding quality, change the status that current complex part still relies on manual welding, ensure that welding product While matter, welding efficiency is significantly improved;
(2) a kind of positioner based on welding robot of the invention can not only cooperate list when cooperating robot welding Platform welding robot operation can also cooperate more welding robot collaboration common operationals, and flexibility is good, extends its welding and answers Use range.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of positioner based on welding robot of the invention;
Fig. 2 is the structural schematic diagram of grip device of the invention;
Wherein: 1- grip device, 2- welding stage, 3- turntable, 4- spherical surface universal joint, 5- telescoping shoring column, 6- telescope motor, 7- fixation bracket, 8- harmonic speed reducer, 9- rotating electric machine, 10- fixture driving plate, 11- fixture driving motor, 101- fixture are led Rail, 102- pushing block, 103- jig plate, 104- fixture mount, 105- fastening nut.
Specific embodiment
With reference to the accompanying drawing, a specific embodiment of the invention is further elaborated.
A kind of positioner based on welding robot of the invention, as shown in Figure 1, including sequentially connected folder from top to bottom Have device 1, fixture driving device, welding stage 2, rotating device, turntable 3 and liftable supporter, 2 place plane of welding stage and rotation 3 place plane of platform is parallel to each other;
Grip device 1, as shown in Fig. 2, including jig plate 103, clamp rail 101, pushing block 102, fixture mount 104 and tight Gu nut 105, fixture mount 104 is fixedly connected with clamp rail 101 by fastening nut 105, on same clamp rail 101 The pushing block 102 for compressing workpiece to be welded, clamp rail 101 and jig plate 103 are mounted in two fixture mounts, 104 sides adjacent It is fixedly connected, the through-hole that multiple groups are mutually matched also is provided on jig plate 103 and welding stage 2, other yuan of device of installation can not only be facilitated Part, moreover it is possible to directly fix jig plate in welding stage;
Fixture driving device includes fixture driving plate 10 and fixture driving motor 11, is provided in fixture driving plate 11 and fixture The groove that protrusion matches on plate 103, the protrusion of jig plate 103 are mounted in the groove in fixture driving plate 11, fixture driving For driving fixture plate 103 and fixture driving plate 10 relative motion occurs for motor 11, is mounted on the side of fixture driving plate 11;
Rotating device includes rotating electric machine 3 and the harmonic speed reducer connecting with the power output end of rotating electric machine 38, rotation Motor 3 is for driving harmonic speed reducer 8, and the power output end of harmonic speed reducer 8 is connect with welding stage 2, and rotating electric machine 3 and harmonic wave subtract Fast device 8 is mounted between welding stage 2 and turntable 3;
Liftable supporter includes two fixed brackets, 7, telescoping shoring columns 5 and telescope motor 6, and telescope motor 6 is used It stretching in the longitudinal direction in driving telescoping shoring column 5, telescope motor 6 is mounted on the separate rotation end of telescoping shoring column 5, Gu The length of fixed rack 7 in the longitudinal direction is fixed, and telescoping shoring column 5 and fixed bracket 6 are connect by spherical surface universal joint 4 with turntable 3;
Fixture driving motor 11, rotating electric machine 9 and telescope motor 6 are connect with central controller respectively, central controller control Each motor is made, and then changes position and the state of workpiece to be welded.
The course of work of positioner of the invention is as follows:
Firstly, workpiece to be welded, i.e., be placed among pushing block 102, fixture mount 104 is along clamp rail by fixed workpiece to be welded 101 slidings, when reach compress workpiece to be welded apart from when, pre-tighten fastening nut 105, and then then fixed workpiece to be welded welds at this time Welding robot carries out transverse weld, but its inconvenient transverse shifting, and central controller controls fixture driving motor 11 drives at this time Workpiece to be welded is laterally moved, and after the completion of transverse weld, (the weldering that welding robot is not achieved need to be welded to back of work Connect position), central controller controls rotating electric machine 9 rotates workpiece to be welded at this time, so that back of work is in welding robot Working region in, finally, the angle of workpiece need to be adjusted with facilitate welding, central controller controls telescope motor 6 makes at this time Telescoping shoring column 5 is subjected to displacement, so that welding stage sidespin, guarantees that welding gun is moved to by the best angle of welding, welding robot Commissure carries out welding, completes workpiece welding.
A kind of verified, of the invention positioner based on welding robot, adjustment dimension is more, can significantly improve bonding machine The welding range and welding quality of device people changes current complex part and still relies on craft by cooperating with welding robot The status of welding significantly improves welding efficiency, great realistic meaning while ensure that welding quality.
Although specific embodiments of the present invention have been described above, it should be appreciated by those skilled in the art these It is merely illustrative of, under the premise of without prejudice to the principle and substance of the present invention, a variety of changes can be made to these embodiments It more or modifies, therefore, protection scope of the present invention is limited by appended claims.

Claims (8)

1. a kind of positioner based on welding robot, it is characterized in that: including from top to bottom sequentially connected grip device, fixture Driving device, welding stage, rotating device, turntable and liftable supporter;
The grip device is for fixing workpiece to be welded;
The fixture driving device includes fixture driving plate and fixture driving motor, the fixture driving plate and fixture driving motor It is connect with grip device, for driving fixture device and fixture driving plate relative motion occurs for the fixture driving motor;
The rotating device is for driving welding stage and turntable that relative rotation occurs;
The angle of plane and plane where turntable is fixed where the welding stage;
The liftable supporter is used to support turntable, is used to adjust the angle of turntable and horizontal plane including at least one Telescoping shoring column.
2. a kind of positioner based on welding robot according to claim 1, which is characterized in that the grip device packet Jig plate, clamp rail, pushing block, fixture mount and fastening nut are included, fixture mount and clamp rail are fixed by fastening nut It connects, the pushing block for compressing workpiece to be welded is mounted in two fixture mount sides adjacents on same clamp rail, fixture is led Rail is fixedly connected with jig plate, and jig plate has protrusion.
3. a kind of positioner based on welding robot according to claim 2, which is characterized in that the fixture driving plate On be provided with and be mounted on fixture driving plate side with the groove that matches of protrusion, the fixture driving motor on jig plate.
4. a kind of positioner based on welding robot according to claim 2, which is characterized in that the jig plate and weldering The through-hole that multiple groups are mutually matched also is provided on platform.
5. a kind of positioner based on welding robot according to claim 3, which is characterized in that the rotating device packet The harmonic speed reducer for including rotating electric machine and connecting with the power output end of rotating electric machine, the rotating electric machine is for driving harmonic wave to subtract The power output end of fast device, the harmonic speed reducer is connect with welding stage.
6. a kind of positioner based on welding robot according to claim 1, which is characterized in that flat where the welding stage Face is parallel to each other with plane where turntable.
7. a kind of positioner based on welding robot according to claim 5, which is characterized in that the lifting support dress It sets including two fixed brackets, a telescoping shoring column and telescope motor, telescoping shoring column and fixed bracket are universal by spherical surface Section is connect with turntable, and telescope motor is fixed on telescoping shoring column far from rotation end, and the telescope motor is for driving and can stretch Contracting bracket stretches in the longitudinal direction, and the length of the fixed bracket in the longitudinal direction is fixed.
8. a kind of positioner based on welding robot according to claim 7, which is characterized in that further include central control Device, the fixture driving motor, rotating electric machine and telescope motor are connect with central controller respectively.
CN201910320357.0A 2019-04-19 2019-04-19 A kind of positioner based on welding robot Pending CN109877520A (en)

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CN201910320357.0A CN109877520A (en) 2019-04-19 2019-04-19 A kind of positioner based on welding robot

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Application Number Priority Date Filing Date Title
CN201910320357.0A CN109877520A (en) 2019-04-19 2019-04-19 A kind of positioner based on welding robot

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CN109877520A true CN109877520A (en) 2019-06-14

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112388232A (en) * 2020-11-04 2021-02-23 佛山市顺德区赛恩特实业有限公司 Welding platform with any angle and welding method
CN113358253A (en) * 2021-04-30 2021-09-07 上海工程技术大学 Columnar battery expansion force and displacement measuring device
CN113414534A (en) * 2021-07-05 2021-09-21 东台耀强机械制造有限公司 Lifting rotary type welding positioner
CN114378523A (en) * 2022-01-24 2022-04-22 南通科邦机械有限公司 Welding positioner
CN117245323A (en) * 2023-10-16 2023-12-19 重庆通达模具有限公司 Automobile welding process and automatic equipment

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US4843904A (en) * 1986-01-23 1989-07-04 Machine Research Company Work positioner
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CN204094407U (en) * 2014-08-29 2015-01-14 天津曹氏锅炉有限公司 A kind of deflection welding device
CN205684925U (en) * 2016-06-13 2016-11-16 宁波福士汽车部件有限公司 A kind of pipeline welding workbench
CN205733628U (en) * 2016-07-05 2016-11-30 天津市云英焊接科技有限公司 A kind of rolling ring type positioner
CN106695203A (en) * 2016-11-28 2017-05-24 北京科慧通智慧科技有限公司 High-precision moving device of welding robot
CN208019717U (en) * 2018-04-10 2018-10-30 德阳科润电站成套设备有限公司 A kind of station clamper of positioner
CN208744000U (en) * 2018-06-28 2019-04-16 广州瑞松威尔斯通智能装备有限公司 A kind of positioner

Patent Citations (8)

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Publication number Priority date Publication date Assignee Title
US4843904A (en) * 1986-01-23 1989-07-04 Machine Research Company Work positioner
CN103537920A (en) * 2013-09-22 2014-01-29 徐州中材装备重型机械有限公司 Angle-adjustable machining tool
CN204094407U (en) * 2014-08-29 2015-01-14 天津曹氏锅炉有限公司 A kind of deflection welding device
CN205684925U (en) * 2016-06-13 2016-11-16 宁波福士汽车部件有限公司 A kind of pipeline welding workbench
CN205733628U (en) * 2016-07-05 2016-11-30 天津市云英焊接科技有限公司 A kind of rolling ring type positioner
CN106695203A (en) * 2016-11-28 2017-05-24 北京科慧通智慧科技有限公司 High-precision moving device of welding robot
CN208019717U (en) * 2018-04-10 2018-10-30 德阳科润电站成套设备有限公司 A kind of station clamper of positioner
CN208744000U (en) * 2018-06-28 2019-04-16 广州瑞松威尔斯通智能装备有限公司 A kind of positioner

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112388232A (en) * 2020-11-04 2021-02-23 佛山市顺德区赛恩特实业有限公司 Welding platform with any angle and welding method
CN113358253A (en) * 2021-04-30 2021-09-07 上海工程技术大学 Columnar battery expansion force and displacement measuring device
CN113414534A (en) * 2021-07-05 2021-09-21 东台耀强机械制造有限公司 Lifting rotary type welding positioner
CN114378523A (en) * 2022-01-24 2022-04-22 南通科邦机械有限公司 Welding positioner
CN117245323A (en) * 2023-10-16 2023-12-19 重庆通达模具有限公司 Automobile welding process and automatic equipment

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Application publication date: 20190614

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