CN110394540A - Robot welding system - Google Patents

Robot welding system Download PDF

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Publication number
CN110394540A
CN110394540A CN201910684158.8A CN201910684158A CN110394540A CN 110394540 A CN110394540 A CN 110394540A CN 201910684158 A CN201910684158 A CN 201910684158A CN 110394540 A CN110394540 A CN 110394540A
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CN
China
Prior art keywords
welding
compressing
weldment
ontology
feed
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Granted
Application number
CN201910684158.8A
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Chinese (zh)
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CN110394540B (en
Inventor
郑永华
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Hunan Dayong Intelligent Technology Co Ltd
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Hunan Dayong Intelligent Technology Co Ltd
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Priority to CN201910684158.8A priority Critical patent/CN110394540B/en
Publication of CN110394540A publication Critical patent/CN110394540A/en
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Publication of CN110394540B publication Critical patent/CN110394540B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/1245Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2103/00Materials to be soldered, welded or cut
    • B23K2103/08Non-ferrous metals or alloys
    • B23K2103/10Aluminium or alloys thereof

Abstract

The embodiment of the present invention discloses robot welding system, including welder, ontology feed device and weldment feed device;Welder include pedestal, by base supports welding bench, be set to welding bench side welding equipment support frame and the welding equipment that is set on welding equipment support frame;Ontology feed device is used for welding position pre-set in bulk transport to welding bench to be welded;Welding equipment support frame includes the sliding rail for being across ontology feed device, and welding equipment includes the agitating friction weldering host being installed on sliding rail, and it is identical as the extending direction of sliding rail that agitating friction welds host solder joint formation direction in implementing welding process;Weldment feed device include for conveying the transfer structure of weldment, the crawl arm for grabbing weldment and to provide the compressing member of normal pressure to weldment in welding implementation process, compressing member be used to provide weldment in welding implementation process with the limit that form direction vertical of solder joint.

Description

Robot welding system
Technical field
The present invention relates to welding technology fields, more particularly to a kind of robot welding system.
Background technique
It is the major way of current traffic sign processing using hand riveting's mode.Staff is first by direction board body Tiling on the table, then puts rib to designated position as required, matches in direction board body and rib and bores riveted holes, Rib is removed after being numbered on rib, direction board body is turned over, then the riveted holes on direction board are expanded at counterbore, by riveting Nail applies gluing rear plug and enters counterbore, and all counterbores turn over direction board body after all filling up rivet, then rib is compiled as corresponding It number is placed in direction board body, finally completes and press.Whole process is very cumbersome, large labor intensity, every one piece of production Traffic sign, staff are required to be repeated once such operation, and one side manual operation is easy error, and it is strong to work Degree is big, and manufacture efficiency is low;Strenuous vibration and much noise can be generated when on the other hand pressing, prolonged hand labor can be to work People generates infliction of body.
Summary of the invention
In order to solve existing technical problem, offer of the embodiment of the present invention can reduce manual operation, manufacture efficiency High robot welding system.
In order to achieve the above objectives, the technical solution of the embodiment of the present invention is achieved in that
A kind of robot welding system, including welder, ontology feed device and weldment feed device;The welding dress Set including pedestal, by the base supports welding bench, be set to the welding bench side welding equipment branch Support and the welding equipment being set on the welding equipment support frame;The welding bench is across the ontology feeding Device, the ontology feed device are used for welding position pre-set in bulk transport to be welded to the welding bench It sets;The welding equipment support frame includes the sliding rail for being across the ontology feed device, and the welding equipment includes being installed on Agitating friction on the sliding rail welds host and can carry over the extending direction movement of the sliding rail, and the agitating friction weldering host exists It is identical as the extending direction of the sliding rail to implement solder joint formation direction in welding process;The weldment feed device includes being used for Convey the transfer structure of weldment, the crawl arm for grabbing the weldment and to mention in welding implementation process to weldment For the compressing member of normal pressure, the compressing member is used to provide the described formation of the weldment in welding implementation process with the solder joint The vertical limit in direction.
Wherein, the crawl arm includes handgrip and the rotary shaft for controlling the handgrip rotation, the compressing member connection Between the rotary shaft and the handgrip, the compressing member is generally U-shaped, and the handgrip is located at the U-shaped of the compressing member and opens The end of mouth.
Wherein, the compressing member includes the independent compressing structure of position-adjustable, and the independent compressing structure includes being used for The first direction compressing structure and second direction compressing structure of different directions limit are provided to weldment.
Wherein, the welding bench includes the more crossbeams for being parallel to each other and being spaced apart from each other, the welding equipment support Frame further includes being set to below the sliding rail and the crossbeam concordant with the welding bench, the first direction compressing structure and The second direction compressing structure is installed between the crossbeam.
Wherein, the first direction compressing structure and second direction compressing structure respectively include mounting plate, be connected to it is described Compressing fixture below mounting plate, the cylinder and motor that are connect with compressing fixture above mounting plate, the first direction The direction of card slot in the compressing fixture of compressing structure in the compressing fixture of the direction of card slot and the second direction compressing structure It is mutually perpendicular to, the sliding block with beam engagement is additionally provided on the mounting plate.
Wherein, the pedestal of the welder includes the platform seat for being respectively arranged at the two sides of ontology feed device, The welding bench is connected to the top of the platform seat, the quantity of the platform seat be it is multiple, be located at described The bottom end of multiple platform seats of the same side of ontology feed device and same bottom plate are detachably connected, and platform seat Bottom end and the bottom plate before be formed with matched guiding block and guide channel.
Wherein, the welding equipment support frame includes gantry support base being set side by side with the platform seat, described The height of gantry support base is greater than the height of the platform seat, and the sliding rail is connected to the top of gantry support base, The bottom end of gantry support base is detachably connected with same bottom plate jointly with ipsilateral platform seat, and gantry support base Matched guiding block and guide channel are formed between bottom end and the bottom plate.
Wherein, level adjusting structure is additionally provided on the bottom plate.
Wherein, the ontology feed device includes the conveyer belt for carrying the ontology, and the conveyer belt includes conveying Band front end and conveyer belt rear end, the conveyer belt front end include multiple independent segmentations, the machinery being set between adjacent sectional Push rod and for providing the driving motor of power for conveyer belt, the mechanical push rods are for adjusting the ontology in the conveying The position taken.
Wherein, the weldment feed device further includes that the crawl arm support frame of support, the crawl are provided for crawl arm Arm support frame includes X-axis track, Y-axis track and Z axis track, and the crawl arm is fixed on the bottom end of the Z axis track, described X-axis track, the Y-axis track and the Z axis track provide X-direction, Y direction and Z axis side jointly for the crawl arm To displacement.
Robot welding system provided by above-described embodiment passes through the welder, ontology feed device and weldment Feed device can realize the automatic welding between ontology and weldment jointly, wherein welding equipment includes being installed on sliding rail On agitating friction weld host, the setting of sliding rail can provide agitating friction weldering host and be formed in implementing welding process in solder joint The displacement in direction promotes the welding quality of welded joint so as to form the welded joint of sliding;Weldment feed device Including to provide the compressing member of normal pressure to weldment in welding implementation process, the compressing member is used to provide the described weldment and exists Limit vertical with the formation direction of the solder joint in implementation process is welded, avoids producing between weldment and ontology in welding process Raw relative displacement, and can be suitable for the welding of the weldment of different direction and ontology, effective guarantee welding precision and welding Quality.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot welding system in the embodiment of the present application;
Fig. 2 is the schematic diagram of conveyer belt front end in the embodiment of the present application;
Fig. 3 is the schematic diagram of conveyer belt rear end in the embodiment of the present application;
Fig. 4 is the schematic diagram of welder in the embodiment of the present application;
Fig. 5 is the schematic diagram of welding bench in the embodiment of the present application;
Fig. 6 is the schematic diagram of welding equipment in the embodiment of the present application;
Fig. 7 is the schematic diagram of welding equipment support frame in the embodiment of the present application;
Fig. 8 is the schematic diagram of the embodiment of the present application insole board;
Fig. 9 is the schematic diagram of the transfer structure of weldment feed device in the embodiment of the present application;
Figure 10 is the schematic diagram of weldment feed device in the embodiment of the present application;
Figure 11 is the structural schematic diagram of another angle of robot welding system in the embodiment of the present application;
Figure 12 is the structural schematic diagram of another angle of robot welding system in the embodiment of the present application;
Figure 13 is the structural schematic diagram of robot welding system in another embodiment of the application
Figure 14 is the welded schematic diagram of X-axis in the embodiment of the present application;
Figure 15 is the welded schematic diagram of Y-axis in the embodiment of the present application.
Specific embodiment
Technical solution of the present invention is further described in detail below in conjunction with Figure of description and specific embodiment.It removes Non- defined otherwise, all technical and scientific terms used herein are led to those skilled in the art of the invention are belonged to The meaning understood is identical.The term used in specification specific embodiment of the invention is intended merely to description tool herein The purpose of the embodiment of body, it is not intended that in the limitation present invention.In the following description, it is related to the statement of " some embodiments ", Which depict the subsets of all possible embodiment it should be appreciated that " some embodiments " can be all possible real The same subsets or different subsets of example are applied, and can be combined with each other in the absence of conflict.
Fig. 1 show the structural schematic diagram of robot welding system provided by the embodiment of the present invention, the automatic welding system System includes welder 30, ontology feed device 10 and weldment feed device 20.The welder 30 include pedestal 31, by The welding bench 33 that the pedestal 31 supports and the welding equipment 35 being set to above the welding bench 33.It should be certainly Dynamic welding system is used to weldment being fixed to ontology by welding.In the course of work, ontology feed device 10 is used In by bulk transport to be welded to pre-set welding position;Weldment feed device 20 is for grabbing welding to be welded Part, and weldment is transported to the position for welding point alignment corresponding on the ontology;Welder 30 is across ontology and send Expect the top of device 10, welding bench 33 is located at the top of the pre-set welding position of the ontology feed device 10, welds The plumb joint 351 for connecing equipment 35 is directed at the weldment pad to be connected corresponding on ontology and implements to weld.
In an optional embodiment, which is traffic sign welding system, is referred to for welding traffic Show that board, ontology refer to traffic sign ontology, preferably aluminium sheet.Weldment refers to the muscle being welded on traffic sign ontology Item, rib can play the intensity of the ontology of support reinforcing traffic sign and convenient for traffic sign to be affixed to The effect of setting position on road.According to different usage scenario and demand, the shape and size of traffic sign not phase It together, can be according to all kinds of intelligent friendships of road real-time traffic flow situation intelligent display and control with the development of intellectualized technology Logical direction board also gradually appears, these intelligent traffic direction boards may further comprise indicator light, electrical screen and for connecting The various routes of indicator light and electrical screen are connect, so that the weight of traffic sign increases, it is ensured that the connection between rib and ontology Intensity will directly influence the safety and service life that traffic sign uses.The traffic provided through the embodiment of the present invention The welding of the traffic sign to different categories can be realized in direction board welding system without human intervention.
Fig. 2 and Fig. 3 are please referred to, which includes for transmitting the conveyer belt 11 of ontology, positioned at defeated The sensor 13 for sending the belt-driven motor 12 of 11 lower section of band and being set to 11 top of conveyer belt.The conveyer belt 11 carry over and can be divided into conveyer belt front end 112 and conveyer belt rear end 113 on the traffic direction that ontology is transmitted, wherein conveyer belt Driving motor 12 is set to the lower section of conveyer belt front end 112, and sensor is set to the welding position that conveyer belt front end 112 is arranged close to The place set, the conveyer belt of the conveyer belt front end 112 are divided into multiple independent segmentations, in conveyer belt 11 between adjacent two sections At least side is provided with mechanical push rods 114, and it is sliding that the mechanical push rods 114 can carry over the interval between adjacent two sections of conveyer belts 11 Dynamic, the glide direction of the mechanical push rods 114 carries over that the traffic direction that ontology is transmitted is vertical, and ontology is located at conveyer belt with conveyer belt On 11 and when carrying over the direction of transfer movement of conveyer belt 11, mechanical push rods 114 can be resisted against the side of ontology, it is ensured that ontology exists Position on conveyer belt 11 is correct.It should be noted that it is directed to the ontology of different sizes and shapes, it can be to mechanical push rods 114 Position be adjusted correspondingly setting, to ensure that ontology feed device 10 can adapt in more application scenarios.
Sensor 13 is used for position of the detection body on conveyer belt 11, when sensor 13 detects that ontology moves to accordingly When position, sensor 13 sends control signals to belt-driven motor 12, controls ontology according to control signal by driving motor Transmitting range.In the present embodiment, sensor can be set on conveyer belt front end 112 close to the pre-set welding position The one end set then sends a control signal to the belt-driven electricity when sensor detects that ontology moves to current location Machine 12, to control the belt-driven motor 12 stopping.Wherein, transmission belt driving motor 12 can control the transmission ginseng of conveyer belt Number, including direction of transfer, transmission speed and transmitting range etc. can not also include in some alternative embodiments sensing Device, and passing a parameter for the size and conveyer belt previously according to ontology calculates the running parameter of belt-driven motor, it is ensured that it can With by bulk transport to pre-set welding position.
Fig. 4 and Fig. 5 are please referred to, the pedestal 31 of the welder 30 includes being respectively arranged at ontology feed device 10 The platform seat 310 of two sides, welding bench 33 are connected to the top of the platform seat 310.Welding bench 33 is horizontal Across the top of the ontology feed device 10, the quantity of the platform seat 310 be it is multiple, positioned at ontology feed device 10 The bottom end of multiple platform seats 310 of the same side and same bottom plate 313 are detachably connected, and each platform seat 310 The ribs of multiple sheets is equally spaced equipped with along its circumferencial direction with the junction of bottom plate 313, the welder 30 is whole logical Cross bottom plate 313 and ground face contact, it can be ensured that steadily contact between welder 30 and ground.The welding bench 33 is in flat Plate, including horizontal working face.Welder 30 further includes being set to the welding of one end of the welding bench 33 to set Standby support frame 36.The welding equipment support frame 36 includes being located at the two of ontology feed device 10 with the pedestal 31 respectively The two gantry support bases 361 and be connected to 361 top of gantry support base that the platform seat 310 of side is set side by side Sliding rail 362.The height of gantry support base 361 is greater than the height of platform seat 310, the host setting of the welding equipment 35 In on the sliding rail 362, the direction of transfer of the extending direction and the conveyer belt of the sliding rail 362 is mutually perpendicular to, and host can Carry over the direction sliding of sliding rail 362.It in order to facilitate understanding and describes, the direction of transfer of conveyer belt is set to Y direction, then sliding rail 362 extending direction is that the glide direction of X-direction namely the plumb joint 351 of the welding equipment 35 is X-direction.
Referring to Fig. 6, the host include the pad being arranged on face welding bench 33 plumb joint 351, For the plumb joint 351 provide high-revolving spindle motor 352 and be the plumb joint 351 provide normal pressure deceleration electricity Machine 353.In the present embodiment, the host further includes tying close to the compressing structure of the plumb joint 351 setting, for the compression The compression bar 354 that structure provides the cylinder 356 of power and connect with cylinder 356.The end of the compressing structure is in close to the weldering The position of connector 351 is provided with pulley 355, and the extreme lower position of the pulley 355 and the plumb joint 351 are substantially concordant, and pulley 355 can carry over the glide direction of sliding rail 362 according to host and move.The extending direction with sliding rail 362 is additionally provided on the host Vertical guide rail, by taking the transmission direction of conveyer belt is Y-axis, the extending direction of sliding rail 362 is X-axis as an example, the extending direction of guide rail For Z axis.Spindle motor 352 is set on the guide rail jointly together with plumb joint 351, and decelerating motor 353 is driven by bearing screw rod Dynamic spindle motor 352 carries over the extending direction of guide rail and moves up and down.Decelerating motor 353 by control spindle motor 352 together with Plumb joint 351 carries over guide rail jointly and moves up and down, adjustable welding precision, while real in plumb joint 351 for spindle motor 352 Welding provides enough normal pressures during connecing.
In an optional embodiment, Fig. 7 and Fig. 8, the bottom end of gantry support base 361 and bottom plate are please referred to The side of 313 connections is additionally provided with guiding block, and optionally, the bottom end of the platform seat 310 of welder 30 is connect with bottom plate 313 Side also be provided with guiding block, bottom plate 313 is equipped with and the matched guide channel 314 of the guiding block.Welder 30 can lead to The guiding block for crossing 310 bottom end of platform seat slides in guide channel 314 and adjusts installation site, likewise, welding equipment branch Support 36 can also be slided in guide channel 314 by the guiding block of 361 bottom end of gantry support base and adjust installation site, thus The multistage of welding position and welding equipment 35 of the ontology on welding bench 33 is easy to implement to adjust.On the bottom plate 313 also It is provided with level adjusting structure 316, which may be implemented to 31 He of pedestal being installed on the bottom plate 313 The fine tuning of welding equipment support frame 36 in the horizontal direction is the sliding rail on welding bench 33 and welding equipment support frame 36 362 adjust level.
Fig. 9 and Figure 10 are please referred to, the weldment feed device 20 includes the transmission knot for carrying and conveying weldment Structure 24, the crawl arm for grabbing weldment and the crawl arm support frame 27 of support is provided for crawl arm.The transfer structure 24 Including conveyer belt 241, the motor 243 for driving conveyer belt 241 to move and the position limiting structure for being set to 241 surface of conveyer belt 242.By the position limiting structure 242 in the surface of conveyer belt 241 formed it is multiple it is being separated from each other, for accommodating different welding respectively The accommodating space of part, transfer structure 24 can form the accommodating space of multiple and different shape and size by position limiting structure 242, with The weldment for accommodating corresponding different shape and size respectively is easy to implement the transmission and not of the weldment under different implement scenes With the welding between weldment and ontology.The crawl arm support frame 27 includes crawl arm support base, is set to the crawl arm branch Support X-axis guide rail 21, Y-axis guide rail 22 and the Z axis guide rail 23 on seat top.The crawl arm is fixed on the bottom of the Z axis guide rail 23 End.Wherein, X-axis guide rail 21 is connected between the top of crawl arm support base across ontology feed device 10, Y-axis guide rail 22 Extending direction and the extending direction of X-axis guide rail 21 are mutually perpendicular to, and the Y-axis guide rail 22 connect with the X-axis guide rail 21 one End is equipped with guiding block, and X-axis guide rail 21, which is equipped with, is housed in guide channel that is interior and can sliding inside it for the guiding block 314, Y-axis guide rail 22 is slided in the guide channel 314 of X-axis guide rail 21 by guiding block realizes crawl arm in the position of X-direction Set adjusting.Z axis guide rail 23 connect one end with Y-axis and is equipped with the sliding block for protruding from surface, and Y-axis guide rail 22 is equipped with for sliding block receiving Inside and the sliding slot that can be slided in it, Z axis guide rail 23 is slided in the sliding slot of the Y-axis guide rail 22 by sliding block realizes and grabs Arm is taken to adjust in the position of Y direction.Mutually matched guiding knot is additionally provided between the side of sliding block and the Z axis guide rail 23 Structure can adjust the position of the different height of Z axis guide rail 23 by the guiding structure between Z axis guide rail 23 and Y-axis guide rail 22 The connection with Y-axis guide rail 22 is set, is connect by adjusting the different location in the Z axis guide rail 23 with Y-axis guide rail 22, realizes crawl The position of arm in the Z-axis direction is adjusted.
The crawl arm includes the rotary shaft 24 for being set to 23 end of Z axis guide rail, is used for what the rotary shaft 24 was connect For the handgrip 25 that weldment is provided the compressing member 26 of pressing force and connect with the compressing member 26 in welding implementation process. The generally U-shaped plate of the compressing member 26, two handgrips 25 are set to the end of the U-shaped opening of the compressing member 26, compress Part 26 is used to provide the described weldment limit vertical with the formation direction of the solder joint in welding implementation process.The rotation Axis 24 is located on the periphery of Z axis guide rail 23, and can rotate around Z axis guide rail 23, so as to drive compressing member 26 and handgrip 25 It is rotated around Z axis guide rail 23.The crawl to match with the shape at the position to be grabbed on weldment is provided on the handgrip 25 Weldment is transported to predeterminated position by transfer structure by structure, during the work time, the weldment feed device 20, passes through X Axis rail 21, Y-axis guide rail 22 and Z axis guide rail 23, corresponding adjusting handgrip 25 carries over X-direction and moves left and right distance, carries over Y respectively Axis direction, which is moved forward and backward distance and carries over Z-direction, moves up and down the predeterminated position that distance is moved on the transfer structure, grabs Hand 25 grabs and accordingly adjusts handgrip 25 after corresponding weldment and again by X-axis guide rail 21, Y-axis guide rail 22 and Z axis guide rail 23 Carry over X-direction move left and right distance, carry over Y direction be moved forward and backward distance and carry over Z-direction move up and down distance move It moves to the position of welding point alignment corresponding on the ontology, at this point it is possible to as desired by rotary shaft 24 is adjusted around Z Axis rail 23 rotates and adjusts handgrip 25 and to be aligned relative to the position of corresponding pad, can also be by handgrip 25 Cylinder and adjust compressing member 26 to pressing force provided by weldment, it is ensured that for welding implementation process in weldment provide continue Pressing force and promote welding effect.
Figure 11 and Figure 12 are please referred to, robot welding system provided by the embodiment of the present invention passes through welder 30, ontology Feed device 10 and weldment feed device 20 can realize the automatic welding between ontology and weldment jointly, wherein weldering The host for connecing equipment 35 includes the compressing structure being arranged close to plumb joint 351, which includes that moving direction carries over solder joint The pulley 355 for forming direction follows plumb joint 351 in implementing welding process with the formation direction of solder joint by pulley 355 It is common mobile, the quality of solder joint can be promoted, it is ensured that welding effect;Weldment feed device 20 includes in welding implementation process To weldment provide normal pressure compressing member 26, the compressing member 26 be used to provide the described weldment welding implementation process in The solder joint forms the vertical limit in direction, avoids generating relative displacement in welding process between weldment and ontology, and energy It is enough to be suitable for the welding of the weldment of different direction and ontology, effective guarantee welding precision and welding quality.
By taking ontology is the ontology aluminium sheet of traffic sign, weldment is the rib on the aluminium sheet of traffic sign as an example, this The course of work of robot welding system provided by embodiment may include steps of: the first, putting aluminium sheet to conveyer belt End 112 after adjusting good position by mechanical push rods 114, drives aluminium sheet to move along the y axis to welding bench 33 from conveyer belt It is dynamic.The second, aluminium sheet to welding bench 33 it is mobile during after trigger sensor, driving motor control conveyer belt transmits again to be referred to Stop after set a distance.Aluminium sheet reaches exactly to the designated position on welding bench 33 at this time.Third, welding equipment 35 carry over welding The sliding rail 362 of equipment support 36 is moved in the X-axis direction to the place with the welding position face on aluminium sheet.4th, weldment Feed device 20 drives crawl arm to move to the position of transfer structure by the X-axis guide rail 21 on crawl arm support base top, rotates Axis 24 is rotated by 90 °, and crawl arm is adjusted to Y direction, Z axis guide rail from the current position for carrying over 21 traffic direction of X-axis guide rail 23 move to crawl position down, and Z axis guide rail 23 up moves after crawl arm crawl rib, then is led by X-axis guide rail 21, Y-axis Rail 22 and rotary shaft 24 cooperate, and rib are transported to the welding position that aluminium sheet is placed on welding bench 33, at this time handgrip 25 On cylinder starting and handgrip 25 and rib are compacted on welding bench 33 down together.5th, the master of welding equipment 35 Welding, while the compression knot on welding equipment 35 are implemented in the 351 face aluminium sheet of plumb joint of machine and the position of the pad on rib Structure provides downward pressing force, and there is the displacement of a little X-direction at pad position while welding.6th, after having welded a point Control plumb joint 351 leaves current pad and returns to initial position.Crawl arm and welding equipment 35 synchronize carry over X-direction fortune Next pad is moved, the 5th step is repeated, until the welding of monolith rib and aluminium sheet is completed.7th, crawl arm returns to Origin.8th, welding equipment 35 returns to origin.9th, soldered aluminium sheet is moved along by the starting of conveyer belt rear end 114 Specified distance, such as position of next rib welding repeat abovementioned steps until the rib on monolith aluminium sheet is welded and completed, such as The automatic welding of traffic sign can be realized without manual operation for this, reduces human cost, manufacture efficiency height and ensures to weld Effect.
It should be noted that the course of work of above-mentioned robot welding system, which refers to the process of, is soldered to aluminium sheet for X-axis rib, Y-axis rib easily can also be soldered to aluminium sheet by the robot welding system, at this point, the course of work of the robot welding system can To include the following steps: first, put aluminium sheet to conveyer belt front end 112, after adjusting good position by mechanical push rods 114, by Conveyer belt drives aluminium sheet mobile to welding bench 33 along the y axis.The second, during aluminium sheet is moved to welding bench 33 After trigger sensor, driving motor control conveyer belt stops after transmitting distance to a declared goal again.Aluminium sheet reaches exactly to welding at this time Designated position on platform 33.Y-axis rib is sent to setting position by third, rib conveyer belt, and crawl arm will grab after being rotated by 90 ° Hand is adjusted to the orientation Y, and Z axis guide rail moves to crawl position down, and Z axis guide rail up moves after grappling fixture crawl rib, crawl arm Cooperated again by X-axis guide rail 21, Y-axis guide rail 22 and rotary shaft 24, rib is transported on welding bench 33 and is placed with aluminium sheet Welding position.4th, the sliding rail 362 where welding equipment 35 carries over it is moved to welding position.5th, welding equipment 35 Welding, while the compression on welding equipment 35 are implemented in the 351 face aluminium sheet of plumb joint of host and the position of the pad on rib Structure provides downward pressing force, and there is the displacement of a little Y direction at pad position while welding.6th, a point has been welded Control plumb joint 351 leaves current pad and returns to initial position afterwards.Crawl arm and welding equipment 35 synchronize carry over Y direction Next pad is moved to, the 5th step is repeated, until the welding of monolith rib and aluminium sheet is completed.7th, crawl arm is retracted To origin.8th, welding equipment 35 returns to origin.9th, conveyer belt rear end 114 starts the past Forward of soldered aluminium sheet Specified distance, such as position of next Y-axis rib welding are moved, repeats abovementioned steps until the rib on monolith aluminium sheet has welded At being so not necessarily to manual operation can be realized the automatic welding of traffic sign, and it is high and true to reduce human cost, manufacture efficiency Protect welding effect.
In above-mentioned robot welding system, welding equipment 35 welds host equipment using agitating friction, is welded by agitating friction real Now to the welding of the ontology aluminium sheet of traffic sign, welding quality can be promoted.Wherein, by designing welding equipment support frame 36, agitating friction weldering host is installed in the direction sliding that on the sliding rail 362 of welding equipment support frame 36 and can carry over sliding rail 362, On the one hand adjustable agitating friction weldering host make its can face weld locations, on the other hand can provide agitating friction weldering host Implementing the mobile redundancy of the weld locations in welding process, is forming the welded joint of sliding, promote the weldering of welded joint Connect quality.In addition, being provided with compressing structure close to the position of plumb joint 351, the pulley 355 of the end setting of compressing structure is being welded It connects the movement that can follow plumb joint 351 while downward pressing force is provided in implementation process and slides, can obtain preferably Assist the effect compressed.Weldment feed device 20 can accommodate different welding by setting position limiting structure 212 on conveyer belt 211 Part provides the locomitivity in X-direction, Y direction and Z-direction by setting crawl arm support frame 27 for crawl arm, and The crawl arm is provided with rotary shaft 24 and compressing member 26, and crawl arm support frame 27 can match jointly with rotary shaft 24, compressing member 26 It closes, may be implemented to be moved to after the crawl to the weldment of different shape, size welding position and face weld locations It is accurately positioned, structure is simple, the crawl of weldment is more flexible, and is applicable to more application scenarios.
It is understood that the structure of the robot welding system is not limited to mode provided in above-described embodiment, Optionally, the compressing member 26 in weldment feed device 20 can be not limited to be set between handgrip 25 and rotary shaft 24, can also Using other independent compressing structures.Figure 13 is please referred to, unlike previous embodiment, crawl arm does not include and rotary shaft The compressing members 26 of 24 connections, the welding bench 33 of welder 30 is by being parallel to each other and being spaced apart from each other more crossbeam groups of setting At being provided with the crossbeam being located in same level with the crossbeam of welding bench 33 on welding equipment support frame 36.The welding Part feed device 20 further includes the independent compression being set on the crossbeam of welding equipment support frame 36 and the crossbeam of welding platform Structure, the independent compressing structure include for providing the first direction compressing structure and second party of different directions limit to weldment It is respectively X-axis compressing structure 261 and Y-axis compressing structure 263 in the present embodiment, wherein X-axis compressing structure 261 to compressing structure Substantially aligned with the position of the plumb joint 351 of welding equipment 35, X-axis compressing structure 261 is connected to welding equipment support frame 36 Between crossbeam and the crossbeam of welding bench 33, Y-axis compressing structure 263 is connected between the crossbeam on welding bench 33.
The first direction compressing structure and second direction compressing structure respectively include mounting plate 264, are connected to the peace Compressing fixture 265, the cylinder 266 being connect with compressing fixture 265 and motor above mounting plate 264 of 264 lower section of loading board 267.The direction of card slot is parallel with the extending direction of rib to be welded in the compressing fixture 265 of the first direction compressing structure. Figure 14 is please referred to, specifically, X-axis compressing structure 261 includes mounting plate 264, the X-axis pressing clip for being connected to 264 lower section of mounting plate Tool 265 and the cylinder 266 being connect with X-axis compressing fixture 265 and motor 267 above mounting plate 264.The mounting plate 264 are equipped with the first sliding block 268, the Yi Jiling for connecting one end of X-axis compressing structure 261 with the crossbeam on welding bench 33 The second sliding block 268 that one end is connect with the crossbeam on welding equipment support frame 36.It is formed on X-axis compressing fixture 265 for solid Determine the dentation card slot at rib edge, cylinder 267 is used to provide downward normal pressure for X-axis compressing fixture 265, and motor 267 is used for The movement for carrying over crossbeam direction for X-axis compressing structure 261 provides power.The X-axis compressing structure 261 may include two, set up separately In the left and right sides of crossbeam, the compression for the left and right sides of rib provides balance.Please refer to Figure 15, Y-axis compressing structure 263 and X The structure of shaft compression structure 261 is similar, including mounting plate 264, the Y-axis compressing fixture 265 for being connected to 264 lower section of mounting plate, position The cylinder 266 connecting with Y-axis compressing fixture 265 and motor 267 above mounting plate 264, mounting plate 264 are equipped with Y-axis Two sliding blocks 268 that the both ends of compressing structure 263 are connect with two adjacent beams being spaced apart from each other on welding bench 33 respectively, Main difference between Y-axis compressing structure 263 and X-axis compressing structure 261 is that is formed on the Y-axis compressing fixture 265 is used for The direction of dentation card slot and the direction of the card slot on X-axis compressing fixture 265 at fixed rib edge are mutually perpendicular to.X-axis compresses knot The extending direction sliding of crossbeam where structure 261 and Y-axis compressing structure 263 can carry over it, and to the different location of weldment reality Press clamp force.
The course of work of the robot welding system is identical as robot welding system shown in previous embodiment, no longer superfluous herein It states.Its difference is to further include the position for adjusting Y-axis compressing structure 263 and X-axis compressing structure 261 in independent compressing structure, with By Y-axis compressing structure 263 and X-axis compressing structure 261 to more balanced auxiliary of the aluminium sheet and rib offer implemented in welding process Pressing aid clamp force is also convenient for providing equilibrium according to the welding of the aluminium sheet and rib of different shape, size under different application scene Assist pressing force.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain Lid is within protection scope of the present invention.Protection scope of the present invention should be with the scope of protection of the claims with standard.

Claims (10)

1. a kind of robot welding system, which is characterized in that including welder, ontology feed device and weldment feed device; The welder include pedestal, by the base supports welding bench, be set to the side of the welding bench Welding equipment support frame and the welding equipment being set on the welding equipment support frame;The welding bench is across institute Ontology feed device is stated, the ontology feed device in bulk transport to be welded to the welding bench for will set in advance The welding position set;The welding equipment support frame includes the sliding rail for being across the ontology feed device, the welding equipment Including the agitating friction weldering host being installed on the sliding rail and the extending direction movement that can carry over the sliding rail, the stirring rub It is identical as the extending direction of the sliding rail to wipe weldering host solder joint formation direction in implementing welding process;The weldment feeding dress It sets including the transfer structure for conveying weldment, the crawl arm for grabbing the weldment and in welding implementation process To weldment provide normal pressure compressing member, the compressing member be used to provide the described weldment welding implementation process in it is described Solder joint forms the vertical limit in direction.
2. system as described in claim 1, which is characterized in that the crawl arm includes handgrip and rotates for controlling the handgrip Rotary shaft, the compressing member is connected between the rotary shaft and the handgrip, and the compressing member is generally U-shaped, described to grab Hand is located at the end of the U-shaped opening of the compressing member.
3. the system as claimed in claim 1, which is characterized in that the compressing member includes that the independent of position-adjustable compresses knot Structure, the independent compressing structure include for providing the first direction compressing structure and second party of different directions limit to weldment To compressing structure.
4. system as claimed in claim 3, which is characterized in that the welding bench includes more and is parallel to each other and each other Every crossbeam, the welding equipment support frame further includes being set to below the sliding rail and the cross concordant with the welding bench Beam, the first direction compressing structure and the second direction compressing structure are installed between the crossbeam.
5. system as claimed in claim 3, which is characterized in that the first direction compressing structure and second direction compressing structure Respectively include mounting plate, the compressing fixture being connected to below the mounting plate, connecting above mounting plate with compressing fixture Cylinder and motor, the direction of card slot and the second direction compressing structure in the compressing fixture of the first direction compressing structure Compressing fixture in the direction of card slot be mutually perpendicular to, the sliding block with beam engagement is additionally provided on the mounting plate.
6. the system as claimed in claim 1, which is characterized in that the pedestal of the welder includes being respectively arranged at ontology to send Expect that the platform seat of the two sides of device, the welding bench are connected to the top of the platform seat, the platform branch The quantity for supportting seat is multiple, bottom end and same bottom plate positioned at multiple platform seats of the same side of the ontology feed device It is detachably connected, and matched guiding block and guide channel are formed with before the bottom end of platform seat and the bottom plate.
7. system as claimed in claim 6, which is characterized in that the welding equipment support frame includes and the platform seat Gantry support base being set side by side, the height of gantry support base are greater than the height of the platform seat, and the sliding rail connects Be connected to the top of gantry support base, the bottom end of gantry support base and ipsilateral platform seat jointly with same bottom plate It is detachably connected, and is formed with matched guiding block and guide channel between the bottom end of gantry support base and the bottom plate.
8. system as claimed in claim 7, which is characterized in that be additionally provided with level adjusting structure on the bottom plate.
9. the system as claimed in claim 1, which is characterized in that the ontology feed device includes for carrying the ontology Conveyer belt, the conveyer belt include conveyer belt front end and conveyer belt rear end, the conveyer belt front end include multiple independent segmentations, The mechanical push rods that are set between adjacent sectional and for providing the driving motor of power for conveyer belt, the mechanical push rods are used In position of the adjustment ontology on the conveyer belt.
10. the system as claimed in claim 1, which is characterized in that the weldment feed device further includes providing for crawl arm The crawl arm support frame of support, the crawl arm support frame include X-axis track, Y-axis track and Z axis track, the crawl arm It is fixed on the bottom end of the Z axis track, the X-axis track, the Y-axis track and the Z axis track are the crawl jointly The displacement of arm offer X-direction, Y direction and Z-direction.
CN201910684158.8A 2019-07-26 2019-07-26 Automatic welding system Active CN110394540B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004276056A (en) * 2003-03-14 2004-10-07 Kawasaki Heavy Ind Ltd Two-sides friction stir joining device
CN203426589U (en) * 2013-06-14 2014-02-12 云南驰宏锌锗股份有限公司 Large-area zinc electrolysis anode plate stirring and friction welding set
CN205200851U (en) * 2015-12-01 2016-05-04 长沙长泰机器人有限公司 Flexible grasping system is used in welding
CN106166642A (en) * 2015-12-29 2016-11-30 中国科学院沈阳自动化研究所 The mobile feed tooling of a kind of long weld seam welding
CN106514271A (en) * 2016-12-14 2017-03-22 宁波金凤焊割机械制造有限公司 Copper strip or copper alloy strip friction stir welding equipment
CN109807461A (en) * 2019-03-20 2019-05-28 江阴海虹精密机械有限公司 The Friction Stir Welding line and its welding procedure of complicated water runner water-cooled plate

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004276056A (en) * 2003-03-14 2004-10-07 Kawasaki Heavy Ind Ltd Two-sides friction stir joining device
CN203426589U (en) * 2013-06-14 2014-02-12 云南驰宏锌锗股份有限公司 Large-area zinc electrolysis anode plate stirring and friction welding set
CN205200851U (en) * 2015-12-01 2016-05-04 长沙长泰机器人有限公司 Flexible grasping system is used in welding
CN106166642A (en) * 2015-12-29 2016-11-30 中国科学院沈阳自动化研究所 The mobile feed tooling of a kind of long weld seam welding
CN106514271A (en) * 2016-12-14 2017-03-22 宁波金凤焊割机械制造有限公司 Copper strip or copper alloy strip friction stir welding equipment
CN109807461A (en) * 2019-03-20 2019-05-28 江阴海虹精密机械有限公司 The Friction Stir Welding line and its welding procedure of complicated water runner water-cooled plate

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