CN110238576B - Robot for realizing automatic welding of T-shaped welding nails with ceramic rings - Google Patents
Robot for realizing automatic welding of T-shaped welding nails with ceramic rings Download PDFInfo
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- CN110238576B CN110238576B CN201910555901.XA CN201910555901A CN110238576B CN 110238576 B CN110238576 B CN 110238576B CN 201910555901 A CN201910555901 A CN 201910555901A CN 110238576 B CN110238576 B CN 110238576B
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- robot
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- 238000003466 welding Methods 0.000 title claims abstract description 144
- 239000000919 ceramic Substances 0.000 title claims description 11
- 239000000463 material Substances 0.000 claims abstract description 131
- 229910052573 porcelain Inorganic materials 0.000 claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000000903 blocking effect Effects 0.000 claims abstract description 25
- 238000007599 discharging Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims description 23
- 230000009471 action Effects 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000004044 response Effects 0.000 claims description 2
- 238000013459 approach Methods 0.000 claims 1
- 230000007423 decrease Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 4
- 230000006698 induction Effects 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000007664 blowing Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 239000010953 base metal Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 206010005963 Bone formation increased Diseases 0.000 description 1
- 206010050031 Muscle strain Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- B23K37/0247—Driving means
-
- 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
Abstract
The invention discloses a robot for realizing automatic welding of T-shaped welding nails with porcelain rings, which comprises a multi-shaft mechanical arm, an automatic welding gun and an automatic feeding mechanism, wherein the automatic welding gun is fixed at the end part of the multi-shaft mechanical arm, the automatic feeding mechanism comprises a cross beam, a longitudinal upright post, a material clamp, a discharging assembly, a material receiving and feeding assembly and an L-shaped mounting plate, the cross beam is connected with the longitudinal upright post, the material clamp is connected with the cross beam, the discharging assembly comprises a material blocking rod which penetrates through the discharging end of the material clamp and can realize telescopic movement, the material receiving and feeding assembly comprises a material receiving and feeding clamp and a material receiving and feeding motor, one end of the material receiving and feeding clamp is provided with a U-shaped material receiving groove with an opening facing the material clamp, the other end of the material receiving and feeding clamp is sleeved on an output shaft of the material receiving and feeding motor, the material receiving and feeding motor is fixed at the bottom of the L-shaped mounting plate, and the L-shaped mounting plate is fixedly arranged at the front end part of the cross beam. The invention not only can realize the automatic welding of the T-shaped welding nails with the porcelain rings, but also has high operation freedom, strong universality and high automation degree.
Description
Technical Field
The invention relates to a robot for realizing automatic welding of T-shaped welding nails with porcelain rings, and belongs to the technical field of automatic welding.
Background
T-shaped welding nails, also called cylindrical head welding nails, are widely adopted as shear connectors (also called shear keys) in steel structures, steel-concrete structures in building and bridge construction, and are generally welded on steel beams, steel columns and other structures by an arc stud welding method. In addition, in the arc stud welding process, in order to protect the molten metal after the welding nails and the base metal are discharged and melted from leaking, a porcelain ring needs to be sleeved on each welding nail, and the high-temperature resistant characteristic of the porcelain is utilized to protect the molten metal from leaking, so that the welding quality is improved, and the gun head damage caused by the ignition of the welding gun and the base metal is prevented.
At present, the T-shaped welding nails with porcelain rings are mainly welded manually, and a project (a high-rise building or a bridge) needs to be planted and welded with tens of thousands or even hundreds of thousands of T-shaped welding nails, according to incomplete statistics, the annual welding quantity of the T-shaped welding nails in Japan is 6000 tens of thousands, and the annual requirement of the T-shaped welding nails in steel structure buildings in China is tens of millions; in particular, with the rapid development of industries such as construction, bridge, shipbuilding, automobile manufacturing, rail transportation and the like, the welding quantity of T-shaped welding nails is rapidly increased. The adoption of the manual welding mode has the defects of low welding efficiency and incapability of ensuring welding quality, and the manual long-term bending operation can seriously influence the physical health of a welder, so that the welder can easily generate occupational defects such as lumbar muscle strain, hyperosteogeny and the like. Therefore, there is a strong need in the art to develop a device that can achieve automatic welding of T-shaped welding nails with porcelain rings.
Disclosure of Invention
Aiming at the problems and the demands existing in the prior art, the invention aims to provide a robot for realizing automatic welding of T-shaped welding nails with porcelain rings, so as to meet the automatic welding demands of the T-shaped welding nails with porcelain rings.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides an realize taking T type welding nail automatic weld's of ceramic ring robot, includes multiaxis arm, automatic welder and automatic feed mechanism, automatic welder fixes the tip at multiaxis arm, automatic feed mechanism includes crossbeam, vertical stand, feed collet, blowing subassembly, connects feed subassembly and L shape mounting panel, the crossbeam is connected with vertical stand, the feed collet is connected with the crossbeam, the blowing subassembly includes the fender material pole, the fender material pole wears to establish the discharge end at the feed collet and can realize telescopic movement, connect feed subassembly including sending the clamp and sending the motor that send out, the one end that send out the clamp is equipped with the U type that the opening was towards the feed collet connects the feed tank, the other end that send out the clamp is cup jointed on the output shaft that sends out the motor, connect feed motor to fix the bottom at L shape mounting panel, L shape mounting panel sets firmly the front end at the crossbeam.
Preferably, the multi-axis mechanical arm is a five-axis mechanical arm or a six-axis mechanical arm.
An implementation scheme, automatic welder includes welder main part and porcelain ring anchor clamps, the welder main part includes casing, main shaft body and welds the nail chuck, porcelain ring anchor clamps include porcelain ring chuck, porcelain ring chuck fixing base, two spinal branch vaulting poles and two extensible members, and two extensible members pass through the mounting symmetry to be fixed in the both sides portion of casing, the top of two spinal branch vaulting poles respectively with the terminal fixed connection of homonymy extensible member, the bottom of two spinal branch vaulting poles is all fixed on porcelain ring chuck fixing base.
In a further embodiment, the telescopic part is an electric push rod or an air cylinder or a hydraulic cylinder, and the tail end of the telescopic part is the tail end of the electric push rod or the tail end of an air cylinder piston rod or the tail end of a hydraulic cylinder piston rod.
In one embodiment, the automatic welding gun is fixedly connected with the end part of the multi-axis mechanical arm through a welding gun fixing plate, the automatic welding gun is fixed at the front part of the welding gun fixing plate, and the end part of the multi-axis mechanical arm is fixed at the back part of the welding gun fixing plate.
In one embodiment, the material clamp is formed by connecting two sliding rails through at least 2U-shaped connecting pieces, the U-shaped connecting pieces near the discharge hole of the material clamp are connected with the output end of a vibrating motor, and the vibrating motor is fixed on a cross beam.
Preferably, the upper part of the material clamp is fixed above the rear end of the cross beam through a longitudinal bracket.
Preferably, an installation inclination angle of 5-60 degrees is formed between the material clamp and the horizontal plane.
In one preferred embodiment, the vibration motor is an eccentric vibration motor.
In one embodiment, the discharging assembly further comprises a rectangular fixed plate, a rectangular movable plate, a right-angled triangle push plate and a roller, wherein the rectangular fixed plate is fixed below the rear side part of the L-shaped mounting plate and is close to the material clamp, and the rectangular movable plate is connected on the inner side surface of the rectangular fixed plate in a sliding manner; a through hole is transversely formed in the middle of the rectangular movable plate, the material blocking rod is fixedly arranged at the head of the through hole, a groove for the material blocking rod to penetrate out is formed in the discharge end of the material clamp, a spring is penetrated through the tail of the through hole, the front end of the spring is freely positioned in the through hole, and the tail end of the spring is fixedly connected with the inner side surface of the rectangular fixed plate through a spring fixing plate; a right-angle side of the right-angle triangle push plate is fixedly connected with the bottom of the rectangular movable plate, and the inclined surface of the right-angle triangle push plate faces to the material clamp; the roller is fixed at the lower part of the pick-up clamp.
In one embodiment, the rectangular movable plate is fixedly connected with a sliding block, a sliding rail is arranged on the inner side surface of the rectangular fixed plate, and a sliding groove matched with the sliding rail is arranged on the sliding block.
In a further embodiment, an L-shaped limit baffle is arranged at the tops of the rectangular movable plate and the sliding block, and a limit column matched with the L-shaped limit baffle is arranged on the inner side surface of the rectangular fixed plate.
In a further embodiment, a guide post is fixedly arranged on the spring fixing plate, and the tail end of the spring is sleeved on the guide post.
A stop block is fixedly arranged at two ends of an opening of a U-shaped receiving groove of the receiving clamp, and the stop block protrudes out of the top surface of the U-shaped receiving groove.
Further preferably, an inclined plane A is arranged on the upper end face of the stop block, and an inclined plane B matched with the inclined plane A is arranged on the bottom face of the discharge end of the material clamp.
In one preferred scheme, a receiving position sensor, a welding gun material taking position sensor and a returning position sensor are respectively arranged on the periphery of the receiving and sending motor.
Preferably, the cross beam can perform forward and backward telescopic movement and up and down lifting movement.
In one embodiment, the driving mechanisms for realizing the forward and backward telescopic movement and the up and down lifting movement of the cross beam are rack and pinion mechanisms.
In a further embodiment, a transverse linear rack is fixedly arranged on the cross beam, a transverse sliding sleeve is sleeved on the cross beam, an opening for meshing and connecting a telescopic gear with the transverse linear rack is formed in the transverse sliding sleeve, the telescopic gear is fixed at the output end of a telescopic motor, and the telescopic motor is fixedly connected to the side part of the transverse sliding sleeve; and the longitudinal upright post is fixedly provided with a longitudinal linear rack, the longitudinal upright post is sleeved with a longitudinal sliding sleeve, the longitudinal sliding sleeve is provided with an opening for meshing connection of a lifting gear and the longitudinal linear rack, the lifting gear is fixed at the output end of a lifting motor, and the lifting motor is fixedly connected to the side part of the longitudinal sliding sleeve.
In a further embodiment, the transverse sliding sleeve is fixedly connected with the longitudinal sliding sleeve.
In one preferred scheme, a reinforcing rib is fixedly arranged between the transverse sliding sleeve and the longitudinal sliding sleeve.
Preferably, the robot further comprises a horizontal moving base, and the fixing base of the multi-axis mechanical arm is fixed on the horizontal moving base.
In one preferred scheme, a feeding mechanism is further arranged on the horizontal moving base.
In one embodiment, the longitudinal upright of the automatic feeding mechanism is fixed on a horizontally movable base.
In another embodiment, the longitudinal upright of the automatic feeding mechanism is fixed on a turntable of the multi-axis mechanical arm.
The utility model provides a preferred scheme still includes spatial position positioning mechanism, spatial position positioning mechanism includes preceding limit switch, back limit switch, goes up limit switch, initial/position limit switch that connects, welder get material position limit switch, lower limit switch, limit switch fixed bolster and detection head fixed bolster, the limit switch fixed bolster includes limit switch horizontal stand and limit switch vertical support, preceding limit switch and last limit switch and back limit switch set firmly in proper order from front to back on limit switch horizontal stand, initial/position limit switch that connects gets material position limit switch and welder and lower limit switch set firmly in proper order from top to bottom on limit switch vertical support, the stiff end and the detection head fixed bolster fixed connection of detection head, just the response end and the contact end of all limit switches of detection head set up in opposite directions.
Further preferably, the limit switch fixing support is fixedly connected with the L-shaped mounting plate, and the detection head fixing support is fixedly connected with the welding gun fixing plate.
Compared with the prior art, the invention has the following beneficial technical effects:
the robot can realize automatic welding of the T-shaped welding nails with the porcelain rings, can realize full-range welding operation, and has high operation freedom; in addition, by arranging the horizontal moving base, the welding machine not only can be moved conveniently, but also can be applied to automatic welding of various welding places and workpieces, and has strong universality and high automation degree; therefore, the invention has remarkable progress and industrial practical value compared with the prior art.
Drawings
Fig. 1 is a schematic perspective view of a robot for realizing automatic welding of a T-shaped welding pin with a porcelain ring according to embodiment 1;
FIG. 2 is a schematic diagram showing the front view of the automatic welding gun according to example 1;
FIG. 3 is a schematic rear view of the automatic welding gun of example 1;
FIG. 4 is a schematic view of the automatic feeding mechanism in embodiment 1;
FIGS. 5 and 6 are schematic views showing the construction of the discharge assembly described in example 1 and its assembly relationship with the clamp and the pick-up clamp;
fig. 7 is a schematic view showing a partial structure of the robot of embodiment 1 in an initial state;
fig. 8 is a schematic view showing a partial structure of the robot of embodiment 1 in a material receiving state;
fig. 9 is a schematic view showing a partial structure of the robot in the gun-feeding state according to embodiment 1;
fig. 10 is a schematic view showing a partial structure of the robot of embodiment 1 in a pick-up and pick-up clamp retracted state after a gun is picked up;
fig. 11 is a schematic view showing a partial structure of the robot of embodiment 1 in a state where a welding gun is descending and is to be welded;
fig. 12 is a schematic structural diagram of a robot for realizing automatic welding of a T-shaped welding pin with a porcelain ring according to embodiment 2;
FIG. 13 is a schematic view of an application of the robot of example 2 to welding workpieces;
fig. 14 is a schematic view of another application of the robot provided in embodiment 2 to welding workpieces.
The reference numerals in the figures are shown below: 01. a multi-axis mechanical arm; 011. an end of a multi-axis mechanical arm; 012. a turntable of a multi-axis mechanical arm; 013. a fixed seat of the multi-axis mechanical arm; 02. an automatic welding gun; 021. a welding gun main body; 0211. a housing; 0212. a main shaft body; 0213. welding a nail chuck; 022. a porcelain ring clamp; 0221. a porcelain ring chuck; 0222. the porcelain ring clamping head fixing seat; 0223. a support rod; 0224. a telescoping member; 0225. a fixing member; 03. an automatic feeding mechanism; 031. a cross beam; 0311. a transverse linear rack; 0312. a transverse sliding sleeve; 0313. a telescopic gear; 0314. a telescopic motor; 032. a longitudinal upright; 0321. a longitudinal linear rack; 0322. a longitudinal sliding sleeve; 0323. a lifting gear; 0324. a lifting motor; 033. a material clamp; 0331. a slide rail; 0332. a U-shaped connecting piece; 0322a, a U-shaped connecting piece near the discharge hole of the material clamp; 0333. a vibration motor; 0334. a longitudinal support; 0335. a groove; 0336. an inclined plane B; 034. a discharging assembly; 0340. a material blocking rod; 0341. a rectangular fixing plate; 03411. a slide rail; 0342. a rectangular movable plate; 03421. a through hole; 0343. a right triangle push plate; 03431. a right-angle edge; 03432. an inclined plane; 0344. a roller; 0345. a slide block; 03451. a chute; 0346. a spring; 0347. a spring fixing plate; 03471. a guide post; 0348. an L-shaped limit baffle; 0349. a limit column; 035. a receiving and feeding component; 0351. a pick-up clamp; 03511. u-shaped material receiving groove; 03512. a stop block; 035121, inclined plane a; 0352. the motor is connected and sent; 0353. receiving a material level sensor; 0354. a welding gun material taking level sensor; 036. an L-shaped mounting plate; 037. reinforcing ribs; 04. a welding gun fixing plate; 05. a spatial position locating mechanism; 051. a front limit switch; 052. a rear limit switch; 053. an upper limit switch; 054. an initial/receiving position limit switch; 055. a welding gun material taking position limit switch; 056. a lower limit switch; 057. a limit switch fixing bracket; 0571. a limit switch horizontal bracket; 0572. a limit switch vertical bracket; 058. a detection head; 0581. a fixed end of the detection head; 0582. an induction end of the detection head; 059. a detection head fixing bracket; 06. a horizontal moving base; 07. a feeding mechanism; 08. a porcelain ring; 09. t-shaped welding nails; 10. a workpiece.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the accompanying drawings and the examples.
Example 1
Please refer to fig. 1: the embodiment provides a realize automatic welding's of T type welding nail of taking ceramic ring robot, includes multiaxis arm 01, automatic welder 02 and autoloading mechanism 03, automatic welder 02 fixes the tip 011 at multiaxis arm, autoloading mechanism 03 includes crossbeam 031, vertical stand 032, feed collet 033, blowing subassembly 034, connects feed subassembly 035 and L shape mounting panel 036, crossbeam 031 is connected with vertical stand 032, feed collet 033 is connected with crossbeam 031, feed subassembly 034 includes fender material pole 0340, fender material pole 0340 wears to establish at the discharge end of feed collet 033 and can realize flexible motion, connect feed subassembly 035 to include connect feed collet 0351 and connect feed motor 0352, connect the one end of feed collet 0351 to be equipped with the opening towards the U-shaped of feed collet 033 and connect 03511, connect the other end of feed collet 0351 to connect on the output shaft that connects feed motor 2, connect feed motor 0352 to fix in the bottom of L shape mounting panel 036 before the mounting panel 036.
In this embodiment, the multi-axis mechanical arm 01 is a five-axis mechanical arm or a six-axis mechanical arm, so as to facilitate the full-range operation. The automatic welding gun 02 is fixedly connected with the end 011 of the multi-axis mechanical arm through a welding gun fixing plate 04, the automatic welding gun 02 is fixed at the front part of the welding gun fixing plate 04, and the end 011 of the multi-axis mechanical arm is fixed at the back part of the welding gun fixing plate 04.
Please refer to fig. 2 and 3: the automatic welding gun 02 comprises a welding gun main body 021 and a ceramic ring clamp 022, the welding gun main body 021 comprises a shell 0211, a main shaft 0212 and a welding nail clamp 0213, the ceramic ring clamp 022 comprises a ceramic ring clamp 0221, a ceramic ring clamp fixing seat 0222, two support rods 0223 and two telescopic pieces 0224, the two telescopic pieces 0224 are symmetrically fixed on two side parts of the shell 0211 through fixing pieces 0225, the top ends of the two support rods 0223 are fixedly connected with the tail ends of the telescopic pieces 0224 on the same side respectively, and the bottom ends of the two support rods 0223 are fixed on the ceramic ring clamp fixing seat 0222. The telescopic member 0224 may be an electric push rod or a cylinder or a hydraulic cylinder, and the end of the telescopic member 0224 may be the end of the electric push rod or the end of a cylinder piston rod or the end of a hydraulic cylinder piston rod.
The telescopic movement of the telescopic piece 0224 can drive the porcelain ring clamping head 0221 to move up and down, so that the porcelain ring clamping head 0221 can automatically clamp and separate porcelain rings, manual operation is replaced, and automatic material taking is realized.
Please refer to fig. 1 and 4: in this embodiment, the beam 031 can perform a front-back telescopic motion and a vertical lifting motion, and the driving mechanisms for implementing the front-back telescopic motion and the vertical lifting motion of the beam 031 are rack-and-pinion mechanisms; the specific scheme adopted by the embodiment is as follows: a transverse linear rack 0311 is fixedly arranged on the beam 031, a transverse sliding sleeve 0312 is sleeved on the beam 031, an opening for meshing connection of a telescopic gear 0313 and the transverse linear rack 0311 is formed in the transverse sliding sleeve 0312, the telescopic gear 0313 is fixed at the output end of a telescopic motor 0314, and the telescopic motor 0314 is fixedly connected to the side part of the transverse sliding sleeve 0312; and, set firmly the vertical straight line rack 0321 on vertical post 032, and set up the vertical sliding sleeve 0322 on vertical post 032 set up the opening that is used for elevating gear 0323 and vertical straight line rack 0321 to mesh to be connected on the vertical sliding sleeve 0322, elevating gear 0323 is fixed in elevating motor 0324's output, elevating motor 0324 fixed connection is in the lateral part of vertical sliding sleeve 0322, and horizontal sliding sleeve 0312 and vertical sliding sleeve 0322 fixed connection.
The telescopic motor 0314 can drive the telescopic gear 0313 to rotate through forward rotation or reverse rotation, and because the transverse sliding sleeve 0312 is fixedly connected with the longitudinal sliding sleeve 0322, under the meshing action of the telescopic gear 0313 and the transverse linear rack 0311, the driving beam 031 is in forward or backward telescopic motion in the transverse sliding sleeve 0312; in addition, through the forward rotation or the reverse rotation of the lifting motor 0324, the lifting gear 0323 can be driven to rotate, and the longitudinal upright post 0323 is fixed, so that the longitudinal sliding sleeve 0322 is driven to do lifting movement for lifting or descending on the longitudinal upright post 032 under the meshing action of the lifting gear 0323 and the longitudinal linear rack 0321; because the transverse sliding sleeve 0312 is fixedly connected with the longitudinal sliding sleeve 0322, the transverse sliding sleeve 0312 can carry the beam 031 to move up and down together when the longitudinal sliding sleeve 0322 moves up and down; in addition, since the material clamp 033, the material discharging component 034 and the material receiving and delivering component 035 are all connected with the beam 031, when the beam 031 performs the back-and-forth telescopic motion or the up-and-down lifting motion, the material clamp 033, the material discharging component 034 and the material receiving and delivering component 035 are simultaneously carried to perform the back-and-forth telescopic motion or the up-and-down lifting motion, so that the automatic feeding mechanism 03 and the automatic welding gun 02 can be kept in the adaptable operation range.
In order to avoid the weight influence of the material clamp 033 after bearing the T-shaped welding nails with porcelain rings, a reinforcing rib 037 is also fixedly arranged between the transverse sliding sleeve 0312 and the longitudinal sliding sleeve 0322 so as to play a lifting reinforcing role.
In this embodiment, the material clamp 033 is formed by connecting two sliding rails 0331 through at least 2U-shaped connectors 0332, the U-shaped connector 0322a near the material clamp discharge port is connected with the output end of the vibration motor 0333, the vibration motor 0333 is fixed above the front end of the beam, the upper part of the material clamp 033 is fixed above the rear end of the beam through a longitudinal bracket 0334, and an installation inclination angle of 5-60 degrees is formed between the material clamp 033 and the horizontal plane, so that on one hand, the T-shaped welding nails with porcelain rings on the material clamp 033 have downward sliding power, and on the other hand, the mutual impact damage between the porcelain rings can be avoided. The vibrating motor 0333 is preferably an eccentric vibrating motor, because by utilizing the eccentric vibrating action, smooth discharging of the material clamp 033 can be ensured under a smaller installation inclination angle.
Please refer to fig. 4 to 6: the discharging assembly 034 in this embodiment includes a material blocking rod 0340, a rectangular fixed plate 0341, a rectangular movable plate 0342, a right triangle push plate 0343 and a roller 0344, wherein the rectangular fixed plate 0341 is fixed below the rear side portion of the L-shaped mounting plate 036 and is close to the material clamp 033, the rectangular movable plate 0342 is slidably connected to the inner side surface of the rectangular fixed plate 0341 (in this embodiment, the rectangular movable plate 0342 is fixedly connected with a slide block 0345, a slide rail 03411 is disposed on the inner side surface of the rectangular fixed plate 0341, a slide groove 03451 adapted to the slide rail 03411 is disposed on the slide block 0345, and sliding of the rectangular movable plate 0342 is realized by sliding of the slide block 0345 on the slide rail 03411); a through hole 03421 is transversely formed in the middle of the rectangular movable plate 0342, the material blocking rod 0340 is fixedly arranged at the head of the through hole 03421, a groove 0335 used for allowing the material blocking rod 0340 to penetrate out is formed in the discharge end of the material clamp, a spring 0346 is arranged in the tail of the through hole 03421 in a penetrating mode, the front end of the spring 0346 is freely located in the through hole 03421, and the tail end of the spring 0346 is fixedly connected with the inner side face of the rectangular fixed plate 0341 through a spring fixing plate 0347; a right angle side 03431 of the right triangle push plate is fixedly connected with the bottom of the rectangular movable plate 0342, and an inclined plane 03432 of the right triangle push plate faces the material clamp 033. As a preferred scheme, be equipped with L shape limit baffle 0348 at rectangular movable plate 0342 and slider 0345's top, be equipped with on rectangular fixed plate 0341's medial surface with L shape limit baffle 0348 matched with spacing post 0349, through the cooperation blocking effect of L shape limit baffle 0348 and spacing post 0349, can guarantee the accurate reset of rectangular movable plate 0342. In addition, a guide post 03471 is fixedly arranged on the spring fixing plate 0347, and the tail end of the spring 0346 is sleeved on the guide post 03471 so as to avoid that the spring 0346 cannot return linearly after being compressed and deformed.
The receiving and feeding assembly 035 comprises a receiving and feeding clamp 0351 and a receiving and feeding motor 0352, the roller 0344 is fixed at the lower part of the receiving and feeding clamp 0351, one end of the receiving and feeding clamp 0351 is provided with a U-shaped receiving groove 03511 with an opening facing the feeding clamp, the other end of the receiving and feeding clamp 0351 is sleeved on the output shaft of the receiving and feeding motor 0352, the receiving and feeding motor 0352 is fixed at the bottom of the L-shaped mounting plate 036. As a preferred scheme, two ends of the opening of the U-shaped receiving groove 03511 of the receiving clamp 0351 are fixedly provided with a stop block 03512, the stop block 03512 protrudes out of the top surface of the U-shaped receiving groove 03511 to form a blocking effect of the porcelain ring positioned on the top surface of the U-shaped receiving groove 03511, thereby avoiding the falling of the T-shaped welding nail with the porcelain ring positioned in the U-shaped receiving groove 03511; the upper end face of the stop block 03512 is provided with an inclined plane A035121, the bottom surface of the discharge end of the material clamp is provided with an inclined plane B0336 which is matched with the inclined plane A035121, and the T-shaped welding nail with a porcelain ring positioned at the discharge hole of the material clamp can accurately fall into a U-shaped receiving groove 03511 of the receiving clamp 0351 through the adhesion between the inclined plane A035121 and the inclined plane B0336. In addition, a receiving position sensor 0353, a welding gun material taking position sensor 0354 and a withdrawing position sensor (not shown) are provided on the peripheral side of the receiving motor 0352, respectively, to limit and monitor the rotational position of the receiving clamp 0351. In addition, the installation direction of the pick-up clip 0351 needs to be matched with the installation direction of the magazine 033, namely: the receiving clip 0351 is mounted in such a way that the opening of the U-shaped receiving groove 03511 is directed to the clip 033.
Please refer to fig. 1 and fig. 4 again: in order to improve the welding operation precision of the robot, the embodiment further comprises a spatial position positioning mechanism 05, the spatial position positioning mechanism 05 comprises a front limit switch 051, a rear limit switch 052, an upper limit switch 053, an initial/material receiving position limit switch 054, a welding gun material taking position limit switch 055, a lower limit switch 056, a limit switch fixing support 057, a detection head 058 and a detection head fixing support 059, the limit switch fixing support 057 comprises a limit switch horizontal support 0571 and a limit switch vertical support 0572, the front limit switch 051, the upper limit switch 053 and the rear limit switch 052 are sequentially fixed on the limit switch horizontal support from front to rear, the initial/material receiving position limit switch 054, the welding gun material taking position limit switch 055 and the lower limit switch 056 are sequentially fixed on the limit switch vertical support 0572 from top to bottom, a fixed end 0581 of the detection head is fixedly connected with the detection head fixing support 058, and a sensing end 0582 of the detection head is opposite to a contact end of all the limit switches. Limit switch fixed bolster 057 and L shape mounting panel 036 fixed connection, detect first fixed bolster 059 and welder fixed plate 04 fixed connection. The sensing ends 0582 of the detection heads sense the front limit switch 051, the rear limit switch 052, the upper limit switch 053 and the lower limit switch 056, so that the automatic welding gun 02 and the automatic feeding mechanism 03 can be accurately kept in an adaptive working space range; the automatic welding gun 02 can be accurately kept at the initial/receiving position or the material taking position by sensing the initial/receiving position limit switch 054 and the welding gun material taking position limit switch 055 by the sensing end 0582 of the sensing head.
In addition, in order to reduce the material taking operation stroke of the multi-axis robot 01, the present embodiment fixes the vertical post 032 of the automatic feeding mechanism 03 to the turntable 012 of the multi-axis robot, so that the automatic feeding mechanism 03 can rotate along with the rotation of the multi-axis robot 01.
The working principle of the robot in this embodiment is as follows:
fig. 7 is a schematic view showing a partial structure of the robot in the initial state according to the present embodiment, and fig. 7 shows: in the initial state, the sensing end 0582 of the detection head is located at a corresponding position of the initial/receiving position limit switch 054, the receiving clamp 0351 is located under the porcelain ring clamp 0221, the spring 0346 is in the stretched initial state, the rectangular movable plate 0342 is pushed to the side of the material clamp 033 by the spring 0346 and is limited under the cooperation of the L-shaped limit baffle 0348 and the limit column 0349, so that the material blocking rod 0340 at the moment penetrates through the groove 0335 to be blocked in the discharge hole of the material clamp 033, and the material clamp 033 is in a state to be discharged.
When the receiving clamp 0351 receives a material, the automatic welding gun 02 is kept at the initial position, namely: the sensing end 0582 of the detection head is located at a corresponding position of the initial/receiving position limit switch 054. The receiving clamp 0351 rotates towards the direction of the material clamp 033 under the drive of the receiving motor 0352, along with the approaching of the receiving clamp 0351 towards the discharge end of the material clamp, the roller 0344 positioned at the lower part of the receiving clamp 0351 will be in rolling contact with the inclined plane 03432 of the right triangle push plate, as the roller 0344 rolls on the inclined plane 03432 from low to high, the roller 0344 will generate an outward thrust action on the inclined plane 03432 along with the rolling of the roller 0344 towards the high end of the inclined plane 03432, as the right triangle push plate 0343 is fixedly connected with the rectangle movable plate 0342, the inclined plane 03432 will drive the rectangle movable plate 0342 to move outwards after receiving the outward thrust of the roller 0344, and as the material blocking rod 0340 is fixedly arranged on the rectangle movable plate 0342, along with the outward movement of the rectangle movable plate 0342, the material blocking rod 0340 also moves outwards; when the receiving clamp 0351 rotates to the position that the opening of the U-shaped receiving groove 03511 is just butted with the discharge hole of the material clamp 033 (the receiving motor 0352 can be used for limiting the induction of the material level sensor 0353), the roller 0344 rolls to the highest end of the inclined plane 03432, the rectangular movable plate 0342 is subjected to the action of the maximum outward thrust, so that the L-shaped limit baffle 0348 is separated from the limit column 0349, the spring 0346 is compressed, and the head of the material blocking rod 0340 is retracted into the groove 0335; because the mounting of the material clamp 033 has a certain inclination angle and has the vibration function of the vibration motor 0333, the T-shaped welding nail 09 with the porcelain ring 08 on the material clamp 033 can smoothly fall into the U-shaped receiving groove 03511 along with the retraction of the head of the material blocking rod 0340 (refer to fig. 8).
When the receiving motor 0352 drives the receiving clamp 0351 to rotate toward the welding gun material taking position, the roller 0344 rolls from the highest end of the inclined surface 03432 to the lower end until the receiving clamp is separated from the inclined surface 03432, so that the outward thrust of the roller 0344 to the inclined surface 03432 is gradually reduced until the receiving clamp disappears, the rectangular movable plate 0342 is pushed to the side of the material clamp 033 under the action of the resilience force of the spring 0346 until the receiving clamp is limited under the action of the cooperation of the L-shaped limit baffle 0348 and the limit column 0349, so that the material blocking rod 0340 penetrates out of the groove 0335 again to be blocked in the material outlet of the material clamp 033 (because the head diameter of the T-shaped welding nail 09 is larger than the column diameter, a gap for the material blocking rod 0340 to penetrate is formed between the column bodies of the T-shaped welding nail 09), and the material clamp 033 is in a state to be discharged again; when the pick-up clamp 0351 rotates to the position right below the porcelain ring clamp head 0221, the pick-up motor 0352 can stop rotating through the induction of the welding gun material taking position sensor 0354, at this time, the multi-axis mechanical arm 01 drives the automatic welding gun 02 to move downwards until the induction end 0582 of the detection head is positioned at the corresponding position of the welding gun material taking position limit switch 055, at this time, the porcelain ring clamp head 0221 clamps the porcelain ring 08; then, the main shaft body 0212 is driven by the main shaft driving mechanism (not shown in the figure, which is the prior art) of the welding gun main body 021 to descend to drive the welding nail clamping head 0213 to clamp the head of the T-shaped welding nail 09, so as to finish the material taking of the automatic welding gun 02 (see fig. 9).
The automatic welding gun 02 is driven to ascend by the multi-axis mechanical arm 01, so that the porcelain ring clamp head 0221 is separated from the receiving clamp 0351 (at this time, the sensing end 0582 of the detection head is positioned between the initial/receiving position limit switch 054 and the welding gun material taking position limit switch 055), then the receiving clamp 0351 is retracted to the other side of the automatic welding gun 02 under the driving of the receiving motor 0352, and when the retraction is in place, the receiving motor 0352 stops rotating under the sensing of the retraction sensor (not shown in the figure) (refer to fig. 10).
When the pick-up clamp 0351 is retracted to the other side of the automatic welding gun 02, the telescopic member 0224 is extended to push the support rod 0223 to drive the porcelain ring clamp 0221 to move downwards until the bottom end face of the porcelain ring 08 is kept flush with the bottom end face of the T-shaped welding nail 09, and the porcelain ring clamp is in a clamping state to be welded (see fig. 11).
The automatic welding gun 02 is driven by the multi-axis mechanical arm 01 to continue to move downwards until the bottom end surface of the ceramic ring 08 contacts the surface of the workpiece 10 to be welded, and then the welding gun main body 021 starts welding. When the welding is finished, the multi-axis mechanical arm 01 can drive the automatic welding gun 02 to quickly ascend and return to the initial state, so that the upper limit switch 053 is positioned above the initial/receiving position limit switch 054 in order to avoid the automatic welding gun 02 from ascending too high. When the automatic welding gun 02 moves up to the initial position, the pick-up clip 0351 is returned to the position just below the porcelain ring clip 0221 by the drive of the pick-up motor 0352, thereby completing one welding operation.
In addition, through the front limit switch 051, the rear limit switch 052, the upper limit switch 053 and the lower limit switch 056, the automatic welding gun 02 and the automatic feeding mechanism 03 can be accurately kept in the working space range of the adaptation. In addition, since the two ends of the opening of the U-shaped receiving groove 03511 of the receiving clip 0351 are both fixed with a stopper 03512, and the stopper 03512 protrudes from the top surface of the U-shaped receiving groove 03511, the porcelain ring 08 on the top surface of the U-shaped receiving groove 03511 is blocked by the stopper 03512, so that the porcelain ring 08 on the U-shaped receiving groove 03511 and the T-shaped welding nail 09 sleeved in the porcelain ring 08 will not slip off when the receiving clip 0351 rotates toward the welding gun feeding position (see fig. 8).
Example 2
Referring to fig. 12, the robot for realizing automatic welding of the T-shaped welding nail with the porcelain ring provided in this embodiment is different from the robot described in embodiment 1 only in that: the robot further comprises a horizontal moving base 06, and a fixed seat 013 of the multi-axis mechanical arm is fixed on the horizontal moving base 06.
As a preferred solution, a feeding mechanism 07 may be fixed on the horizontal moving base 06 (the feeding mechanism 07 may adopt a device for realizing automatic feeding of T-shaped welding nails as described in the patent ZL 201620260551.6), so as to facilitate rapid feeding of the material clamp 033.
If the height of the horizontal moving base 06 is low, the robot can weld the workpiece 10 along the walking side (see fig. 13); if the leg height of the horizontal moving base 06 is higher than the sum of the heights of the workpiece to be welded and the welding nails, the robot can perform the welding operation on the workpiece 10 along the traveling front (refer to fig. 14).
In addition, it should be noted that, the automatic feeding mechanism 03 in this patent can also adopt a split fixing mode with the multi-axis mechanical arm 01, namely: the longitudinal upright post 032 in the automatic feeding mechanism 03 and the fixed seat 013 of the multi-axis mechanical arm are both fixed on the horizontal moving base 06, the automatic feeding mechanism 03 is fixed, the automatic welding gun 02 is carried to take materials by the automatic feeding mechanism 03 only through the rotation of the multi-axis mechanical arm 01, and when the automatic welding gun 02 takes materials, the multi-axis mechanical arm 01 rotates to carry the automatic welding gun 02 to a position to be welded to perform welding operation of various angles; the design can utilize the operation degree of freedom of the multi-axis mechanical arm 01 to realize the full-range welding operation requirement, and has strong universality.
The above can be seen in the following: the robot can realize automatic welding of the T-shaped welding nails with the porcelain rings, can realize full-range welding operation, and has high operation freedom; in addition, by arranging the horizontal moving base, the welding machine not only can be moved conveniently, but also can be suitable for automatic welding of various welding places and workpieces, and has strong universality and high automation degree; therefore, the invention has remarkable progress and industrial practical value compared with the prior art.
Finally, it is necessary to point out here that: the foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be covered by the present invention.
Claims (9)
1. A realize taking ceramic ring's T type to weld nail automatic weld's robot, its characterized in that: the automatic feeding mechanism comprises a cross beam, a longitudinal upright, a material clamp, a material discharging assembly, a material receiving and feeding assembly and an L-shaped mounting plate, wherein the cross beam is connected with the longitudinal upright, the material clamp is connected with the cross beam, the material discharging assembly comprises a material blocking rod, the material blocking rod is arranged at the discharging end of the material clamp in a penetrating manner and can realize telescopic movement, the material receiving and feeding assembly comprises a receiving and feeding clamp and a receiving and feeding motor, one end of the receiving and feeding clamp is provided with a U-shaped material receiving groove with an opening facing the material clamp, the other end of the receiving and feeding clamp is sleeved on an output shaft of the receiving and feeding motor, the receiving and feeding motor is fixed at the bottom of the L-shaped mounting plate, and the L-shaped mounting plate is fixed at the front end of the cross beam; the discharging assembly further comprises a rectangular fixing plate, a rectangular movable plate, a right triangle push plate and rollers, wherein the rectangular fixing plate is fixed below the rear side part of the L-shaped mounting plate and is close to the charging clamp, and the rectangular movable plate is connected to the inner side surface of the rectangular fixing plate in a sliding manner; a through hole is transversely formed in the middle of the rectangular movable plate, the material blocking rod is fixedly arranged at the head of the through hole, a groove for the material blocking rod to penetrate out is formed in the discharge end of the material clamp, a spring is penetrated through the tail of the through hole, the front end of the spring is freely positioned in the through hole, and the tail end of the spring is fixedly connected with the inner side surface of the rectangular fixed plate through a spring fixing plate; a right-angle side of the right-angle triangle push plate is fixedly connected with the bottom of the rectangular movable plate, and the inclined surface of the right-angle triangle push plate faces to the material clamp; the roller is fixed at the lower part of the pick-up clamp; in the initial state, the spring is in an initial state of stretching, the rectangular movable plate is pushed to the side of the material clamp by the spring, and the material blocking rod penetrates out of the groove to block the material outlet of the material clamp, so that the material clamp is in a state to be discharged; as the receiving and sending clamp approaches to the discharging end of the material clamp, the roller at the lower part of the receiving and sending clamp is in rolling contact with the inclined plane of the right triangle push plate, the roller can generate an outward thrust action on the inclined plane along with the rolling of the roller to the high end of the inclined plane, and the rectangular movable plate is driven to move outwards after the inclined plane receives the outward thrust of the roller, and the material blocking rod also moves outwards along with the outward movement of the rectangular movable plate; when the roller rolls to the highest end of the inclined plane, the rectangular movable plate receives the maximum outward thrust action, and at the moment, the spring is compressed, and the head of the material blocking rod retreats into the groove, so that the T-shaped welding nails with the porcelain rings positioned on the material clamp can smoothly fall into the U-shaped material receiving groove along with the retraction of the head of the material blocking rod; when the roller rolls from the highest end of the inclined surface to the lower end until the roller is separated from the inclined surface, the outward thrust generated by the roller on the inclined surface gradually decreases until the roller disappears, so that the rectangular movable plate is pushed to the side of the material clamp under the action of the resilience force of the spring, the material blocking rod penetrates out of the groove again to block the material outlet of the material clamp, and the material clamp is in a state to be discharged again.
2. The robot of claim 1, wherein: the automatic welding gun is fixedly connected with the end part of the multi-axis mechanical arm through a welding gun fixing plate, the automatic welding gun is fixed at the front part of the welding gun fixing plate, and the end part of the multi-axis mechanical arm is fixed at the back part of the welding gun fixing plate.
3. The robot of claim 2, wherein: the automatic welding gun comprises a welding gun main body and a porcelain ring clamp, wherein the welding gun main body comprises a shell, a main shaft body and a welding nail clamp head, the porcelain ring clamp head comprises a porcelain ring clamp head, a porcelain ring clamp head fixing seat, two support rods and two telescopic pieces, the two telescopic pieces are symmetrically fixed on two side parts of the shell through fixing pieces, the top ends of the two support rods are respectively fixedly connected with the tail ends of the telescopic pieces on the same side, and the bottom ends of the two support rods are all fixed on the porcelain ring clamp head fixing seat.
4. The robot of claim 1, wherein: the cross beam can perform forward and backward telescopic movement and up and down lifting movement.
5. The robot of claim 4, wherein: the driving mechanisms for realizing the forward and backward telescopic movement and the up and down lifting movement of the cross beam are rack and pinion mechanisms.
6. The robot of any one of claims 1 to 5, wherein: the robot further comprises a horizontal moving base, and the fixing base of the multi-axis mechanical arm is fixed on the horizontal moving base.
7. The robot of claim 6, wherein: and a feeding mechanism is further arranged on the horizontal moving base.
8. The robot of claim 6, wherein: the longitudinal upright post of the automatic feeding mechanism is fixed on the horizontal moving base; or, the longitudinal upright post of the automatic feeding mechanism is fixed on the turntable of the multi-axis mechanical arm.
9. The robot of claim 8, wherein: still include spatial position positioning mechanism, spatial position positioning mechanism includes preceding limit switch, back limit switch, goes up limit switch, initial/position limit switch that connects, welder get material position limit switch, lower limit switch, limit switch fixed bolster and detection head fixed bolster, limit switch fixed bolster includes limit switch horizontal stand and limit switch vertical support, preceding limit switch and last limit switch and back limit switch set firmly on limit switch horizontal stand from front to back in proper order, initial/position limit switch that connects gets material position limit switch and lower limit switch from top to bottom in proper order sets firmly on limit switch vertical support, the stiff end and the detection head fixed bolster fixed connection of detection head, just the response end and the contact end of all limit switches set up in opposite directions of detection head.
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