CN110270777A - Rubber conveyer slotted bracket intelligent robot welding system - Google Patents
Rubber conveyer slotted bracket intelligent robot welding system Download PDFInfo
- Publication number
- CN110270777A CN110270777A CN201910367901.7A CN201910367901A CN110270777A CN 110270777 A CN110270777 A CN 110270777A CN 201910367901 A CN201910367901 A CN 201910367901A CN 110270777 A CN110270777 A CN 110270777A
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- CN
- China
- Prior art keywords
- conveying plate
- plate chain
- axis
- intelligent robot
- welding
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The present invention provides rubber conveyer slotted bracket intelligent robot welding system, including two axis gantry handgrips, conveying plate chain and PLC control system, two axis gantry handgrips include the reciprocating mechanism and workpiece grabbing mechanism of the mobile left/right movement device of X-direction, Z-direction movement, conveying plate chain includes feeding conveying plate chain and blanking conveying plate chain, feeding conveying plate chain and blanking conveying plate chain are located at the both ends that two axis gantry handgrips move along the x axis, and at least two automatic welding regions are equipped between feeding conveying plate chain and blanking conveying plate chain；Automatic welding region includes welding robot and one or three axis positioners, the shaft two sides of three axis positioners are respectively provided with a revolution positioner, it turns round in the shaft of positioner and is fixed with automatic welding tooling, welding robot and two axis gantry handgrips are located at the two sides of three axis positioners.
Description
Technical field
The present invention relates to machinery fields, and in particular to rubber conveyer slotted bracket intelligent robot welding system.
Background technique
Currently, the welding of rubber conveyer slotted bracket mostly uses human weld or robot workstation to weld, with artificial
Based on lifting installation, can bring following Railway Project: 1, product appearance quality requires high, human weld's difficulty is big 2, it is artificial on
Material, manual installation effectiveness is not high, is not able to satisfy modern production and efficiently requires；3, manual operation is more, is easy to appear safe thing
Therefore；4, automatization level is lower, substantially increases the capital input of production, is unfavorable for enterprise development；5, manual operation easily causes
Error accumulation, product qualification rate are low.Therefore, it is badly in need of a kind of automatic loading/unloading welding equipment, to solve the above problems.
Summary of the invention
In view of the problems of the existing technology, the present invention provides rubber conveyer slotted bracket intelligent robot welding system
System, to solve above-mentioned at least one technical problem.
The technical scheme is that rubber conveyer slotted bracket intelligent robot welding system, including two axis gantry
Handgrip, conveying plate chain and PLC control system, two axis gantry handgrip include the mobile left/right movement device of X-direction, Z axis
The mobile reciprocating mechanism in direction and workpiece grabbing mechanism, the conveying plate chain include feeding conveying plate chain and blanking delivery board
Chain, the feeding conveying plate chain and the blanking conveying plate chain are located at the both ends that two axis gantry handgrips move along the x axis,
And at least two automatic welding regions are equipped between the feeding conveying plate chain and the blanking conveying plate chain；
The automatic welding region includes welding robot and one or three axis positioners, the shaft two sides of the three axis positioner
It is respectively provided with a revolution positioner, is fixed with automatic welding tooling, the welding robot in the shaft of the revolution positioner
The two sides of three axis positioners are located at two axis gantry handgrip；
The PLC control system is separately connected the control mould of the control module of two axis gantry handgrip, welding robot
Block, the control module of three axis positioners, the control module of the control module of revolution positioner and automatic welding tooling.
The present invention places a batch first, and group is placed on feeding conveying plate chain the workpiece of completion, and typing workpiece information
To the system of welding robot, crawl, welding are waited below the automatic conveying workpieces of feeding conveying plate chain to two axis gantry handgrips
Feeding can be issued after robot is idle to request to PLC system, PLC system notifies two axis gantry handgrip grabbing workpieces to send to welding
At robot, after automatic welding tooling Automatic-clamping workpiece, three axis positioners rotate 180 ° of progress Switch of working position, make work to be welded
Part is sent to welding robot, and welding robot starts automatic welding workpiece；After the completion of the welding of welding robot workpiece, three axis become
Position machine rotates 180 °, so that welding is completed workpiece and moves to lower discharge position, while welding robot issues blanking and requests to PLC system,
PLC system notifies gantry handgrip feeding, and gantry handgrip is moved to welding robot position, and grabbing workpiece is simultaneously sent to blanking conveying
Plate chain, blanking conveying plate chain convey welding automatically and complete workpiece to lower discharge position.
This set system does not need artificial loading and unloading and welding, can save 3-4 artificial, improves the automatic of workpiece
Change, manless production, meets modern production and efficiently require, greatly reduce the capital input of production.
The left/right movement device includes a horizontal axis, workpiece grabbing mechanism transverse shifting on the horizontal axis, and institute
It states workpiece grabbing mechanism and successively passes through feeding conveying plate chain, automatic welding region and blanking conveying plate chain along the X direction.
The both ends of the horizontal axis are equipped with baffle, inclined between the baffle and the horizontal axis.So as to more preferable
Carry out limit.
To realize the automated production of workpiece.
The left/right movement device is connected with the reciprocating mechanism by the first connector, the reciprocating mechanism
It is connect with the grasping mechanism by the second connector, second connector both ends are equipped with sliding rail, and the grasping mechanism includes
Four claws, four claws are slidably connected with the sliding rail.
The present invention passes through the adjustable crawl to realize different workpieces of claw.
A rubber layer is attached on the claw.It avoids making workpiece so as to frictional force when increasing claw crawl
At abrasion.
First connector is domed.So as to avoid generating biggish resistance in motion process.
The lower section of the horizontal axis is equipped with five support rods equidistantly arranged.Horizontal axis can not only be propped up by support rod
Support can also calibrate the position of gantry handgrip.
Be fixed with a displacement sensor on the left/right movement device, the control module of institute's displacement sensors with it is described
PLC system connection, the induction directions of institute's displacement sensors is towards front.
The shift position that the present invention is capable of further accurate two axis gantry handgrip by increasing displacement sensor.
The conveying plate chain includes a plurality of delivery boards and driving mechanism, detachable between two neighboring delivery board, and institute
The surface for stating delivery board is coated with graphite fibre layer.
The present invention passes through detachably so as to be suitable for different workpiece transports between delivery board, and increases graphite fibre
Dimension layer can increase hardness and avoid wearing.
There are two the feeding conveying plate chain and the blanking conveying plate chain can be set, the center of two feeding conveying plate chains
First support rod in five support rods described in face, in five support rods described in the central face of two blanking conveying plate chains
The 5th support rod.The present invention can further increase working efficiency by two groups of conveying plate chains.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram in automatic welding region of the present invention；
Fig. 3 is the enlarged structure schematic diagram of two axis gantry handgrips of the invention；
Fig. 4 is the structural schematic diagram of conveying plate chain of the present invention.
Figure label: 1, two axis gantry handgrip；2, feeding conveying plate chain；3, blanking conveying plate chain；4, welding robot；5,
Three axis positioners；6, positioner is turned round；7, automatic welding tooling；8, left/right movement device；9, reciprocating mechanism；10, workpiece
Grasping mechanism；11, claw；12, conveying plate chain.
Specific embodiment
Following further describes the present invention with reference to the drawings.
As Figure 1-Figure 4, rubber conveyer slotted bracket intelligent robot welding system, including two axis gantry handgrips 1,
Conveying plate chain 12 and PLC control system, two axis gantry handgrips include the mobile left/right movement device 8 of X-direction, Z-direction shifting
Dynamic reciprocating mechanism 9 and workpiece grabbing mechanism 10, conveying plate chain include feeding conveying plate chain 2 and blanking conveying plate chain 3, on
Material conveying plate chain and blanking conveying plate chain are located at the both ends that two axis gantry handgrips move along the x axis, and feeding delivery board
At least two automatic welding regions are equipped between chain and blanking conveying plate chain；Automatic welding region includes welding robot 4 and one
Three axis positioners 5, the shaft two sides of three axis positioners are respectively provided with a revolution positioner 6, turn round fixed in the shaft of positioner
There is automatic welding tooling 7, welding robot and two axis gantry handgrips are located at the two sides of three axis positioners；PLC control system
It is separately connected the control module, the control module of welding robot, the control module of three axis positioners, revolution of two axis gantry handgrips
The control module of positioner and the control module of automatic welding tooling.
The present invention places a batch first, and group is placed on feeding conveying plate chain the workpiece of completion, and typing workpiece information
To the system of welding robot, crawl, welding are waited below the automatic conveying workpieces of feeding conveying plate chain to two axis gantry handgrips
Feeding can be issued after robot is idle to request to PLC system, PLC system notifies two axis gantry handgrip grabbing workpieces to send to welding
At robot, after automatic welding tooling Automatic-clamping workpiece, three axis positioners rotate 180 ° of progress Switch of working position, make work to be welded
Part is sent to welding robot, and welding robot starts automatic welding workpiece；After the completion of the welding of welding robot workpiece, three axis become
Position machine rotates 180 °, so that welding is completed workpiece and moves to lower discharge position, while welding robot issues blanking and requests to PLC system,
PLC system notifies gantry handgrip feeding, and gantry handgrip is moved to welding robot position, and grabbing workpiece is simultaneously sent to blanking conveying
Plate chain, blanking conveying plate chain convey welding automatically and complete workpiece to lower discharge position.This set system does not need artificial loading and unloading and weldering
Work is connect, can save 3-4 artificial, automation, the manless production of workpiece is improved, meets modern production and efficiently want
It asks, greatly reduces the capital input of production.
Left/right movement device includes a horizontal axis, workpiece grabbing mechanism transverse shifting on transverse axis, and workpiece grabbing mechanism edge
X direction successively passes through feeding conveying plate chain, automatic welding region and blanking conveying plate chain.The both ends of horizontal axis are equipped with baffle, gear
It is inclined between piece and horizontal axis.So as to preferably be limited.To realize the automated production of workpiece.Left and right is moved
Motivation structure is connected with reciprocating mechanism by the first connector, and reciprocating mechanism and grasping mechanism are connected by the second connector
It connects, the second connector both ends are equipped with sliding rail, and grasping mechanism includes four claws 11, and four claws are slidably connected with sliding rail.This hair
It is bright to pass through the adjustable crawl to realize different workpieces of claw.A rubber layer is attached on claw.So as to increase card
Frictional force when pawl grabs avoids causing to wear to workpiece.First connector is domed.So as to avoid producing in motion process
Raw biggish resistance.The lower section of horizontal axis is equipped with five support rods equidistantly arranged.Horizontal axis can not only be carried out by support rod
Support can also calibrate the position of gantry handgrip.A displacement sensor, displacement sensor are fixed on left/right movement device
Control module connect with PLC system, the induction direction of displacement sensor is towards front.The present invention is by increasing displacement sensor
It is capable of the shift position of further accurate two axis gantry handgrip.Conveying plate chain includes a plurality of delivery boards and driving mechanism, adjacent
It is detachable between two delivery boards, and the surface of delivery board is coated with graphite fibre layer.The present invention passes through detachable between delivery board
It avoids wearing so as to be suitable for different workpiece transports, and increase graphite fibre layer that hardness can be increased.Feeding conveying
There are two plate chain and blanking conveying plate chain can be set, first in five support rods of central face of two feeding conveying plate chains
Support rod, the 5th support rod in five support rods of central face of two blanking conveying plate chains.The present invention is defeated by two groups
Send plate chain that can further increase working efficiency.
The above is only the preferred embodiment of the present invention, it is noted that those skilled in the art are come
It says, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (9)
1. rubber conveyer slotted bracket intelligent robot welding system, it is characterised in that: including two axis gantry handgrips, delivery board
Chain and PLC control system, two axis gantry handgrip move upper comprising the mobile left/right movement device of X-direction, Z-direction
Lower mobile mechanism and workpiece grabbing mechanism, the conveying plate chain include feeding conveying plate chain and blanking conveying plate chain, the feeding
Conveying plate chain and the blanking conveying plate chain are located at the both ends that two axis gantry handgrips move along the x axis, and the feeding
At least two automatic welding regions are equipped between conveying plate chain and the blanking conveying plate chain；
The automatic welding region includes welding robot and one or three axis positioners, and the shaft two sides of the three axis positioner are respectively set
There is a revolution positioner, is fixed with automatic welding tooling, the welding robot and institute in the shaft of the revolution positioner
State the two sides that two axis gantry handgrips are located at three axis positioners；
The PLC control system is separately connected the control module of two axis gantry handgrip, the control module of welding robot, three
The control module of the control module of axis positioner, the control module for turning round positioner and automatic welding tooling.
2. rubber conveyer slotted bracket intelligent robot welding system according to claim 1, it is characterised in that: described
Left/right movement device includes a horizontal axis, workpiece grabbing mechanism transverse shifting on the horizontal axis, and the workpiece grabbing machine
Structure successively passes through feeding conveying plate chain, automatic welding region and blanking conveying plate chain along the X direction.
3. rubber conveyer slotted bracket intelligent robot welding system according to claim 2, it is characterised in that: described
The both ends of horizontal axis are equipped with baffle, inclined between the baffle and the horizontal axis.
4. rubber conveyer slotted bracket intelligent robot welding system according to claim 1, it is characterised in that: described
Left/right movement device is connected with the reciprocating mechanism by the first connector, the reciprocating mechanism and the gripper
Structure is connected by the second connector, and second connector both ends are equipped with sliding rail, and the grasping mechanism includes four claws, described
Four claws are slidably connected with the sliding rail.
5. rubber conveyer slotted bracket intelligent robot welding system according to claim 4, it is characterised in that: described
A rubber layer is attached on claw.
6. rubber conveyer slotted bracket intelligent robot welding system according to claim 4, it is characterised in that: described
First connector is domed.
7. rubber conveyer slotted bracket intelligent robot welding system according to claim 1, it is characterised in that: described
A displacement sensor is fixed on left/right movement device, the control module of institute's displacement sensors is connect with the PLC system, institute
The induction direction of displacement sensors is towards front.
8. rubber conveyer slotted bracket intelligent robot welding system according to claim 1, it is characterised in that: described
The lower section of horizontal axis is equipped with five support rods equidistantly arranged.
9. rubber conveyer slotted bracket intelligent robot welding system according to claim 1, it is characterised in that: described
Conveying plate chain includes a plurality of delivery boards and driving mechanism, detachable between two neighboring delivery board, and the table of the delivery board
Face is coated with graphite fibre layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910367901.7A CN110270777A (en) | 2019-05-05 | 2019-05-05 | Rubber conveyer slotted bracket intelligent robot welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910367901.7A CN110270777A (en) | 2019-05-05 | 2019-05-05 | Rubber conveyer slotted bracket intelligent robot welding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110270777A true CN110270777A (en) | 2019-09-24 |
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ID=67959699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910367901.7A Pending CN110270777A (en) | 2019-05-05 | 2019-05-05 | Rubber conveyer slotted bracket intelligent robot welding system |
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| Country | Link |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757032A (en) * | 2019-10-15 | 2020-02-07 | 中国船舶重工集团公司第七一六研究所 | Full-automatic assembly welding workstation for pipe-flange and pipe-sleeve |
| CN112692407A (en) * | 2019-10-23 | 2021-04-23 | 山东轩烨机器人科技有限公司 | Robot workstation that backing roll scaffold weldment was used |
| CN112830228A (en) * | 2019-11-25 | 2021-05-25 | 上海汽车变速器有限公司 | Automatic feeding system for multipoint grabbing of double manipulators of truss robot and control method of automatic feeding system |
| CN113134692A (en) * | 2021-01-27 | 2021-07-20 | 安徽中科春谷激光产业技术研究院有限公司 | Automatic assembly welding device for train side wall and welding method thereof |
| CN113146118A (en) * | 2021-03-25 | 2021-07-23 | 洛阳尚奇机器人科技有限公司 | Automatic welding module and heat exchanger welding equipment |
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| CN205834533U (en) * | 2016-07-29 | 2016-12-28 | 苏州猎奇智能设备有限公司 | Minus plate automatic welding line |
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| CN206552829U (en) * | 2017-03-09 | 2017-10-13 | 苏州诺顿斯精密机械有限公司 | The material folding component of brake pump pump cover feeder |
| CN208647861U (en) * | 2018-08-02 | 2019-03-26 | 曲阜兴运输送机械设备有限公司 | A kind of plate chain pipe type conveyer |
| CN210388019U (en) * | 2019-05-05 | 2020-04-24 | 上海科大重工集团有限公司 | Adopt intelligent robot's rubber belt conveyor groove type support welding system |
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2019
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| WO2003040602A1 (en) * | 2001-11-06 | 2003-05-15 | Stolt Offshore Limited | Remote bolted flange connection apparatus and methods of operation thereof |
| CN205834533U (en) * | 2016-07-29 | 2016-12-28 | 苏州猎奇智能设备有限公司 | Minus plate automatic welding line |
| CN206416166U (en) * | 2017-01-20 | 2017-08-18 | 烟台瓦鲁机器人自动化有限公司 | A kind of two axle gantry gripper equipments |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757032A (en) * | 2019-10-15 | 2020-02-07 | 中国船舶重工集团公司第七一六研究所 | Full-automatic assembly welding workstation for pipe-flange and pipe-sleeve |
| CN110757032B (en) * | 2019-10-15 | 2021-08-03 | 中国船舶重工集团公司第七一六研究所 | Full-automatic assembly welding workstation for pipe-flange and pipe-sleeve |
| CN112692407A (en) * | 2019-10-23 | 2021-04-23 | 山东轩烨机器人科技有限公司 | Robot workstation that backing roll scaffold weldment was used |
| CN112830228A (en) * | 2019-11-25 | 2021-05-25 | 上海汽车变速器有限公司 | Automatic feeding system for multipoint grabbing of double manipulators of truss robot and control method of automatic feeding system |
| CN113134692A (en) * | 2021-01-27 | 2021-07-20 | 安徽中科春谷激光产业技术研究院有限公司 | Automatic assembly welding device for train side wall and welding method thereof |
| CN113146118A (en) * | 2021-03-25 | 2021-07-23 | 洛阳尚奇机器人科技有限公司 | Automatic welding module and heat exchanger welding equipment |
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Application publication date: 20190924 |