CN110170774A - A kind of mobile double welding robot workstations - Google Patents
A kind of mobile double welding robot workstations Download PDFInfo
- Publication number
- CN110170774A CN110170774A CN201910467965.4A CN201910467965A CN110170774A CN 110170774 A CN110170774 A CN 110170774A CN 201910467965 A CN201910467965 A CN 201910467965A CN 110170774 A CN110170774 A CN 110170774A
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- robot
- welding
- mobile
- guide
- mobile column
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of mobile double welding robot workstations, including welding bench, welding bench two sides are provided with guide supporting seat, ground linear guide is installed on guide supporting seat, robot mobile column is connected in the linear guide of ground, it is fixed with robot suspension crossbeam on robot mobile column, lift mounting base is installed on robot suspension crossbeam, lift mounting base lower end is connected with welding robot；Welding tooling platform is installed on welding bench, positioning fixture module is fixedly installed on welding tooling platform, girder postive stop baffle and girder tooling support frame are installed in positioning fixture module；It is staggeredly equipped between multiple positioning fixture modules and promotes frock module and girder positioning motion module；It is welded to connect between guide supporting seat and welding tooling platform by angle steel.Mobile double welding robot workstations provided by the invention, improve the clamping and positioning accuracy of welding workpiece, increase welding stability and precision.
Description
Technical field
The present invention relates to robotic welding technology fields, more particularly to a kind of mobile double welding robot workstations.
Background technique
Currently, automatic welding technique is also in different processing systems as industry and manufacturing continuous development upgrade
The field of making is more and more widely used, such as supporting beam, support frame and automobile chassis manufacture welding.Welding procedure is one
Kind requires precision and flexibility ratio relatively high technique, and as the speed of successive generations of products is accelerated, welding is for processing spirit
The demand of activity is also more more and more intense, but the limitation as existing for current automatic welding technique, artificial in double welding robots
Welding robot is usually set as fixed station work in standing, this, which has seriously affected automatically welding workstation and weld, adds
The flexibility of work reduces the effective range of welding robot welding, the welding processing of large parts is generated tight
The limitation of weight, simultaneously because the maximum functional that the welding range of large parts has exceeded fixed station welding robot has
Range is imitated, therefore the welding workstation for being fixedly welded robot station type has to when carrying out the welding of large parts
Ask using the movement of welding bench and complete the welding of large parts, this by the serious clamping for reducing welding workpiece and
Positioning accuracy reduces the stability and precision of welding.
Summary of the invention
The object of the present invention is to provide a kind of mobile double welding robot workstations, exist to solve the above-mentioned prior art
The problem of, the clamping and positioning accuracy of welding workpiece are improved, welding stability and precision are increased.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of mobile double welding robot workstations, including welding bench, the welding bench
Two sides setting is equipped with ground linear guide on the guide supporting seat, the ground is straight there are two symmetrical guide supporting seat
It is connected with robot mobile column on line guide rail, robot suspension crossbeam, institute are fixedly installed on the robot mobile column
It states one end that robot suspension crossbeam is located above the welding bench and lift mounting base, the lift installation is installed
Seat lower end is connected with welding robot；Welding tooling platform is installed, on the welding tooling platform on the welding bench
Multiple positioning fixture modules are fixedly installed, girder postive stop baffle, position are installed in the positioning fixture module at both ends
Girder tooling support frame is installed in the positioning fixture module between the girder postive stop baffle；Multiple locating clips
It is staggeredly equipped between tool module and promotes frock module and girder positioning motion module；Welding tooling platform is adopted with guide supporting seat
It is welded to connect with angle steel row cable-stayed type.
Optionally, mobile column supporting plate, the mobile column are fixedly installed on the outside of two robot mobile columns
Inert gas storage bottle, robot control cabinet, work station master control cabinet and work station backup power source, institute are disposed on supporting plate
Robot control cabinet and work station master control cabinet is stated to be electrically connected with the work station backup power source respectively.
Optionally, teaching machine and lubrication oil box, the teaching machine and institute are provided on the robot mobile column side wall
State robot control cabinet electrical connection.
Optionally, mobile column cable-pulling chain is connected with below the robot mobile column.
Optionally, it is fixedly installed with crossbeam safe fence on the robot suspension crossbeam, is enclosed safely positioned at the crossbeam
Be provided with the digital source of welding current on robot suspension crossbeam in column, the number source of welding current respectively with the lift
Mounting base and welding robot electrical connection；Running LED is provided on the crossbeam safe fence.
Optionally, the lift mounting base includes the riser guide connecting with robot suspension crossbeam fixed vertical
Mounting seat is provided with robot riser guide in the riser guide mounting seat, installs on the robot riser guide
Have a welding robot, the welding robot end is connected with welding gun, the welding robot far from the welding gun one
End is equipped with wire-feed motor；Lifting motor installation is provided between the robot suspension crossbeam and the riser guide mounting seat
Pedestal is provided with robot lifting motor in the lifting motor mounting seat, is connected with liter on the robot lifting motor
Cable-pulling chain drops；The robot lifting motor rises for controlling the welding robot in the robot riser guide
Drop.
Optionally, robot mobile column bottom is set in mobile column mounting seat, the mobile column peace
It is provided with mobile column driving motor on dress pedestal, passes through the movement on the motor shaft of mobile column driving motor lower end
Mobile column driving gear is connected with after column mounting base, the mobile column driving gear is engaged with ground guide rack gear,
The ground guide rack gear is fixedly installed on the guide supporting seat；Mobile column mounting seat both ends pass through ground respectively
Face guide rail slide block is connect with the ground linear guide, and ground linear guide both ends are fixedly installed with ground guide limit respectively
Position block.
The present invention achieves following technical effect compared with the existing technology:
The present invention is that two welding robots are provided with ground linear guide, passes through set ground linear guide two
Welding robot can move freely and be completed at the same time welding, welding robot moving freely in the linear guide of ground
The working range for expanding welding allows the welding workstation to complete the welding of large parts, raising
The flexibility of welding, improves the precision and efficiency of the welding of large parts, and the present invention is provided with lubricating system, passes through
Set lubricating system can provide sufficient lubrication for movement of mobile mechanism's column on the rectilinear orbit of ground, extend dimension
Protect the period.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is welding robot moving guide rail floor map；
Fig. 3 is welding robot elevating mechanism schematic diagram；
Fig. 4 is robot mobile column mobile mechanism schematic diagram；
Fig. 5 is welding tooling platform and guide supporting holder structure schematic diagram；
Appended drawing reference:
The first welding robot of 1-；The second welding robot of 2-；3- lift mounting base；The 4- number source of welding current；5- is horizontal
Safety beam fence；6- robot hangs crossbeam；7- work station backup power source；8- robot control cabinet；9- inert gas holding vessel；
10- teaching machine；11- mobile column cable-pulling chain；12- welding bench；13- guide supporting seat；14- lubricates oil box；15- is mobile
Column supporting plate；16- work station master control cabinet；17- robot mobile column；18- running LED；19- welding gun；20- is sent
Silk machine；21- lifting motor mounting seat；22- robot lifting motor；23- elevator cable drag chain；24- robot riser guide；
25- riser guide mounting seat；26- ground guide sliding block；27- ground guide rack gear；28- mobile column driving motor；29- is moved
Dynamic column drives gear；30- mobile column mounting seat；31- ground guide limited block；The ground 32- linear guide；33- pedestal；
34- girder tooling support frame；35- girder postive stop baffle；36- girder positions motion module；37- promotes frock module；38- positioning
Fixture module.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of mobile double welding robot workstations, exist to solve the above-mentioned prior art
The problem of, the clamping and positioning accuracy of welding workpiece are improved, welding stability and precision are increased.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
The present invention provides a kind of mobile double welding robot workstations, as shown in Fig. 1-t Fig. 5, including the first bonding machine
Device people 1, the second welding robot 2, lift mounting base 3, the digital source of welding current 4, crossbeam safe fence 5, robot suspension are horizontal
Beam 6, work station backup power source 7, robot control cabinet 8, inert gas holding vessel 9, teaching machine 10, mobile column cable-pulling chain
11, oil box 14, robot mobile column 17, mobile column supporting plate 15, guide supporting seat 13 and welding bench 12, movement are lubricated
Column supporting plate 15, work station master control cabinet 16, running LED 18, the first welding robot 1 is in the second welding robot 2
Side, the first welding robot 1 and the second welding robot 2 hang crossbeam 6 with robot and pass through 3 upside-down mounting of lift mounting base
Connection, crossbeam safe fence 5 are fixedly connected with robot suspension crossbeam 6, and robot hangs crossbeam 6 and robot mobile column 17
It is fixedly connected, mobile column supporting plate 15 is fixedly connected with robot mobile column 17, and 17 bottom of robot mobile column passes through ground
Face linear guide 32 is connect with guide supporting seat 13, mobile column driving motor 28 and the fixed company of mobile column mounting seat 30
It connects, mobile column driving motor 28 drives gear 29 to engage with ground guide rack gear 27 by the mobile column, guide supporting
Seat 13 is fixedly connected with welding bench 12 using angle steel oblique pull, and guide supporting seat 13 is fixedly connected with mattess.
Fig. 2 is welding robot moving guide rail floor map, including the first welding robot 1, the second welding robot
2, robot hangs crossbeam 6, mobile column cable-pulling chain 11, welding bench 12, guide supporting seat 13, the first welding robot
1 and second welding robot 2 hang and be inverted in 6 on robot suspension crossbeam, it is mobile vertical that robot hangs crossbeam 6 and robot
Column 17 is fixedly connected, and robot mobile column 17 is moved left and right on guide supporting seat 13 by ground linear guide 32, in turn,
Welding robot is driven by robot mobile column 17 and is moved left and right, to carry out welding.
Fig. 3 be welding robot elevating mechanism schematic diagram, including welding gun 19, wire-feed motor 20, lifting motor mounting seat 21,
Robot lifting motor 22, elevator cable drag chain 23, robot riser guide 24, riser guide mounting seat 25, the first welding
1 wrist of robot is equipped with welding gun 19, welding robot and 25 fixed-link of riser guide mounting seat, and riser guide installs bottom
It is provided with robot riser guide 24 on seat 25, robot lifting motor 22 is fixedly mounted in lifting motor mounting seat 21,
Robot lifting motor 22 moves welding robot by driving gear teeth band and moves up and down, and wire-feed motor 20 is mounted on welding robot
In human arm, welding robot cable is moved up and down by the protection of elevator cable drag chain 23.
Fig. 4 be robot mobile column mobile mechanism schematic diagram, including ground guide sliding block 26, ground guide rack gear 27,
Mobile column driving motor 28, mobile column driving gear 29, mobile column mounting seat 30, ground guide limited block 31,
Face linear guide 32, mobile column driving motor 28 are fixed in mobile column mounting seat 30, and ground guide sliding block 26 is fixed
It is mounted under mobile column mounting seat 30, ground guide sliding block 26 is connect with ground linear guide 32 using low pair, and ground is led
Rail rack gear 27 is fixedly connected with guide rail support seat 13, and mobile column driving gear 29 is engaged with ground guide rack gear 27, mobile vertical
Column driving motor 28 drives mobile column driving gear 29 to move, and to drive robot mobile column 17 to move, ground straight line is led
32 both ends of rail are equipped with ground guide limited block 31.The present invention passes through double welding robots and moves on guide rail simultaneously, cooperates work
Make, successfully avoids the deformation in the welding process as caused by asymmetric welding, improve the precision and quality of welding.Into
When row welding, the first welding robot and the second welding robot can move toward one another simultaneously respectively along respective moving guide rail
Welding is carried out, is symmetrically welded simultaneously from workpiece both ends, avoids asymmetric welding when welding symmetrical work pieces in this way
When workpiece due to heated, unbalance stress and caused by deform.
As shown in figure 5, being equipped with welding tooling platform on welding bench 12, bottom is fixedly installed on welding tooling platform
Seat 33 is provided with multiple positioning fixture modules 38 on pedestal 33, and girder limit is equipped in the positioning fixture module 38 at both ends
Position baffle 35, is equipped with girder tooling support frame 34 in the positioning fixture module 38 between girder postive stop baffle 35；It is multiple
It is staggeredly equipped between positioning fixture module 38 and promotes frock module 37 and girder positioning motion module 36；Welding tooling platform with
Guide supporting seat 13 is welded to connect using angle steel row cable-stayed type.
Pedestal installs girder tooling support frame, girder postive stop baffle, girder positioning fortune using three-dimension flexible welding platform
Dynamic model block promotes frock module and positioning fixture module, to improve precision.
Girder tooling support frame 34 and 5 positioning fixture modules in addition to the positioning fixture module 38 of Y-axis front end are solid
Dingan County's dress, to support girder；
The positioning fixture module 38 of girder postive stop baffle 35 and Y-axis front end is fixedly mounted, to limit girder in the Y direction
Position；
Girder position motion module 36 include air pressure valve, air pressure valve, girder supporting movement frame 43, girder support frame guide post and
Girder support frame guide rail.Wherein, control pressure valve driving girder supporting movement frame carries out Y-direction on girder support frame guide rail
It is mobile；Control pressure valve driving girder supporting movement frame carries out the movement of Z-direction on girder support frame guide post to drag the sun
Energy photo-thermal girder moves to accurate welding processing position.
Frock module 37 is promoted to include air pressure valve, promote clamping plate, promote clamping panel guide and fixture fixture block.Wherein, one
Half welded part is fixed on by quick locking bolt and is promoted on clamping plate, and the driving of control pressure valve promotes clamping plate promoting folder
The movement that X-direction is carried out on tight panel guide fits closely to drag the welded part of half with solar energy optical-thermal girder, the other half
Welded part is fixed by fixture fixture block and is fitted closely with solar energy optical-thermal girder.
Positioning fixture module 38 includes air pressure valve, air pressure valve, air pressure valve, clamping device, clamping device, clamping device and determines
Position plate.Wherein, control pressure valve driving clamping device, which is operated, makes itself and solar energy optical-thermal master in X-direction clamping welded part
Beam fits closely, control pressure valve and air pressure valve respectively drives clamping device and clamping device is operated and clamps quilt in the Y direction
So that it will not move, weldment bottom is placed on positioning plate to guarantee that it will not be welded with solar energy optical-thermal girder weldment
It is fallen during connecing.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (7)
1. a kind of mobile double welding robot workstations, it is characterised in that: including welding bench, the welding bench two
Side setting is equipped with ground linear guide, the ground straight line on the guide supporting seat there are two symmetrical guide supporting seat
It is connected with robot mobile column on guide rail, robot suspension crossbeam is fixedly installed on the robot mobile column, it is described
Robot suspension crossbeam is located at one end above the welding bench and is equipped with lift mounting base, the lift mounting base
Lower end is connected with welding robot；Welding tooling platform is installed on the welding bench, is consolidated on the welding tooling platform
Surely multiple positioning fixture modules are provided with, girder postive stop baffle is installed in the positioning fixture module at both ends, is located at
Girder tooling support frame is installed in the positioning fixture module between the girder postive stop baffle；Multiple positioning fixtures
It is staggeredly equipped between module and promotes frock module and girder positioning motion module；The guide supporting seat and the welding tooling
It is welded to connect between platform by angle steel.
2. mobile double welding robot workstations according to claim 1, it is characterised in that: two robots move
It is fixedly installed mobile column supporting plate on the outside of dynamic column, is disposed with inert gas storage bottle on the mobile column supporting plate,
Robot control cabinet, work station master control cabinet and work station backup power source, the robot control cabinet and work station master control cabinet
It is electrically connected respectively with the work station backup power source.
3. mobile double welding robot workstations according to claim 2, it is characterised in that: the robot is mobile vertical
Teaching machine and lubrication oil box are provided on column side wall, the teaching machine is electrically connected with the robot control cabinet.
4. mobile double welding robot workstations according to claim 1, it is characterised in that: the robot is mobile vertical
Mobile column cable-pulling chain is connected with below column.
5. mobile double welding robot workstations according to claim 1, it is characterised in that: the robot suspension is horizontal
It is fixedly installed with crossbeam safe fence on beam, is provided on the robot suspension crossbeam in the crossbeam safe fence
The digital source of welding current, the number source of welding current are electrically connected with the lift mounting base and welding robot respectively；The cross
Running LED is provided on safety beam fence.
6. mobile double welding robot workstations according to claim 1, it is characterised in that: the lift mounting base
Including with the riser guide mounting seat that connect of robot suspension crossbeam fixed vertical, in the riser guide mounting seat
It is provided with robot riser guide, the welding robot, the welding robot are installed on the robot riser guide
End is connected with welding gun, and the welding robot is equipped with wire-feed motor far from one end of the welding gun；The robot suspension is horizontal
It is provided with lifting motor mounting seat between beam and the riser guide mounting seat, is arranged in the lifting motor mounting seat
There is robot lifting motor, is connected with elevator cable drag chain on the robot lifting motor；The robot lifting motor is used
It is gone up and down on the robot riser guide in controlling the welding robot.
7. mobile double welding robot workstations according to claim 1, it is characterised in that: the robot is mobile vertical
Column bottom is set in mobile column mounting seat, is provided with mobile column driving motor in the mobile column mounting seat,
Mobile column drive is connected with after passing through the mobile column mounting seat on the motor shaft of mobile column driving motor lower end
Moving gear, the mobile column driving gear are engaged with ground guide rack gear, and the ground guide rack gear is fixedly installed on described
On guide supporting seat；Mobile column mounting seat both ends pass through ground guide sliding block respectively and the ground linear guide connects
It connects, ground linear guide both ends are fixedly installed with ground guide limited block respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910467965.4A CN110170774A (en) | 2019-05-31 | 2019-05-31 | A kind of mobile double welding robot workstations |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910467965.4A CN110170774A (en) | 2019-05-31 | 2019-05-31 | A kind of mobile double welding robot workstations |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110170774A true CN110170774A (en) | 2019-08-27 |
Family
ID=67696081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910467965.4A Pending CN110170774A (en) | 2019-05-31 | 2019-05-31 | A kind of mobile double welding robot workstations |
Country Status (1)
| Country | Link |
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| CN (1) | CN110170774A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112122835A (en) * | 2020-10-23 | 2020-12-25 | 常州市威达铭博自动化有限公司 | High-efficiency welding robot workstation |
| CN112589334A (en) * | 2020-11-25 | 2021-04-02 | 广州瑞松智能科技股份有限公司 | Compact structure's welding production equipment |
| CN113954051A (en) * | 2021-11-01 | 2022-01-21 | 西北工业大学 | Industrial robot moving platform in explosion-proof environment |
| CN114161017A (en) * | 2021-12-29 | 2022-03-11 | 无锡恒久安泰智能制造有限公司 | Automatic welding equipment and welding method for movable arm structural part of large excavator |
| CN115446491A (en) * | 2022-10-20 | 2022-12-09 | 无锡华联科技集团有限公司 | Welding machine of baffle welding robot |
| CN117340474A (en) * | 2023-12-04 | 2024-01-05 | 江苏今创车辆有限公司 | Diesel locomotive frame welding device with welding deformation preventing function |
-
2019
- 2019-05-31 CN CN201910467965.4A patent/CN110170774A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112122835A (en) * | 2020-10-23 | 2020-12-25 | 常州市威达铭博自动化有限公司 | High-efficiency welding robot workstation |
| CN112122835B (en) * | 2020-10-23 | 2022-04-15 | 常州市威达铭博自动化有限公司 | High-efficiency welding robot workstation |
| CN112589334A (en) * | 2020-11-25 | 2021-04-02 | 广州瑞松智能科技股份有限公司 | Compact structure's welding production equipment |
| CN113954051A (en) * | 2021-11-01 | 2022-01-21 | 西北工业大学 | Industrial robot moving platform in explosion-proof environment |
| CN114161017A (en) * | 2021-12-29 | 2022-03-11 | 无锡恒久安泰智能制造有限公司 | Automatic welding equipment and welding method for movable arm structural part of large excavator |
| CN115446491A (en) * | 2022-10-20 | 2022-12-09 | 无锡华联科技集团有限公司 | Welding machine of baffle welding robot |
| CN117340474A (en) * | 2023-12-04 | 2024-01-05 | 江苏今创车辆有限公司 | Diesel locomotive frame welding device with welding deformation preventing function |
| CN117340474B (en) * | 2023-12-04 | 2024-02-13 | 江苏今创车辆有限公司 | Diesel locomotive frame welding device with welding deformation preventing function |
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