CN110142542A - A kind of manipulator welding equipment - Google Patents
A kind of manipulator welding equipment Download PDFInfo
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- CN110142542A CN110142542A CN201910573156.1A CN201910573156A CN110142542A CN 110142542 A CN110142542 A CN 110142542A CN 201910573156 A CN201910573156 A CN 201910573156A CN 110142542 A CN110142542 A CN 110142542A
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- 238000003466 welding Methods 0.000 title claims abstract description 179
- 230000007723 transport mechanism Effects 0.000 claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000003028 elevating effect Effects 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 15
- 230000008859 change Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 6
- 238000005493 welding type Methods 0.000 abstract description 3
- 210000002219 extraembryonic membrane Anatomy 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000014616 translation Effects 0.000 description 2
- 101800002927 Small subunit Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The present invention discloses a kind of manipulator welding equipment, includes: rack, welding bench, welding gun library and manipulator；The welding gun library includes bracket, welding gun Ingathering board and welding gun, and the manipulator can control both arms welder to move back and forth between welding gun library and welding bench；By being equipped at least one welding gun library in the cavities, the welding gun Ingathering board is fixed on the bracket, various types of welding guns are placed in the welding gun Ingathering board, manipulator is quickly realized during the welding process and changes rifle, simultaneously, quick disassembled formula is equipped with a both arms welder on a robotic arm, the both arms welder is equipped with the vertical transporting mechanism and horizontal transport mechanism that can adjust the first welding gun and the second welding torch position, so that the first welding gun and the second welding gun being capable of independent implementation welding, improve the efficiency of welding, and the number for changing rifle is enabled to halve, various aspects improve the production efficiency of welding equipment.
Description
Technical field
The present invention relates to field of welding devices technologies, refer in particular to a kind of manipulator welding equipment.
Background technique
There is welding production of large quantities, speed of production to require height fastly, to by weldering component assembly welding precision in automobile manufacture
The features such as, mostly use continuous productive process production method.Different components need to use different welding manners.
It welds, is one kind by heating either pressurization, or in such a way that the two shares, in the work of packing material
Under, so that a kind of process that workpiece be combined with each other.This method and the fundamental difference of other connection methods are
Atom between two soldered percentage workpiece mutually can be merged and be spread, and form common crystal.For body of a motor car,
We, which are usually welded, is known as being welded.Generally, for the small sub-unit on vehicle body, we are generally welded on single machine
Dress, for being welded for big assembly, is generally completed on assembly line, therefore, vehicle body soldering generally requires many production lines, production line
Upper which kind of welding equipment of configuration and tool, the tooling of positioning and clamping, quality testing and control system, safety guard,
And transportation system etc..
People are higher to the demand of automobile in life now, substantially every household all at least automobiles, so
Manufacturer needs further to improve in automobile production efficiency, however improve production efficiency is exactly to improve welding effect at all
Rate, existing Automobile Welding is technical, and each manipulator is substantially equipped with a welding gun, and during the welding process, manipulator needs
It carries out repeatedly replacing welding gun into welding gun library, many time is consumed on the step of replacing welding gun, so that production efficiency
Decline.
A kind of new technology is needed now to improve time required for replacement welding gun and reduction and change rifle number, to improve weldering
Connect efficiency.
Summary of the invention
In view of this, in view of the deficiencies of the prior art, the present invention aims to provide a kind of welding of manipulator
Equipment, can effectively solve existing welding equipment has that manipulator changes rifle often and changes what the rifle time was grown.
To achieve the above object, the present invention is using following technical solution:
A kind of manipulator welding equipment includes:
One rack, there is the cavity for processing in the rack, which has the accent that can be communicated with the outside world；
One welding bench is located in cavity, includes workbench, the working panel for being supported on table surface on the welding bench
With the loose tool fixed frame being arranged on working panel；
At least one welding gun library, in the cavities, the welding gun library includes bracket, welding gun Ingathering board and welding gun, the weldering for setting
Rifle Ingathering board is fixed on the bracket, and the welding gun is placed in the welding gun Ingathering board；
At least one manipulator is located in cavity, and quick disassembled formula is equipped with a both arms welder on the manipulator, by manipulator
It controls the both arms welder to move back and forth between welding gun library and welding bench, which includes installation connection
Disk, horizontal transport mechanism, vertical transport mechanism, the first welding mechanism and the second welding mechanism；The installation terminal pad and machinery
Hand installation connection, installs and is connected with a mounting rack below terminal pad, the horizontal transport mechanism and vertical transporting mechanism are pacified
On mounting rack；The horizontal transport mechanism and vertical transport mechanism are each attached to the lower section of installation terminal pad；First welding
Structure setting is horizontal movable back and forth in driving in horizontal transport mechanism and by horizontal transport mechanism, and first welding mechanism includes
There are the first sliding seat, the first welding gun and the first elevating mechanism, which is set in horizontal transport mechanism and by level
It is horizontal movable back and forth that transmission mechanism drives, which vertically can actively be set on the first sliding seat back and forth, this first
Elevating mechanism is set on the first sliding seat and drives the first welding gun vertically movable back and forth；Second welding structure is set to vertically
It is vertical movable back and forth to drive on transmission mechanism and by vertical transport mechanism, second welding mechanism include the second sliding seat,
Second welding gun and the second elevating mechanism, second sliding seat are set in vertical transport mechanism and are driven by vertical transport mechanism perpendicular
It vertically can be actively set on the second sliding seat back and forth to activity, second welding gun back and forth, which is set to
On second sliding seat and drive the second welding gun vertically movable back and forth.
As a preferred embodiment: the horizontal transport mechanism includes horizontal, the first lead screw and horizontal drive electricity
Machine；Aforementioned first sliding seat horizontal can be actively set in horizontal back and forth；First lead screw can be rotationally arranged back and forth
It is screwed together in horizontal and with the first sliding seat, the first lead screw drives the first sliding seat level movable back and forth；The level
Driving motor is set in horizontal and the first lead screw is driven to carry out back rotation.
As a preferred embodiment: the vertical transport mechanism includes vertical shell, the second lead screw and perpendicular drive electricity
Machine；Aforementioned second sliding seat can be vertically actively set in vertical shell back and forth；Second lead screw can be rotationally arranged back and forth
It is screwed together in vertical shell and with the second sliding seat, the second lead screw drives the second sliding seat vertically movable back and forth；This is vertical
Driving motor is set in vertical shell and the second lead screw is driven to carry out back rotation.
As a preferred embodiment: the welding gun Ingathering board is obliquely installed, which is equipped with multiple step down and leads to
Slot, the edge of each resigning through slot all have warehouse compartment, the first positioning region and the first magnetic part are provided on each warehouse compartment, each
The second positioning region and the second magnetic part are provided on welding gun, which matches with the second positioning region, and described first
Magnetic part is mutually sucked with the second magnetic part.
As a preferred embodiment: the bracket includes support leg and support plate, and the support leg and support plate pass through tight
Firmware is installed together, and aforementioned welding gun Ingathering board is fixed on the upper surface of support plate.
As a preferred embodiment: first positioning region is the first positioning hole of multiple circumferential arrangements, and described second is fixed
Position portion is the positioning column of multiple circumferential arrangements, which is fastened in first positioning hole；First magnetic part and the second magnetic
Suction is equipped with magnet in portion, the first magnetic part sucked with the second magnetic part by the magnetic force of magnet together with.
As a preferred embodiment: the left and right sides of the worktable upper surface is equipped with the first sliding equipment, foregoing work
The left and right sides of panel are contacted with the first sliding equipment, which can go forward in the horizontal direction with the first sliding equipment
After translate.
As a preferred embodiment: the left and right sides of the workbench are equipped with control button.
As a preferred embodiment: being additionally provided with loose tool in front of the accent and more change trains, which more changes trains upper surface
The left and right sides is equipped with the second sliding equipment, which can drive working panel anterior-posterior translation in the horizontal direction.
As a preferred embodiment: the rear that the loose tool is more changed trains is equipped with fixed grab, the front which more changes trains
Equipped with the grab control-rod for controlling fixed grab, which can be fastened on foregoing work platform.
The present invention has obvious advantages and beneficial effects compared with the existing technology, specifically, by above-mentioned technical proposal
Known to:
By being equipped at least one welding gun library in the cavities, which is fixed on the bracket, various types of welding guns
It is placed in the welding gun Ingathering board, manipulator is quickly realized during the welding process and changes rifle, meanwhile, in manipulator
Upper quick disassembled formula is equipped with a both arms welder, which, which is equipped with, can adjust the first welding gun and the second welding gun
The vertical transporting mechanism and horizontal transport mechanism of position so that the first welding gun and the second welding gun can independent implementation welding,
The efficiency of welding is improved, and the number for changing rifle is enabled to halve, various aspects improve the production efficiency of welding equipment.
In order to explain the structural features and functions of the invention more clearly, come with reference to the accompanying drawing with specific embodiment to this hair
It is bright to be described in detail.
Detailed description of the invention
Fig. 1 is the assembling schematic perspective view of the preferred embodiments of the invention；
Fig. 2 is another state assembling schematic perspective view of the preferred embodiments of the invention；
Fig. 3 is the stereoscopic schematic diagram of the both arms welder of the preferred embodiments of the invention；
Fig. 4 be the preferred embodiments of the invention the first welding mechanism and horizontal transport mechanism assembling schematic perspective view；
Fig. 5 be the preferred embodiments of the invention the second welding mechanism and vertical transport mechanism assembling schematic perspective view；
Fig. 6 is the stereoscopic schematic diagram in the welding gun library of the preferred embodiments of the invention；
Fig. 7 is the stereoscopic schematic diagram of the welding gun Ingathering board of the preferred embodiments of the invention；
Fig. 8 is the left view of the support leg of the preferred embodiments of the invention；
Fig. 9 is the stereoscopic schematic diagram of the welding bench of the preferred embodiments of the invention；
Figure 10 is the stereoscopic schematic diagram that the fetal membrane of the preferred embodiments of the invention is more changed trains.
Description of drawing identification:
10, rack 11, cavity
12, accent 20, welding bench
21, workbench 211, the first sliding equipment
212, control button 22, working panel
23, loose tool fixed frame 30, welding gun library
31, bracket 311, support leg
312, support plate 32, welding gun Ingathering board
321, resigning through slot 322, warehouse compartment
323, the first positioning region 324, the first magnetic part
33, welding gun 331, the second positioning region
332, the second magnetic part 40, manipulator
50, both arms welder 51, installation terminal pad
52, the first welding mechanism 521, the first sliding seat
522, the first welding gun 523, the first elevating mechanism
53, the second welding mechanism 531, the second sliding seat
532, the second welding gun 533, the second elevating mechanism
54, horizontal transport mechanism 541, horizontal
542, horizontal drive motor 55, vertical transport mechanism
551, vertical shell 552, vertical driving motor
56, mounting rack 60, loose tool are more changed trains
61, the second sliding equipment 62, fixed grab.
Specific embodiment
It please refers to shown in Fig. 1 to Figure 10, that show the specific structures of the preferred embodiments of the invention, including organic frame
10, welding bench 20,33 library 30 of welding gun, manipulator 40 and loose tool more change trains 60.
There is the cavity 11 for processing in the rack 10, which has the accent 12 that can be communicated with the outside world, the accent
12 can observe the working condition of the manipulator 40 in cavity 11 for staff.
The welding bench 20 is located in cavity 11, includes workbench 21 on the welding bench 20, is supported on 21 table of workbench
The working panel 22 in face and the loose tool fixed frame 23 being arranged on working panel 22.
The left and right sides of 21 upper surface of workbench is equipped with the first sliding equipment 211, the left and right sides of the workbench 21
It is equipped with the control button 212 of the first sliding equipment 211 of control, the left and right sides of the working panel 22 and the first sliding equipment
211 contacts, the working panel 22 can be with the first sliding equipment 211 anterior-posterior translations in the horizontal direction.When on welding bench 20
After processing is completed, entire working panel 22 passes through the slave welding bench that the first sliding equipment 211 translates horizontally forward to element to be processed
It unloads, and is manually replaced on another working panel 22 to welding bench 20 on 20, is equipped on the welding bench 20 new to be processed
Element.
33 library 30 of welding gun is arranged in cavity 11, which includes bracket 31,33 Ingathering board of welding gun, 32 and
Welding gun 33,33 Ingathering board 32 of welding gun are fixed on the bracket 31, which is placed in 33 Ingathering board 32 of welding gun, the weldering
33 Ingathering board 32 of rifle is obliquely installed, which is equipped with multiple resigning through slots 321, the resigning through slot 321
Avris position have warehouse compartment 322, the first positioning region 323 and the first magnetic part 324, each weldering are provided on each warehouse compartment 322
The second positioning region 331 and the second magnetic part 332 are provided on rifle 33, first positioning region 323 and 331 phase of the second positioning region
Match, such design can play the role of mistake proofing and detection, and can replace 2 simultaneously when changing welding gun simultaneously
The above welding gun；First magnetic part 324 is sucked with 332 phase of the second magnetic part.First positioning region 323 is multiple circumferential arrangements
First positioning hole, which is the positioning column of multiple circumferential arrangements, which is fastened on first positioning hole
In；It is equipped with magnet in first magnetic part 324 and the second magnetic part 332, by the magnetic force of magnet by 324 He of the first magnetic part
Second magnetic part 332 sucks together.It, can be more steady by welding gun 33 by being equipped with the first magnetic part 324 and the second magnetic part 332
Solid be fixed on warehouse compartment 322, it is not easy to fall.
The bracket 31 includes support leg 311 and support plate 312, and the support leg 311 and support plate 312 are pacified by fastener
It is fitted together, aforementioned 33 Ingathering board 32 of welding gun is fixed on the upper surface of support plate 312 by fastener, 33 Ingathering board 32 of welding gun
Upper surface and horizontal plane be formed with 30 ° of angles, the angle of the included angle A be according to the present embodiment in robot position and
The optimal angle of posture.
The manipulator 40 is located in cavity 11, and quick disassembled formula is equipped with a both arms welder 50 on the manipulator 40, by
Manipulator 40 controls the both arms welder 50 and moves back and forth between 33 library 30 of welding gun and welding bench 20.The both arms welder
50 include installation terminal pad 51, the first welding mechanism 52, the second welding mechanism 53, horizontal transport mechanism 54 and vertical transfer machine
Structure 55, the lower section of the installation terminal pad 51 are connected with a mounting rack 56, and the installation terminal pad 51 and the installation of manipulator 40 connect, should
Horizontal transport mechanism 54 and vertical transport mechanism 55 are each attached on mounting rack 56.The horizontal transport mechanism 54 includes horizontal shell
Body 541, the first lead screw and horizontal drive motor 542, first lead screw can be rotatably arranged in back and forth in horizontal 541, should
The first lead screw that horizontal 541 is used to protect it internal, which is set in horizontal 541 and band
Dynamic first lead screw carrys out back rotation.The vertical transport mechanism 55 includes vertical shell 551, the second lead screw and vertical driving motor
552, which can be rotatably arranged in back and forth in vertical shell 551, the vertical shell 551 be used to protect it internal the
Two lead screws, the vertical driving motor 552 are set in vertical shell 551 and the second lead screw are driven to carry out back rotation.
First welding structure is set in horizontal transport mechanism 54 and is lived back and forth by 54 drive level of horizontal transport mechanism
Dynamic, which includes the first sliding seat 521, the first welding gun 522 and the first elevating mechanism 523, first cunning
Dynamic seat 521 is set in horizontal transport mechanism 54 and, first welding gun 522 movable back and forth by 54 drive level of horizontal transport mechanism
It vertically can actively be set to back and forth on the first sliding seat 521, which is equipped with the first suction head, first suction
Gas head can assist the first welding gun 522 to be fixed in the installation terminal pad 51, which is set to the first sliding
On seat 521 and drive the first welding gun 522 vertical movable back and forth.First sliding seat 521 horizontal can actively be set to water back and forth
On flat shell 541, aforementioned first lead screw is screwed together with the first sliding seat 521, and the first lead screw drives the first sliding seat 521 horizontal
It is movable back and forth.Being provided on first sliding seat 521 can vertically movable first mounting base, first welding gun 522 be removable back and forth
It is set to unloading in the first mounting base, aforementioned first elevating mechanism 523 drives the first mounting base vertically movable back and forth, the first welding gun
522 is vertically movable back and forth with the first mounting base, so the first welding gun 522 can be driven vertical by the first elevating mechanism 523
It is movable back and forth on direction.First sliding seat 521 is equipped with first sensor, and aforementioned first mounting base is equipped with and aforementioned first
The first limited block that sensor is used cooperatively, the L-shaped structure of the first limited block, first limited block is with the first mounting base
It is vertically movable back and forth, the activity condition of the first mounting base will be fed back to computer when the first limited block touches first sensor
In, to control the activity of the first mounting base.
Second welding structure is set in vertical transport mechanism 55 and is driven by vertical transport mechanism 55 and vertically lived back and forth
Dynamic, which includes the second sliding seat 531, the second welding gun 532 and the second elevating mechanism 533, second cunning
Dynamic seat 531 is set in vertical transport mechanism 55 and drives vertical movable back and forth, second welding gun 532 by vertical transport mechanism 55
It vertically can actively be set to back and forth on the second sliding seat 531, which is equipped with the second suction head, second suction
Gas head can assist the second welding gun 532 to be fixed in the installation terminal pad 51, which is set to the second sliding
On seat 531 and drive the second welding gun 532 vertical movable back and forth.Second sliding seat 531 horizontal can actively be set to vertical back and forth
On straight shell 551, aforementioned second lead screw is screwed together with the second sliding seat 531, and the second lead screw drives the second sliding seat 531 vertical
It is movable back and forth.Being provided on second sliding seat 531 can vertically movable second mounting base, second welding gun 532 be removable back and forth
It is set to unloading in the second mounting base, aforementioned second elevating mechanism 533 drives the second mounting base vertically movable back and forth, the second welding gun
532 is vertically movable back and forth with the second mounting base, so the second welding gun 532 can be driven vertical by the second elevating mechanism 533
It is movable back and forth on direction.Second sliding seat 531 is equipped with second sensor, and aforementioned second mounting base is equipped with and aforementioned second
The second limited block that sensor is used cooperatively, the L-shaped structure of the second limited block, second limited block is with the second mounting base
It is vertically movable back and forth, the activity condition of the second mounting base will be fed back to computer when the second limited block touches second sensor
In, to control the activity of the second mounting base.
The front of the accent 12 is additionally provided with loose tool and more changes trains 60, and more the change trains left and right sides of 60 upper surfaces of the loose tool is equipped with the
Two sliding equipments 61, which is used cooperatively with the first sliding equipment 211, when to be welded on working panel 22
After the completion of element welding, 22 level of working panel is slided backward by the first sliding equipment 211 and more changes trains upper the close to fetal membrane
Two sliding equipments 61, then and then working panel 22 is continued to slide backward the second sliding equipment 61 by the first sliding equipment 211,
And by working panel 22 slide into fetal membrane more change trains top.More change trains 60 rear of the loose tool is equipped with fixed grab 62, the loose tool
More change trains 60 front is equipped with the grab control-rod for controlling fixed grab 62, which can be fastened on foregoing work platform 21
On, it prevents fetal membrane from more changing trains and arbitrarily walks about.
The course of work that the present embodiment is described in detail is as follows:
It is slided firstly, more changed trains by fetal membrane the working panel 22 with welding element sliding to first from the second sliding equipment 61
Motivation structure 211, and it is fixed on 21 top of workbench, then, by horizontal transport mechanism 54 and vertical transporting mechanism 55 to first
Welding gun 522 and the second welding gun 532 drive both arms welding dress according to the progress position adjustment of different to-be-welded elements, and by manipulator 40
50 are set close to to-be-welded elements, then, 522 He of the first welding gun is driven by the first elevating mechanism 523 and the second elevating mechanism 533
Second welding gun 532 realizes welding, followed by replacement welding gun 33 if necessary, under being driven by manipulator 40, by level conveyor
Structure 54, vertical transporting mechanism 55, the first elevating mechanism 523 and the second elevating mechanism 533 are to the first welding gun 522 and the second welding gun
Replacement welding gun 33 is realized in 532 position after being adjusted, finally after the completion of the to-be-welded elements welding on working panel 22, lead to
It crosses the first sliding equipment 211 and slides backward 22 level of working panel and more change trains upper second sliding equipment 61 close to fetal membrane, then
And then working panel 22 is continued to slide backward second sliding equipment 61 by the first sliding equipment 211, and working panel 22 is sliding
Move fetal membrane more change trains top.
Design focal point of the invention is:
By being equipped at least one welding gun library in the cavities, which is fixed on the bracket, various types of welding guns
It is placed in the welding gun Ingathering board, manipulator is quickly realized during the welding process and changes rifle, meanwhile, in manipulator
Upper quick disassembled formula is equipped with a both arms welder, which, which is equipped with, can adjust the first welding gun and the second welding gun
The vertical transporting mechanism and horizontal transport mechanism of position so that the first welding gun and the second welding gun can independent implementation welding,
The efficiency of welding is improved, and the number for changing rifle is enabled to halve, various aspects improve the production efficiency of welding equipment.
The above described is only a preferred embodiment of the present invention, be not intended to limit the scope of the present invention,
Therefore any subtle modifications, equivalent variations and modifications to the above embodiments according to the technical essence of the invention, still
Belong in the range of technical solution of the present invention.
Claims (10)
1. a kind of manipulator welding equipment, it is characterised in that: include:
One rack, there is the cavity for processing in the rack, which has the accent that can be communicated with the outside world；
One welding bench is located in cavity, includes workbench, the working panel for being supported on table surface on the welding bench
With the loose tool fixed frame being arranged on working panel；
At least one welding gun library, in the cavities, the welding gun library includes bracket, welding gun Ingathering board and welding gun, the weldering for setting
Rifle Ingathering board is fixed on the bracket, and the welding gun is placed in the welding gun Ingathering board；
At least one manipulator is located in cavity, and quick disassembled formula is equipped with a both arms welder on the manipulator, by manipulator
It controls the both arms welder to move back and forth between welding gun library and welding bench, which includes installation connection
Disk, horizontal transport mechanism, vertical transport mechanism, the first welding mechanism and the second welding mechanism；The installation terminal pad and machinery
Hand installation connection, installs and is connected with a mounting rack below terminal pad, the horizontal transport mechanism and vertical transporting mechanism are pacified
On mounting rack；The horizontal transport mechanism and vertical transport mechanism are fixed with installation terminal pad；First welding structure setting
Horizontal movable back and forth in driving in horizontal transport mechanism and by horizontal transport mechanism, first welding mechanism includes first sliding
Dynamic seat, the first welding gun and the first elevating mechanism, first sliding seat are set in horizontal transport mechanism and by horizontal transport mechanism
It is horizontal movable back and forth to drive, which vertically can actively be set on the first sliding seat back and forth, first elevating mechanism
It is set on the first sliding seat and drives the first welding gun vertically movable back and forth；Second welding structure is set to vertical transport mechanism
Upper and vertical movable back and forth by vertical transport mechanism drive, second welding mechanism includes the second sliding seat, the second welding gun
With the second elevating mechanism, which is set in vertical transport mechanism and is vertically lived back and forth by vertical transport mechanism drive
Dynamic, which vertically can actively be set on the second sliding seat back and forth, which is set to the second sliding
On seat and drive the second welding gun vertically movable back and forth.
2. a kind of manipulator welding equipment according to claim 1, it is characterised in that: the horizontal transport mechanism includes
Horizontal, the first lead screw and horizontal drive motor；Aforementioned first sliding seat horizontal can actively be set to horizontal back and forth
On；First lead screw can be rotatably arranged in horizontal back and forth and be screwed together with the first sliding seat, and the first lead screw drives
First sliding seat level is movable back and forth；The horizontal drive motor is set in horizontal and the first lead screw is driven to carry out back rotation.
3. a kind of manipulator welding equipment according to claim 1, it is characterised in that: the vertical transport mechanism includes
Vertical shell, the second lead screw and vertical driving motor；Aforementioned second sliding seat vertically can actively be set to vertical shell back and forth
On；Second lead screw can be rotatably arranged in vertical shell back and forth and be screwed together with the second sliding seat, and the second lead screw drives
Second sliding seat is vertically movable back and forth；The vertical driving motor is set in vertical shell and the second lead screw is driven to carry out back rotation.
4. a kind of manipulator welding equipment according to claim 1, it is characterised in that: the welding gun Ingathering board inclination is set
It sets, which is equipped with multiple resigning through slots, and the edge of each resigning through slot all has warehouse compartment, is all provided on each warehouse compartment
It is equipped with the first positioning region and the first magnetic part, the second positioning region and the second magnetic part are provided on each welding gun, this is first fixed
Position portion matches with the second positioning region, and first magnetic part is mutually sucked with the second magnetic part.
5. a kind of manipulator welding equipment according to claim 4, it is characterised in that: the bracket include support leg and
Support plate, the support leg and support plate are installed together by fastener, and aforementioned welding gun Ingathering board is fixed on the upper table of support plate
Face.
6. a kind of manipulator welding equipment according to claim 4, it is characterised in that: first positioning region is multiple circles
The first positioning hole of week arrangement, second positioning region are the positioning column of multiple circumferential arrangements, and it is fixed which is fastened on first
In the hole of position；It is equipped with magnet in first magnetic part and the second magnetic part, by the magnetic force of magnet by the first magnetic part and
Two magnetic parts suck together.
7. a kind of manipulator welding equipment according to claim 1, it is characterised in that: the left and right of the worktable upper surface
Two sides are equipped with the first sliding equipment, and the left and right sides of foregoing work panel are contacted with the first sliding equipment, which can
With the first sliding equipment anterior-posterior translation in the horizontal direction.
8. a kind of manipulator welding equipment according to claim 7, it is characterised in that: the left and right sides of the workbench
It is equipped with control button.
9. a kind of manipulator welding equipment according to claim 1, it is characterised in that: be additionally provided with tire in front of the accent
Mould is more changed trains, the loose tool more change trains upper surface the left and right sides be equipped with the second sliding equipment, second sliding equipment can band start building
Make panel anterior-posterior translation in the horizontal direction.
10. a kind of manipulator welding equipment according to claim 9, it is characterised in that: the rear that the loose tool is more changed trains
Equipped with fixed grab, the front which more changes trains is equipped with the grab control-rod for controlling fixed grab, which can engage
On foregoing work platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910573156.1A CN110142542A (en) | 2019-06-28 | 2019-06-28 | A kind of manipulator welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN111318826A (en) * | 2020-02-27 | 2020-06-23 | 莱州中杰机器人有限公司 | Six-axis intersecting line cutting and welding robot and working method |
| CN113894469A (en) * | 2021-09-29 | 2022-01-07 | 东风佛吉亚排气控制技术有限公司 | Welding frock transfer mechanism |
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Application publication date: 20190820 |