CN110480359A - Gas spring is flared welding integrated automatically - Google Patents
Gas spring is flared welding integrated automatically Download PDFInfo
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- CN110480359A CN110480359A CN201910752743.7A CN201910752743A CN110480359A CN 110480359 A CN110480359 A CN 110480359A CN 201910752743 A CN201910752743 A CN 201910752743A CN 110480359 A CN110480359 A CN 110480359A
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- 229910000679 solder Inorganic materials 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
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Abstract
The present invention relates to gas spring technical field of processing equipment, especially a kind of gas spring is flared welding integrated automatically, a process is flared and is welded to connect for the cylinder barrel to gas spring, the welding integrated flaring includes: mobile manipulator mechanism, flaring mechanism, assembly mechanical hand, connector feed mechanism, connector conveying robot and rotary welding mechanism, it welds the cylinder barrel that material grasping manipulator is used to be crawled and assembled on manipulator and is moved to rotary welding mechanism with moveable cylinder, rotary welding mechanism is used to the connector being fitted on cylinder barrel being welded on the cylinder barrel, the present invention operates cylinder barrel using mobile manipulator mechanism, make it successively through flaring mechanism, assembly mechanical hand and rotary welding mechanism, to realize the automatic flaring of cylinder barrel, automatic assembling with connector and the automatic welding between connector, whole process need not Artificial to participate in, production efficiency can be greatly improved in high degree of automation, and welding quality is high.
Description
Technical field
The present invention relates to gas spring technical field of processing equipment, especially a kind of gas spring is flared welding integrated automatically.
Background technique
Gas spring is mainly made of cylinder barrel, piston and piston rod etc., wherein cylinder barrel needs to be open in its tail end after shaping
Connector of place's welding for blocking cylinder barrel tail end, and flaring processing is carried out in head end, to prevent cylinder barrel being packed into piston group
The head end opening of cylinder barrel scratches the fitting surfaces such as piston component when part；
It is in the prior art to be split as twice work for the common practice of the flaring processing of cylinder barrel and connector welding
Sequence carries out, and is flared processing and connector welding also mainly by manual operation flaring tool and soldering appliance completion, and then cause
The processing flow of entire cylinder barrel is complicated, and time-consuming and laborious, production efficiency is low, can not adapt to the requirement of mass production.
In view of this, the automation equipment that the flaring processing and connector for how designing a collection cylinder barrel are welded as a whole
It is those skilled in the art's problem in urgent need to solve.
Summary of the invention
The technical problem to be solved by the present invention is in order to solve how to design the flaring processing of a collection cylinder barrel and connect
The problem of automation equipment that head is welded as a whole, now provide a kind of gas spring be flared automatically it is welding integrated.
The technical solution adopted by the present invention to solve the technical problems is: a kind of gas spring be flared automatically it is welding integrated,
A process is flared and is welded to connect for the cylinder barrel to gas spring, and the flaring is welding integrated to include:
Mobile manipulator mechanism, have be set in rack and reciprocating feed bin material grasping manipulator, flaring material grasping
Manipulator and welding material grasping manipulator；
Cylinder barrel feed mechanism, for cylinder barrel discharge zone will to be delivered to after the cylinder barrel alignment in feed bin；
Flaring mechanism, for being flared to feed bin material grasping manipulator from the cylinder barrel that cylinder barrel discharge zone is shifted；
Assembly mechanical hand, band moveable cylinder is mobile after the cylinder barrel of the flaring material grasping manipulator crawl cylinder barrel discharge zone and turns over
Turn, grips it by assembly mechanical hand；
Connector feed mechanism, for connector to be delivered to connector discharge zone；
Connector conveying robot for grabbing and shifting the connector of connector discharge zone, and is pressed it from top
To cylinder barrel clamped by assembly mechanical hand；
And rotary welding mechanism, the cylinder barrel for welding material grasping manipulator for being crawled and assembled on manipulator simultaneously drive cylinder
Cylinder is moved to rotary welding mechanism, and the rotary welding mechanism is used to the connector being fitted on cylinder barrel being welded on the cylinder barrel
On.
It is then mechanical by feed bin material grasping using cylinder barrel feed mechanism by cylinder barrel automatic charging to cylinder barrel discharge zone in this programme
The cylinder barrel of cylinder barrel discharge zone is grabbed to flaring mechanism and is flared by hand, is then completed flaring by flaring material grasping manipulator
Cylinder barrel is moved at assembly mechanical hand, and is gripped by assembly mechanical hand, and with this, connector feed mechanism will even simultaneously
Connector automatic charging to connector discharge zone, and by connector conveying robot by the connector of connector discharge zone from top
Be pressed on cylinder barrel clamped by assembly mechanical hand, then by welding material grasping manipulator by assembly mechanical on hand install connection
The cylinder barrel of head is transferred to rotary welding mechanism and is welded, to realize automatic flaring, the automatic assembling with connector of cylinder barrel
And the automatic welding between connector.
Further, the mobile manipulator mechanism includes that displacement cylinder and sliding are set on the rack displacement plate, described
The cylinder body of displacement cylinder is fixed on rack, and the extension end of the displacement cylinder is fixedly connected with displacement plate；
The telescopic direction of the feed bin material grasping manipulator, flaring material grasping manipulator and welding material grasping manipulator along displacement cylinder
It is successively fixed on displacement plate at equal intervals, the cylinder barrel feed mechanism, flaring mechanism, assembly mechanical hand and rotary welding mechanism
Telescopic direction along displacement cylinder is successively fixed on the rack at equal intervals, and the connector feed mechanism is located at assembly mechanical hand
Side, the connector conveying robot are located at the top of assembly mechanical hand；
The purpose being designed in this way is: so that mobile manipulator mechanism is shared a displacement cylinder, each phase can be realized
Closing the accurate orderly operating of manipulator reduces control difficulty so as to effective reduced cost, and reduces failure rate.
Further, the side on the displacement plate far from feed bin material grasping manipulator is equipped with discharging catching robot, described
For discharging catching robot for grabbing soldered cylinder barrel on rotary welding mechanism, the welding material grasping manipulator is located at discharging
Between catching robot and flaring material grasping manipulator, the side of the discharging catching robot is equipped with feeding plate；
Using the setting of discharging catching robot, it can be achieved that it is moved together with displacement plate, so as to by rotary welding mechanism
Upper soldered cylinder barrel is automatically transferred to feeding plate, exports the cylinder barrel after the completion of flaring, welding automatically to realize.
Further, the feed bin material grasping machinery hand includes longitudinal feed bin cylinder and clamping jaw feed bin pneumatic-finger directed downwardly,
The cylinder body of the longitudinal direction feed bin cylinder is fixed on displacement plate, and the extension end of the longitudinal direction feed bin cylinder and feed bin pneumatic-finger are solid
Fixed connection；
In this way, feed bin pneumatic-finger can be driven to move along the vertical direction by longitudinal feed bin cylinder, and by feed bin gas
The clamping jaw referred to of starting clamps the cylinder barrel of cylinder barrel feeding area；
The flaring material grasping machinery hand includes that laterally flaring cylinder, longitudinal flaring cylinder, rotary cylinder and clamping jaw are directed downwardly
It is flared pneumatic-finger, the cylinder body of the laterally flaring cylinder is fixedly connected with displacement plate, and the cylinder body of longitudinal flaring cylinder is solid
It is scheduled on the laterally extension end of flaring cylinder, the extension end of longitudinal flaring cylinder is fixedly connected with rotary cylinder, the expansion
The output end of mouth rotary cylinder is fixedly connected with flaring pneumatic-finger；
In this way, flaring pneumatic-finger can be driven to move along the longitudinal direction by being laterally flared cylinder, it is longitudinal to be flared cylinder
It drives flaring pneumatic-finger to move along the vertical direction, and is grabbed the cylinder barrel of the horizontality on flaring mechanism by flaring pneumatic-finger
It takes, is then flared rotary cylinder and drives flaring pneumatic-finger overturning, it is made to become the cylinder of vertical state from the cylinder barrel of horizontality
Cylinder；
The welding material grasping machinery hand includes transverse weld cylinder and clamping jaw welding pneumatic-finger facing forward, the laterally weldering
The cylinder body for connecing cylinder is fixed on displacement plate, and the extension end of the transverse weld cylinder is fixedly connected with welding pneumatic-finger；
In this way, welding pneumatic-finger can be driven to move along the longitudinal direction by transverse weld cylinder, and pneumatic by welding
Finger grabs the cylinder barrel of assembly mechanical on hand.
Further, the cylinder barrel feed mechanism includes feeding cylinder, raising plate and adjustable plate, and the raising plate is along vertical
Direction is slidably arranged in the left side in feed bin, and its upper surface is the slope surface of left low and right high, the right side of the feed bin upper left side plate
The outer diameter of minimum spacing < cylinder barrel between face and the slope surface of raising plate, the bottom surface in the feed bin is from left to right gradually to updip
Tiltedly, the cylinder body of the feeding cylinder is fixed on feed bin, and the extension end of the feeding cylinder is fixedly connected with raising plate, the tune
Section plate is slidably arranged in feed bin along the longitudinal direction, and rotation is provided with adjusting screw rod on the feed bin, and the adjusting screw rod is axial
It is fixed on feed bin, and is connect with adjustable plate screw-driven.
This programme, which adjusts screw rod using rotation, draws close adjustable plate to the front side board of feed bin, to drive phase in feed bin
Mutually parallel cylinder barrel is drawn close to the front side board of feed bin together, contacts one end end face of cylinder barrel with the front side board of feed bin, the other end
End face is contacted with adjustable plate, with this that cylinder barrel in feed bin is neat into pushing away automatically, so that it is guaranteed that acquired when raising plate rises every time
Cylinder barrel be respectively positioned at the same position of slope surface, realize accurate feeding, feed bin material grasping manipulator made to be moved to preset fixed bit
The place of setting can grab a cylinder barrel.
Further, the front position of the raising plate upper surface offers downwards the first notch, the feed bin upper left side
The top of plate offers downwards for the second notch corresponding with the first notch；When raising plate rises to the first notch and second
When notch is opposed, the position at the first notch place is cylinder barrel discharge zone；It is attached to be located at the second notch on the left plate of the feed bin
It is equipped at close position close to switch；
When cylinder barrel at cylinder barrel discharge zone is ready, which can be approached switch and be incuded, and by rapid close to switch
Electrical command is issued to controller, grabs the cylinder barrel of cylinder barrel discharge zone so that controller can control feed bin material grasping manipulator in time
It takes and shifts；Wherein, the setting of the first notch and the second notch can grab cylinder from cylinder barrel discharge zone convenient for feed bin material grasping manipulator
Cylinder avoids left plate and generation interference of the feed bin material grasping manipulator when cylinder barrel discharge zone grabs cylinder barrel with raising plate and feed bin.
Due to high on the right side of the left side bottom of feed bin, cylinder barrel is easy to be deposited in the left side of feed bin under the effect of gravity, thus
It is easy to happen the case where raising plate once jacks up multiple cylinder barrels generation, when raising plate once jacks up multiple cylinder barrels, on raising plate
Slope surface then only can limit a cylinder barrel, remaining cylinder barrel can drop to again in feed bin with the rising of raising plate, however cylinder
It is easy to generate collision deformation with the cylinder barrel in feed bin when cylinder falls from raising plate；In consideration of it, once being pushed up to reduce raising plate
The case where playing multiple cylinder barrels occurs, and used scheme is specific as follows:
The adjustable plate is respectively and fixedly provided with backgauge on the medial surface of front side board in the side of feed bin anepisternite and feed bin
Plate, the striker plate tilt down from right to left, and the spacing between the lower surface and feed bin bottom surface of the striker plate is from right to left
It gradually becomes smaller；
Above-mentioned setting is gradually become smaller from right to left using the spacing between the lower surface and feed bin bottom surface of striker plate, can make cylinder
Cylinder is changed into the right side for being deposited in striker plate, to realize the orderly feeding of cylinder barrel, once jacks up multiple cylinders to reduce raising plate
The situation of cylinder occurs, and then can reduce cylinder barrel therefore and the collision deformation of generation.
Further, the left end of the striker plate is extended with lower limit portion, the left side in the lower limit portion and raising plate
Right side between minimum spacing < cylinder barrel outer diameter, between the minimum between the lower surface and feed bin bottom surface in the lower limit portion
Outer diameter away from >=single cylinder barrel, and the outer diameter of two cylinder barrels of minimum spacing < between the lower surface in lower limit portion and feed bin bottom surface
The sum of；A cylinder barrel can only be jacked up to can ensure that raising plate every time；
The right end of the striker plate, which is upturned, upper limit portion；It, can be to being deposited in backgauge using the setting in upper limit portion
Cylinder barrel on the right side of plate is limited, it is prevented to be rolled into the top of striker plate.
Further, the flaring mechanism includes the pressurized cylinder of flare seat, support plate and extension end towards flare seat, described
Flaring head is fixed on the extension end of pressurized cylinder, the support plate offers between flare seat and pressurized cylinder for fixed
The locating slot of position cylinder barrel；
It drives flaring head to move forward by pressurized cylinder, the end of cylinder barrel is flared to can realize, due to pressurization
The relatively common cylinder of cylinder has the advantages that power output is big, therefore pressurized cylinder reliable and stable can provide the dynamic of advance for flaring head
Power.
Further, it is provided with support shaft below the assembly mechanical hand, it is relatively fixed in the rack to there is height to adjust
The output end of displacements of cylinders, the height adjustment cylinder is fixed to the support shaft connection；
Support can be provided to cylinder barrel by the setting of support shaft, prevent cylinder barrel from falling off on hand from assembly mechanical, also improve
Positioning accuracy of the cylinder barrel in assembly mechanical on hand also avoids connector conveying robot certainly and connector is pressed to cylinder barrel
When, cylinder barrel is generated to bottom offset.
Further, the connector feed mechanism includes pushing material component and vibrating disk, and the pushing material component includes pusher
Cylinder, charging ram and discharging bottom plate, the discharging bottom plate are fixed in the rack, offer guide on the discharging bottom plate
Slot, the pusher cylinder are fixed on the discharging bottom plate, and the charging ram is slidably arranged in deflector chute, the pusher cylinder
Extension end be fixedly connected with charging ram, the output end of the vibrating disk top discharge track is connected to deflector chute, the vibrating disk
Discharging track extending direction and deflector chute extending direction it is arranged in a crossed manner, one end end of the deflector chute far from pusher cylinder
Position at where portion is connector discharge zone；
Further, the connector conveying robot includes longitudinal carrying cylinder, sideways transfer cylinder and carries pneumatic
Finger, it is described longitudinal direction carrying cylinder cylinder body fixed frame on, it is described longitudinal direction carrying cylinder extension end and sideways transfer cylinder
Cylinder body be fixedly connected, the extension end of the sideways transfer cylinder is fixedly connected with pneumatic-finger is carried, described to carry pneumatic hand
Downward, the motion track that pneumatic-finger is carried in the sideways transfer cylinder driving is located at connector discharge zone and assembling to the clamping jaw of finger
The surface of manipulator.
Further, the rotary welding mechanism includes the fixing seat being fixed on the rack, is rotatably installed in fixing seat
Drive roll, the sliding seat opposed with fixing seat and the contact roller being rotatably installed in sliding seat；It is arranged in the rack useful
In the rotary power unit of driving drive roll rotation and for driving sliding seat is relatively fixed to seat against or separate side compresses
Power device；
The drive roll and contact roller are arranged in parallel, the sum of quantity of the drive roll and contact roller >=tri-, institute
There is the clamp area enclosed between drive roll and contact roller for clamping cylinder barrel, the weldering of alignment clamp area is provided in the rack
Rifle；
It is provided with top compression axis above the clamp area, is provided in the rack for driving top compression axis
It rises or the first power device of decline, the top compression axis is rotatably installed in the first power device.
Since connector during being pressed on cylinder barrel by top compression axis, if drive roll and contact roller are to cylinder barrel
When chucking power is less than normal, it can be easy to happen the case where cylinder barrel moves down, then also will result in be welded between cylinder barrel and connector
Position is moved down with respect to welding gun, thus the problem of causing welding position to deviate, although can be by increasing drive roll and contact roller to cylinder
The chucking power of cylinder is to solve the problems, such as this, but such as chucking power is excessive, but has and be easy to cause the deformation of cylinder barrel, in consideration of it, specifically
Solution is as follows:
Further, it is provided with bottom compression axis below the clamp area, is provided in the rack for driving bottom
The second power device that portion's compression axis rises or falls, the bottom compression axis are rotatably installed in the second power device；
Using bottom compression axis to be located at clamp area the design that is supported of cylinder barrel can effective solution cylinder barrel by top
It will appear the problem of moving down when compressing shaft compression.
Further, welding gun mounting assembly is provided in the rack, the welding gun mounting assembly includes the mobile gas of welding gun
Cylinder, mounting base and fixture block, the welding gun mobile cylinder are fixed on the rack, flexible side of the mounting base along welding gun mobile cylinder
To being slidably arranged in rack, the extension end of the welding gun mobile cylinder is fixedly connected with mounting base, fixed in the mounting base
There is fixture block, the welding gun is clamped between mounting base and fixture block；So as to the adjustment of position and angle convenient for welding gun.
Further, the rotary power unit includes motor, driving wheel and driven wheel, and the motor is fixed on rack
On, the driving wheel is fixedly connected with the main shaft of motor, and transmission shaft, the driven wheel and biography are rotatably connected in the fixing seat
Moving axis is fixedly connected, and is sequentially connected between the driving wheel and driven wheel by belt, and the transmission shaft and drive roll transmission connect
It connects；It includes side compression cylinder that the side, which compresses power device, and the cylinder body of the side compression cylinder is fixed on the rack, institute
Sliding seat is stated to be fixed on the extension end of side compression cylinder.
The beneficial effects of the present invention are: gas spring of the invention is flared welding integrated utilization mobile manipulator mechanism automatically
Cylinder barrel is operated, it is made successively to pass through flaring mechanism, assembly mechanical hand and rotary welding mechanism, to realize the automatic of cylinder barrel
Flaring and the automatic assembling of connector and the automatic welding between connector, whole process need not be participated in manually, automate journey
Degree is high, production efficiency can be greatly improved, and welding quality is high.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is that gas spring of the present invention is flared welding integrated schematic top plan view automatically；
Fig. 2 is that gas spring of the present invention is flared welding integrated side schematic three dimensional views automatically；
Fig. 3 is the partial enlargement diagram of C in Fig. 2；
Fig. 4 is that gas spring of the present invention is flared welding integrated other side schematic three dimensional views automatically；
Fig. 5 is the partial enlargement diagram of D in Fig. 4；
Fig. 6 is the schematic three dimensional views of mobile manipulator mechanism in the present invention；
Fig. 7 is the schematic three dimensional views of cylinder barrel feed mechanism in the present invention；
Fig. 8 is the schematic top plan view of cylinder barrel feed mechanism in the present invention；
Fig. 9 is the schematic cross-sectional view of cylinder barrel feed mechanism in the present invention；
Figure 10 is the schematic three dimensional views of flaring mechanism in the present invention；
Figure 11 is the schematic top plan view of flaring mechanism in the present invention；
Figure 12 is three-dimensional sectional schematic diagram of the present invention at assembly mechanical hand；
Figure 13 is the partial enlargement diagram of E in Figure 12；
Figure 14 is that gas spring of the present invention is flared welding integrated schematic front view automatically；
Figure 15 be in Figure 14 A-A to schematic cross-sectional view；
Figure 16 is the partial enlargement diagram of B in Figure 15；
Figure 17 is three-dimensional sectional schematic diagram of the present invention at rotary welding mechanism；
Figure 18 is the partial enlargement diagram of F in Figure 17；
Figure 19 is the cooperation schematic diagram of drive roll and contact roller in the present invention.
In figure: 1, mobile manipulator mechanism, 11, feed bin material grasping manipulator, 11-1, longitudinal feed bin cylinder, 11-2, feed bin gas
It starts to refer to, 12, flaring material grasping manipulator, 12-1, longitudinal flaring cylinder, 12-2, rotary cylinder, 12-3, flaring pneumatic-finger,
12-4, laterally flaring cylinder, 13, welding material grasping manipulator, 13-1, transverse weld cylinder, 13-2, welding pneumatic-finger, 14, unload
Expect catching robot, 14-1, lateral discharging cylinder, 14-2, discharging pneumatic-finger, 15, displacement cylinder, 16, displacement plate；
2, cylinder barrel feed mechanism, 21, feed bin, 21-1, left plate, 21-11, the second notch, 21-2, front side board, 22, feeding
Cylinder, 23, raising plate, 23-1, the first notch, 23-2, slope surface, 24, adjustable plate, 25, adjusting screw rod, 26, close switch, 27,
Striker plate, 27-1, lower limit portion, 27-2, upper limit portion, 28, guide rod；
3, flaring mechanism, 31, flare seat, 32, support plate, 32-1, locating slot, 33, pressurized cylinder, 34, movable plate, 35, expansion
Mouth screw rod, 36, flaring head；
4, assembly mechanical hand, 41, support shaft, 42, height adjustment cylinder, the 43, first electric pushrod；
5, connector feed mechanism, 51, vibrating disk, 51-1, discharging track, 52, pusher cylinder, 53, charging ram, 54, go out
Expect bottom plate, 54-1, deflector chute；
6, connector conveying robot, 61, longitudinal carrying cylinder, 62, sideways transfer cylinder, 63, carrying pneumatic-finger；
7, rotary welding mechanism, 71, fixing seat, 72, drive roll, 73, sliding seat, 74, contact roller, 75, clamp area, 76,
Welding gun, 77, top compression axis, 78, bottom compression axis, 79, top compression cylinder, 711, top connector sleeve, 712, bottom compression
Cylinder, 713, bottom connector sleeve, the 714, second electric pushrod, 715, welding gun mobile cylinder, 716, mounting base, 717, fixture block,
718, motor, 719, driving wheel, 720, driven wheel, 721, belt, 722, side compression cylinder, 723, transmission shaft；
8, rack, 8-1, feeding plate；
9, cylinder barrel, 9-1, connector.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention, direction and referring to (for example,
Upper and lower, left and right, etc.) can be only used for helping the description to the feature in attached drawing.Therefore, it is not adopted in restrictive sense
With following specific embodiments, and claimed theme is only limited by appended claims and its equivalent form
Range.
Embodiment 1
As shown in Figs. 1-5, a kind of gas spring is flared welding integrated automatically, is flared for the cylinder barrel 9 to gas spring
And it is welded to connect head 9-1 process, it is characterised in that: the flaring is welding integrated to include:
Mobile manipulator mechanism 1, have be set in rack 8 and reciprocating feed bin material grasping manipulator 11, flaring
Material grasping manipulator 12 and welding material grasping manipulator 13；
Cylinder barrel feed mechanism 2, for being delivered to cylinder barrel discharge zone after being aligned the cylinder barrel 9 in feed bin 21；
Flaring mechanism 3, for being flared to feed bin material grasping manipulator 11 from the cylinder barrel 9 that cylinder barrel discharge zone is shifted；
Assembly mechanical hand 4 is flared after the cylinder barrel 9 of the crawl of material grasping manipulator 12 cylinder barrel discharge zone with the movement of moveable cylinder 9 and turns over
Turn, grips it by assembly mechanical hand 4；
Connector feed mechanism 5, for connector 9-1 to be delivered to connector discharge zone；
Connector conveying robot 6 for grabbing and shifting the connector 9-1 of connector discharge zone, and makes it from top
On press fitting to cylinder barrel 9 clamped by assembly mechanical hand 4；
And rotary welding mechanism 7, it welds the cylinder barrel 9 that material grasping manipulator 13 is used to be crawled and assembled on manipulator 4 and drives
Cylinder barrel 9 is moved to rotary welding mechanism 7, and rotary welding mechanism 7 is used to the connector 9-1 being fitted on cylinder barrel 9 being welded on this
On cylinder barrel 9.
Gas spring is flared welding integrated specific structure automatically and is described below in the present embodiment:
The structure of mobile manipulator mechanism 1 are as follows:
As shown in fig. 6, mobile manipulator mechanism 1 includes that displacement cylinder 15 and sliding are located in rack 8 in the present embodiment
Displacement plate 16, the cylinder body of displacement cylinder 15 are fixed on rack 8, and the extension end of displacement cylinder 15 is fixedly connected with displacement plate 16；
Feed bin material grasping manipulator 11, flaring material grasping manipulator 12 and welding material grasping manipulator 13 are along the flexible of displacement cylinder 15
Direction is successively fixed on displacement plate 16 at equal intervals, cylinder barrel feed mechanism 2, flaring mechanism 3, assembly mechanical hand 4 and rotating welding
Mechanism 7 is also successively fixed in rack 8 along the telescopic direction of displacement cylinder 15 at equal intervals, and connector feed mechanism 5 is located at assembling
The side of manipulator 4, connector conveying robot 6 are located at the top of assembly mechanical hand 4；
That is: reaching cylinder barrel discharge zone when 15 drive displacement plate 16 of displacement cylinder advances to feed bin material grasping manipulator 11
Place, when preparing the cylinder barrel 9 of crawl cylinder barrel discharge zone: the flaring material grasping manipulator 12 on displacement plate 16 reaches exactly to flaring mechanism 3
Place prepares the cylinder barrel 9 that completion is flared on crawl flaring mechanism 3；Welding material grasping manipulator 13 on displacement plate 16 reaches exactly to group
It fills at manipulator 4, preparation is crawled and assembled the cylinder barrel 9 for being pressed connector 9-1 on manipulator 4；
It is reached at flaring mechanism 3 when 15 drive displacement plate 16 of displacement cylinder is back to feed bin material grasping manipulator 11, preparing will
When its cylinder barrel 9 grabbed is placed on flaring mechanism 3: the flaring material grasping manipulator 12 on displacement plate 16 reaches exactly to kludge
At tool hand 4, the cylinder barrel 9 for preparing to be grabbed it is placed on assembly mechanical hand 4；Welding material grasping manipulator 13 on displacement plate 16
It reaches exactly to prepare the cylinder barrel 9 that it is grabbed at rotary welding mechanism 7 to be placed on rotary welding mechanism 7；
Obviously, which it is accurate to can be realized each associated mechanical hand by sharing a displacement cylinder 15
Orderly operating reduces control difficulty so as to effective reduced cost, and reduces failure rate.
In order to realize cylinder barrel 9 flaring, welding after the completion of can export automatically, the present embodiment use way it is as follows:
Side on displacement plate 16 far from feed bin material grasping manipulator 11 is equipped with discharging catching robot 14, and discharging crawl is mechanical
Hand 14 is located at discharging catching robot for grabbing soldered cylinder barrel 9 on rotary welding mechanism 7, welding material grasping manipulator 13
Between 14 and flaring material grasping manipulator 12, the side of discharging catching robot 14 is equipped with feeding plate 8-1；
Using the setting of discharging catching robot 14, it can be achieved that it is moved together with displacement plate 16, so as to by rotating welding
Soldered cylinder barrel 9 is automatically transferred to feeding plate 8-1 in mechanism 7, to realize the cylinder barrel 9 after the completion of flaring, welding certainly
Dynamic output, wherein the discharging catching robot 14 of the present embodiment can specifically: facing forward including lateral discharging cylinder 14-1 and clamping jaw
Discharging pneumatic-finger 14-2, the cylinder body of lateral discharging cylinder 14-1 is fixed in rack 8, the stretching of lateral discharging cylinder 14-1
End is fixedly connected with discharging pneumatic-finger 14-2；Lateral discharging cylinder 14-1 can drive discharging pneumatic-finger 14-2 along the longitudinal direction
It is mobile, and grabbed the cylinder barrel 9 on rotary welding mechanism 7 by discharging pneumatic-finger 14-2.
Feed bin material grasping manipulator 11, flaring material grasping manipulator 12 and the specific knot for welding material grasping manipulator 13 in the present embodiment
Structure is as follows:
Feed bin material grasping manipulator 11 includes longitudinal direction feed bin cylinder 11-1 and clamping jaw feed bin pneumatic-finger 11-2 directed downwardly, longitudinal
The cylinder body of feed bin cylinder 11-1 is fixed on displacement plate 16, the extension end of longitudinal feed bin cylinder 11-1 and feed bin pneumatic-finger 11-2
It is fixedly connected；To feed bin pneumatic-finger 11-2 be driven to move along the vertical direction by longitudinal direction feed bin cylinder 11-1, and by expecting
The clamping jaw of storehouse pneumatic-finger 11-2 clamps the cylinder barrel 9 of 9 feeding area of cylinder barrel；When it is implemented, feed bin pneumatic-finger 11-2 can be set
In connector discharge zone and the top of flaring mechanism 3；
Be flared material grasping manipulator 12 include laterally flaring cylinder 12-4, longitudinal flaring cylinder 12-1, rotary cylinder 12-2 and
Clamping jaw flaring pneumatic-finger 12-3 directed downwardly, the cylinder body of the laterally flaring cylinder 12-4 is fixedly connected with displacement plate 16, described
The cylinder body of longitudinal flaring cylinder 12-1 is fixed on the laterally extension end of flaring cylinder 12-4, longitudinal flaring cylinder 12-1's
Extension end is fixedly connected with rotary cylinder 12-2, and the output end and flaring pneumatic-finger 12-3 of the flaring rotary cylinder 12-2 is solid
Fixed connection；
It is longitudinal to be flared so as to drive flaring pneumatic-finger 12-3 to move along the longitudinal direction by being laterally flared cylinder 12-4
Cylinder 12-1 drives flaring pneumatic-finger 12-3 to move along the vertical direction, and will be on flaring mechanism 3 by flaring pneumatic-finger 12-3
Horizontality cylinder barrel 9 grab, then be flared rotary cylinder 12-2 drive flaring pneumatic-finger 12-3 overturning, make it from level
The cylinder barrel 9 of state becomes the cylinder barrel 9 of vertical state；When it is implemented, flaring pneumatic-finger 12-3 can be placed in assembly mechanical hand 4
Side, and it is located at the top of flaring mechanism 3；
The welding pneumatic-finger 13-2 facing forward including transverse weld cylinder 13-1 and clamping jaw of material grasping manipulator 13 is welded, laterally
The cylinder body of weld cylinder 13-1 is fixed on displacement plate 16, the extension end of transverse weld cylinder 13-1 and welding pneumatic-finger 13-2
It is fixedly connected, so as to drive welding pneumatic-finger 13-2 to move along the longitudinal direction by transverse weld cylinder 13-1, and by welding
It meets pneumatic-finger 13-2 to grab the cylinder barrel 9 on assembly mechanical hand 4, when it is implemented, welding pneumatic-finger 13-2 can be placed in group
Fill the top of the clamp area 75 of manipulator 4 and rotary welding mechanism 7.
The structure of cylinder barrel feed mechanism 2 are as follows:
As Figure 7-9, cylinder barrel feed mechanism 2 includes feeding cylinder 22, raising plate 23 and adjustable plate 24 in the present embodiment,
Raising plate 23 is slidably arranged in the left side in feed bin 21 along the vertical direction, and its upper surface is the slope surface 23-2 of left low and right high, material
The outer diameter of minimum spacing < cylinder barrel 9 between the right side of 21 upper left side plate 21-1 of storehouse and the slope surface 23-2 of raising plate 23, feed bin
Gradually inclination, the cylinder body of feeding cylinder 22 are fixed on feed bin 21 upwards from left to right for bottom surface in 21, and feeding cylinder 22 is stretched
Outlet is fixedly connected with raising plate 23, and adjustable plate 24 is slidably arranged in along the longitudinal direction in feed bin 21, and setting is rotated on feed bin 21
Have and adjust screw rod 25, adjusts screw rod 25 and be axially fixed on feed bin 21, and connect with 24 screw-driven of adjustable plate, it is unquestionable
It is: the outer diameter of the minimum spacing < cylinder barrel 9 between the right side of 21 upper left side plate 21-1 of feed bin and the slope surface 23-2 of raising plate 23,
Make to be only capable of one cylinder barrel 9 of limit between the slope surface 23-2 of raising plate 23 and the left plate 21-1 of feed bin 21, and by 23 band of raising plate
Move the cylinder barrel 9 rising；
Adjusting screw rod 25 by rotation can be such that adjustable plate 24 is moved forward and backward in feed bin 21, so that adjustable plate 24 can will expect
The limit of cylinder barrel 9 to the both ends being parallel to each other in storehouse 21 are aligned, and cylinder barrel 9 in feed bin 21 is made to keep being parallel to each other and Justified
Posture realizes essence so that it is guaranteed that cylinder barrel 9 acquired when raising plate 23 rises every time is respectively positioned at the same position of slope surface 23-2
Quasi- feeding.
Concretely: adjusting screw rod 25 using rotation draws close adjustable plate 24 to the front side board 21-2 of feed bin 21, from
And drive the cylinder barrel being parallel to each other in feed bin 21 9 to draw close together to the front side board 21-2 of feed bin 21, make one end end face of cylinder barrel 9 with
The front side board 21-2 of feed bin 21 is contacted, and the other end face is contacted with adjustable plate 24, with this by the cylinder barrel 9 in feed bin 21 into pushing away automatically
Together, it so that it is guaranteed that cylinder barrel 9 acquired when raising plate 23 rises every time is respectively positioned at the same position of slope surface 23-2, realizes accurate
Feeding, a cylinder barrel 9 can be grabbed by so that feed bin material grasping manipulator 11 is moved to preset fixed position.
In the present embodiment, the front position of 23 upper surface of raising plate offers downwards the first notch 23-1, a left side on feed bin 21
The top of side plate 21-1 offers downwards for second notch 21-11 corresponding with the first notch 23-1；When on raising plate 23
Rise to the first notch 23-1 it is opposed with the second notch 21-11 when, the position located where the first notch 23-1 is cylinder barrel discharge zone；Material
It is located at the position near the second notch 21-11 on the left plate 21-1 in storehouse 21 and is equipped with close to switch 26；
When cylinder barrel 9 at cylinder barrel discharge zone is ready, which can be approached switch 26 and be incuded, and rapidly to control
Device issues electrical command, and then the cylinder barrel 9 of cylinder barrel discharge zone is grabbed and shifted by controller control feed bin material grasping manipulator 11；
Wherein, the setting of the first notch 23-1 and the second notch 21-11 can grab convenient for feed bin material grasping manipulator 11 from cylinder barrel discharge zone
Cylinder barrel 9 avoids left plate of the feed bin material grasping manipulator 11 when cylinder barrel discharge zone grabs cylinder barrel 9 with raising plate 23 and feed bin 21
21-1 and generation interference.
In the present embodiment, the front side board 21-2 in the side of 21 anepisternite 21-2 of feed bin and feed bin 21 of adjustable plate 24
Striker plate 27 is respectively and fixedly provided on medial surface, striker plate 27 tilts down from right to left, the lower surface and 21 bottom of feed bin of striker plate 27
Spacing between face gradually becomes smaller from right to left；
It is gradually become smaller from right to left using the spacing between 21 bottom surface of lower surface and feed bin of striker plate 27, cylinder barrel 9 can be made
Be changed into the right side for being deposited in striker plate 27, to realize the orderly feeding of cylinder barrel 9, with reduce raising plate 23 once jack up it is multiple
The situation of cylinder barrel 9 occurs, and then can reduce cylinder barrel 9 therefore and the collision deformation of generation.
In the present embodiment, the left end of striker plate 27 is extended with lower limit portion 27-1, the left side and top of lower limit portion 27-1
The outer diameter of minimum spacing < cylinder barrel 9 between the right side of lift slab 23, the lower surface of lower limit portion 27-1 and 21 bottom surface of feed bin it
Between minimum spacing >=single cylinder barrel 9 outer diameter, and between the minimum between 21 bottom surface of the lower surface of lower limit portion 27-1 and feed bin
The sum of the outer diameter of two away from < cylinder barrels 9；A cylinder barrel 9 can only be jacked up to can ensure that raising plate 23 every time；
The right end of striker plate 27, which is upturned, upper limit portion 27-2；It, can be to accumulation using the setting of upper limit portion 27-2
Cylinder barrel 9 on 27 right side of striker plate is limited, it is prevented to be rolled into the top of striker plate 27.
In the present embodiment, guide rod 28, guide rod 28 and tune are fixed between the front side board 21-2 and back side panel of feed bin 21
Section plate 24 is slidably connected, and the axis of guide rod 28 is parallel to each other with the axis for adjusting screw rod 25.
The structure of flaring mechanism 3 are as follows:
As shown in FIG. 10 and 11, flaring mechanism 3 includes that flare seat 31, support plate 32 and extension end direction expand in the present embodiment
The pressurized cylinder 33 of mouthful seat 31 is fixed with flaring head 36 on the extension end of pressurized cylinder 33, and support plate 32 is located at flare seat 31 and is pressurized
Between cylinder 33, and offer the locating slot 32-1 for positioning cylinder barrel 9；
Flaring head 36 is driven to move forward by pressurized cylinder 33, thus can realize that the end to cylinder barrel 9 is flared, due to
The relatively common cylinder of pressurized cylinder 33 has the advantages that power output is big, therefore pressurized cylinder 33 reliable and stable can provide for flaring head 36
The power of advance,
Specific flaring process are as follows: when the cylinder barrel 9 of cylinder barrel discharge zone is transferred to support plate 32 by feed bin material grasping manipulator 11
When on locating slot 32-1, the tail end opening face flare seat 31 of cylinder barrel 9, the head end opening face flaring head 36 of cylinder barrel 9, at this point,
Pressurized cylinder 33 is opened, flaring head 36 can gradually be drawn close to cylinder barrel 9, and be contacted with the head end of cylinder barrel 9 opening, and make the tail of cylinder barrel 9
End is against in flare seat 31, and subsequent flaring head 36 squeezes the head end opening of cylinder barrel 9 under the driving of pressurized cylinder 33, thus
Complete the flaring to 9 head end of cylinder barrel.
In the present embodiment, sliding is provided with movable plate 34 in rack 8, and the cylinder body and movable plate 34 of pressurized cylinder 33 are fixed to be connected
It connects, flare seat 31 is fixed in rack 8, and flaring screw rod 35 is rotatably connected in rack 8, and flaring screw rod 35 is axially fixed in rack
On 8, and it is threadedly coupled with movable plate 34；
The distance between pressurized cylinder 33 and flare seat 31 can be changed by rotation flaring screw rod 35, to adapt to different length
Cylinder barrel 9,
When it is implemented, support plate 32 can there are two, wherein a support plate 32 is fixed in flare seat 31, another
Support plate 32 is fixed on movable plate 34, automatically adjusts support plate 32 supporting point of cylinder barrel 9 with the movement of movable plate 34,
So as to the cylinder barrel 9 of the reliable support different length of all-the-time stable.
As shown in Figures 12 and 13, the lower section of assembly mechanical hand 4 is provided with support shaft 41 in the present embodiment, opposite in rack 8
It is fixed with height adjustment cylinder 42, the output end of height adjustment cylinder 42 is fixedly connected with support shaft 41；
The setting of support shaft 41 can provide support to cylinder barrel 9, prevent cylinder barrel 9 from falling off from assembly mechanical hand 4, also improve
Positioning accuracy of the cylinder barrel 9 on assembly mechanical hand 4, also avoid certainly connector conveying robot 6 by connector 9-1 be pressed to
When on cylinder barrel 9, cylinder barrel 9 is generated to bottom offset,
When it is implemented, the first electric pushrod 43 can be fixed in rack 8, the output end and height of the first electric pushrod 43
The cylinder body for adjusting cylinder 42 is fixedly connected, and can effectively improve bottom using the combination of the first electric pushrod 43 and height adjustment cylinder 42
The stroke of 712 upper and lower displacement of portion's compression cylinder, so as to widely adapt to the cylinder barrel 9 of different height；In addition assembly mechanical hand 4
It can be pneumatic-finger.
The structure of connector feed mechanism 5 are as follows:
As shown in Fig. 3,5 and 13, in the present embodiment, connector feed mechanism 5 includes pushing material component and vibrating disk 51, pusher
Component includes pusher cylinder 52, charging ram 53 and discharging bottom plate 54, and discharging bottom plate 54 is fixed in rack 8, discharges on bottom plate 54
Deflector chute 54-1 is offered, pusher cylinder 52 is fixed on discharging bottom plate 54, and charging ram 53 is slidably arranged in deflector chute 54-1,
The extension end of pusher cylinder 52 is fixedly connected with charging ram 53, the output end and deflector chute of 51 top discharge track 51-1 of vibrating disk
54-1 connection, the extending direction of the extending direction and deflector chute 54-1 of the discharging track 51-1 of vibrating disk 51 is arranged in a crossed manner, guide
Slot 54-1 is connector discharge zone far from the position at one end end place of pusher cylinder 52；
The connector 9-1 arrangement in it is delivered to discharging track 51-1 using vibrating disk 51, when pusher cylinder 52 retracts
When, the connector 9-1 in discharging track 51-1 loses the limit of charging ram 53, near leading in the output end of discharging track 51-1
A connector 9-1 of hopper 54-1 can be entered in deflector chute 54-1, and then pusher cylinder 52 pushes charging ram 53 by guide
Connector 9-1 in slot 54-1 shifts connector discharge zone onto, to realize the feeding in continuous material of single connector 9-1.
As shown in Fig. 3,5 and 13, the structure of connector conveying robot 6 are as follows:
In the present embodiment, connector conveying robot 6 includes longitudinal carrying cylinder 61, sideways transfer cylinder 62 and carries gas
It starts finger 63, on the cylinder body fixed frame 8 of longitudinal carrying cylinder 61, the extension end of longitudinal carrying cylinder 61 and sideways transfer cylinder
62 cylinder body is fixedly connected, and the extension end of sideways transfer cylinder 62 is fixedly connected with pneumatic-finger 63 is carried, and carries pneumatic-finger
Downward, the motion track that pneumatic-finger 63 is carried in the driving of sideways transfer cylinder 62 is located at connector discharge zone and assembling to 63 clamping jaw
The surface of manipulator 4；
Wherein, sideways transfer cylinder 62 can drive carrying pneumatic-finger 63 to move along the longitudinal direction, be carried pneumatically with realizing
Finger 63 moves back and forth between connector discharge zone and assembly mechanical hand 4, and longitudinal carrying cylinder 61, which can drive, carries pneumatic hand
Refer to that 63 move along the vertical direction, to realize that carrying pneumatic-finger 63 can rise and decline, and move consequently facilitating carrying pneumatic-finger 63
The crawl that connector discharge zone is attached a 9-1 is moved, and drops to 4 position of assembly mechanical hand, by the company of crawl
Connector 9-1 is pressed on cylinder barrel 9 clamped by assembly mechanical hand 4.
The structure of rotary welding mechanism 7 are as follows:
As shown in Figure 14-19, rotary welding mechanism 7 includes the fixing seat 71 being fixed in rack 8, rotation in the present embodiment
Drive roll 72, the sliding seat 73 opposed with fixing seat 71 and the pressure being rotatably installed in sliding seat 73 being mounted in fixing seat 71
Bearing up pulley 74；The rotary power unit for driving drive roll 72 to rotate is provided in rack 8 and for driving sliding seat 73 opposite
Fixing seat 71 is drawn close or separate side compresses power device；
Drive roll 72 and contact roller 74 are arranged in parallel, the sum of quantity of drive roll 72 and contact roller 74 >=tri-, institute
There is the clamp area 75 enclosed between drive roll 72 and contact roller 74 for clamping cylinder barrel 9, alignment clamp area is provided in rack 8
75 welding gun 76；
The top of clamp area 75 is provided with top compression axis 77, is provided in rack 8 for driving top compression axis 77
It rises or the first power device of decline, top compression axis 77 is rotatably installed in the first power device.
The present embodiment will be pressed with using drive roll 72 and 74 separation design of contact roller to weld material grasping manipulator 13
The cylinder barrel 9 of connector 9-1 is placed into clamp area 75, then compresses power device by side and drives sliding seat 73 to fixing seat 71
It draws close, the cylinder barrel 9 of clamp area 75 is pressed on the drive roll 72 of fixing seat 71 using the contact roller 74 in sliding seat 73 with this,
Make rotary power unit cylinder barrel 9 and contact roller 74 when driving drive roll 72 to rotate that drive roll 72 be followed to rotate together, then being
Relative rotation can be formed between cylinder barrel 9 and welding gun 76, weld welding gun 76 around the outer peripheral surface of cylinder barrel 9, and connecting
Lap welding seam is formed between head 9-1 and cylinder barrel 9, and after cylinder barrel 9 is compacted wheel 74 and drive roll 72 compresses, the first power device
Also it can drive top compression axis 77 that connector 9-1 is pressed on cylinder barrel 9, be bonded connector 9-1 with cylinder barrel 9, avoid connecting
Occur assembling situation not in place between head 9-1 and cylinder barrel 9, thus realize by connector 9-1 accurately automatic welding in cylinder barrel 9
On, welding quality is high, and it effectively avoids solder skip, weld askew situation generation, and welding efficiency is greatly improved, while
Cost of labor is saved.
The lower section of clamp area 75 is provided with bottom compression axis 78 in the present embodiment, is provided in rack 8 for driving bottom
The second power device that compression axis 78 rises or falls, bottom compression axis 78 are rotatably installed in the second power device；
Its design for using bottom compression axis 78 to be supported the cylinder barrel 9 for being located at clamp area 75 can effective solution cylinder barrel
9 will appear the problem of moving down when being compressed by top compression axis 77, specifically: it is supported using bottom compression axis 78 positioned at clamp area
On the one hand 75 cylinder barrel 9 can avoid cylinder barrel 9 when the connector 9-1 of clamp area 75 is pressed on cylinder barrel 9 by top compression axis 77 and produce
It is raw to bottom offset, to prevent the opposite welding gun 76 in the position to be welded between cylinder barrel 9 and connector 9-1 from generating to bottom offset, really
Protecting welding gun 76 can accurately be welded on connector 9-1 on cylinder barrel 9；On the other hand there can be positioning, i.e., when cylinder barrel 9
Material grasping manipulator 13 is soldered when being transferred to clamp area 75, cylinder barrel 9 can be fallen on the bottom compression axis 78, and cylinder barrel 9 is just at this time
Height in position to be welded；
In addition, the setting of the second power device can also realize the length according to different cylinder barrels 9, bottom compression axis is adjusted in real time
78 height.
Specifically, the first power device includes extension end top compression cylinder 79 directed downwardly and top connector sleeve 711, top
The cylinder body of compression cylinder 79 is relatively fixed in rack 8, and top connector sleeve 711 is fixed on the extension end of top compression cylinder 79
On, top compression axis 77 is rotatably arranged in the connector sleeve 711 of top, and is axially positioned in the connector sleeve 711 of top；
To drive top compression axis 77 to drop on the connector 9-1 of cylinder barrel 9 using top compression cylinder 79, and will even
Connector 9-1 is pressed abd fixed on cylinder barrel 9, and welding quality can be improved, drive top by top compression cylinder 79 after the completion of welding
Compression axis 77 rises, and releases the compression to connector 9-1, in order to shift the cylinder barrel 9 after the completion of welding；
In addition, top compression axis 77 can be mounted in the connector sleeve 711 of top by bearing, the outer ring of bearing is connect with top
The inner wall interference fit of set 711, the inner ring and top compression axis 77 of bearing are interference fitted.
Specifically, the second power device includes extension end bottom compression cylinder 712 upward and bottom connector sleeve 713, bottom
The cylinder body of portion's compression cylinder 712 is relatively fixed in rack 8, and bottom connector sleeve 713 is fixed on the stretching of bottom compression cylinder 712
On end, bottom compression axis 78 is rotatably arranged in bottom connector sleeve 713, and is axially positioned in bottom connector sleeve 713；Bottom pressure
Mandrel 78 can be equally mounted in bottom connector sleeve 713 by bearing, the outer ring of bearing and the inner wall interference of bottom connector sleeve 713
Cooperation, the inner ring and bottom compression axis 78 of bearing are interference fitted.
To drive the height adjustment of bottom compression axis 78 with realization using the flexible of bottom compression cylinder 712；
In addition, being fixed with the second electric pushrod 714 in rack 8, the output end of the second electric pushrod 714 and bottom compress gas
The cylinder body of cylinder 712 is fixedly connected, and can effectively improve bottom using the combination of the second electric pushrod 714 and bottom compression cylinder 712
The stroke of 78 upper and lower displacement of compression axis, so as to widely adapt to the cylinder barrel 9 of different height.
In the present embodiment, be provided with welding gun mounting assembly in rack 8, welding gun mounting assembly include welding gun mobile cylinder 715,
Mounting base 716 and fixture block 717, welding gun mobile cylinder 715 are fixed in rack 8, and mounting base 716 is along welding gun mobile cylinder 715
Telescopic direction is slidably arranged in rack 8, and the extension end of welding gun mobile cylinder 715 is fixedly connected with mounting base 716, mounting base
Fixture block 717 is fixed on 716, welding gun 76 is clamped between mounting base 716 and fixture block 717；
Wherein, the effect of welding gun mounting assembly is specifically described as follows: welding gun 76 can be driven to move by welding gun mobile cylinder 715
It is dynamic, in order to adjust the left-right position of welding gun 76 in real time, and it can avoid welding material grasping manipulator 13 and discharging catching robot 14
Interference is generated with welding gun 76 when grabbing the cylinder barrel 9 of clamp area 75, i.e. welding material grasping manipulator 13 and discharging catching robot 14
When grabbing the cylinder barrel 9 of clamp area 75, it can control welding gun mobile cylinder 715 to drive welding gun 76 mobile, make welding gun 76 far from clamping
Area 75 avoids above-mentioned generated interference with this；And welding gun 76 is mounted between mounting base 716 and fixture block 717 using clamping, it can
The front-rear position and tilt angle that welding gun 76 can be adjusted when unclamping fixture block 717 are realized, convenient for adjusting welding gun 76 to alignment
Welding position between cylinder barrel 9 and connector 9-1；
In addition, fixture block 717 can be specifically fixed by screws in mounting base 716, thus can butt welding when unclamping screw
The angle of rifle 76 is adjusted.
In the present embodiment, rotary power unit includes motor 718, driving wheel 719 and driven wheel 720, and motor 718 is fixed on
In rack 8, driving wheel 719 is fixedly connected with the main shaft of motor 718, and transmission shaft 723, driven wheel are rotatably connected in fixing seat 71
720 are fixedly connected with transmission shaft 723, are sequentially connected between driving wheel 719 and driven wheel 720 by belt 721, transmission shaft 723
It is sequentially connected with drive roll 72；It includes side compression cylinder 722, the cylinder body of side compression cylinder 722 that side, which compresses power device,
It is fixed in rack 8, sliding seat 73 is fixed on the extension end of side compression cylinder 722；And then it can be by electronic drive driving wheel
719 rotations, driving wheel 719 drive driven wheel 720 to rotate together under the transmission of belt 721, and driven wheel 720 then passes through transmission shaft
723 can communicate rotational motion to drive roll 72；
Wherein, drive roll 72 and contact roller 74 can be respectively provided with two, the outer peripheral surface of transmission shaft 723 can simultaneously with two actives
The outer peripheral surface of roller 72 engages, to realize that transmission shaft 723 drives two drive rolls 72 to rotate, when side compression cylinder 722 drives
When sliding seat 73 is drawn close to fixing seat 71, the cylinder barrel 9 of clamp area 75 can be pressed on fixation by the contact roller 74 in sliding seat 73
On the drive roll 72 of seat 71, rotation is synchronized with moveable cylinder 9 and contact roller 74 simultaneously by drive roll 72 to realize；Wherein,
Drive roll 72 and transmission shaft 723 can be mounted in fixing seat 71 by bearing, be rotated with improving drive roll 72 and transmission shaft 723
Flexibility, and contact roller 74 then can directly select bearing, i.e., contact roller 74 is served as by bearing, so as to reduced cost,
It can ensure that the flexibility that contact roller 74 rotates again；
The course of work of rotary welding mechanism 7 is as follows in the present embodiment: will be pressed with connection in welding material grasping manipulator 13
When the cylinder barrel 9 of head 9-1 is placed into clamp area 75, cylinder barrel 9 can be contacted with bottom compression axis 78, then pass through side compression cylinder
722 drive sliding seat 73 are drawn close to fixing seat 71, are pressed on the contact roller 74 in sliding seat 73 by the cylinder barrel 9 of clamp area 75 solid
On the drive roll 72 of reservation 71, then starting top compression cylinder 79, is driven under the compression axis 77 of top by top compression cylinder 79
It is down on the connector 9-1 of cylinder barrel 9, and connector 9-1 is pressed abd fixed on cylinder barrel 9, then start motor 718 and drive actively
Roller 72 rotates, to be rotated by drive roll 72 with moveable cylinder 9, welds welding gun 76 around the outer peripheral surface of cylinder barrel 9, and even
Lap welding seam is formed between connector 9-1 and cylinder barrel 9.
It is horizontality when cylinder barrel 9 is at cylinder barrel discharge zone and flaring mechanism 3, and cylinder barrel 9 is in cylinder barrel in the present embodiment
Front-rear position at discharge zone and flaring mechanism 3 is consistent, and is grabbed in assembly mechanical hand 4, rotary welding mechanism 7 and discharging
It is then vertical state when at manipulator 14, and cylinder barrel 9 is in assembly mechanical hand 4, rotary welding mechanism 7 and discharging catching robot
Front-rear position and upper and lower position at 14 are consistent；Switching of the cylinder barrel 9 from horizontality to vertical state is then by being flared
Flaring rotary cylinder 12-2 on material grasping manipulator 12 is completed.
It is as follows that the present embodiment gas spring is flared welding integrated working principle automatically:
Firstly, cylinder barrel 9 is lain in a horizontal plane in feed bin 21, then rotation, which adjusts screw rod 25, makes adjustable plate 24 to feed bin 21
Front side board 21-2 is drawn close, and is aligned, is made in feed bin 21 so that adjustable plate 24 limits the cylinder barrel 9 being parallel to each other in feed bin 21 to both ends
The holding of cylinder barrel 9 be parallel to each other and Justified posture, be then turned on feeding cylinder 22, feeding cylinder 22 utilized to drive jacking
Plate 23 is up and down reciprocatingly run, and cylinder barrel 9 to the cylinder barrel for making the slope surface 23-2 of raising plate 23 jack a horizontality every time discharges
Area；
At the same time, the connector 9-1 in it is orderly delivered to discharging track 51-1 by vibrating disk 51, starts pusher cylinder
52, so that it is back and forth driven charging ram 53 along the direction of deflector chute 54-1, thus one by one by the connector 9-1 in discharging track 51-1
It is pushed to connector discharge zone；
Then starting displacement cylinder 15 drives displacement plate 16 to move forward or back, with this shuttling movement；When displacement plate 16 advances
It is reached at cylinder barrel discharge zone to feed bin material grasping manipulator 11, when preparing the cylinder barrel 9 of crawl cylinder barrel discharge zone: the expansion on displacement plate 16
Mouth material grasping manipulator 12 reaches exactly at flaring mechanism 3, prepares the cylinder barrel 9 that completion is flared on crawl flaring mechanism 3；Displacement plate 16
On welding material grasping manipulator 13 reach exactly at assembly mechanical hand 4, preparation is crawled and assembled on manipulator 4 and has been pressed connector 9-
1 cylinder barrel 9, the discharging catching robot 14 on displacement plate 16 then reach exactly at rotary welding mechanism 7, prepare crawl Spin welding
Cylinder barrel 9 after the completion of 7 upper binding head 9-1 of connection mechanism welding；
It is reached at flaring mechanism 3 when displacement plate 16 is back to feed bin material grasping manipulator 11, the cylinder barrel 9 that it is grabbed is placed
When carrying out flaring processing on to flaring mechanism 3: the flaring material grasping manipulator 12 on displacement plate 16 reaches exactly to assembly mechanical hand 4
Place, the cylinder barrel 9 that it is grabbed are placed on assembly mechanical hand 4, and connector conveying robot 6 then can in time discharge connector
The connector 9-1 in area is shifted and is pressed to cylinder barrel 9 clamped by assembly mechanical hand 4；Welding material grasping on displacement plate 16 is mechanical
Hand 13 reaches exactly at rotary welding mechanism 7, and the cylinder barrel 9 that it is grabbed, which is placed on rotary welding mechanism 7, carries out weld
Reason；Discharging catching robot 14 on displacement plate 16 then reaches exactly at feeding plate 8-1, after the completion of the welding that it is grabbed
Cylinder barrel 9 is placed on feeding plate 8-1；With the shuttling movement of above-mentioned displacement plate 16, to realize the flaring of cylinder barrel 9 and weld whole
The full-automatic running of a process.
Above-mentioned desirable embodiment according to the present invention is enlightenment, and through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention'.This invention it is technical
Range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (16)
1. a kind of gas spring is flared welding integrated automatically, head is flared and is welded to connect for the cylinder barrel (9) to gas spring
(9-1) process, it is characterised in that: the flaring is welding integrated to include:
Mobile manipulator mechanism (1), have be set on rack (8) and reciprocating feed bin material grasping manipulator (11), expand
Mouth material grasping manipulator (12) and welding material grasping manipulator (13)；
Cylinder barrel feed mechanism (2), for cylinder barrel discharge zone will to be delivered to after cylinder barrel (9) alignment in feed bin (21)；
Flaring mechanism (3), the cylinder barrel (9) for shifting to feed bin material grasping manipulator (11) from cylinder barrel discharge zone expand
Mouthful；
Assembly mechanical hand (4), the cylinder barrel (9) of flaring material grasping manipulator (12) crawl cylinder barrel discharge zone is afterwards with moveable cylinder (9)
It moves and overturns, grip it by assembly mechanical hand (4)；
Connector feed mechanism (5), for connector (9-1) to be delivered to connector discharge zone；
Connector conveying robot (6) for grabbing and shifting the connector (9-1) of connector discharge zone, and makes it from top
On press fitting to cylinder barrel (9) clamped by assembly mechanical hand (4)；
And rotary welding mechanism (7), the cylinder barrel that welding material grasping manipulator (13) is used to be crawled and assembled on manipulator (4)
(9) and with moveable cylinder (9) it is moved to rotary welding mechanism (7), the rotary welding mechanism (7) will be for that will be fitted in cylinder barrel (9)
On connector (9-1) be welded on the cylinder barrel (9).
2. gas spring according to claim 1 is flared welding integrated automatically, it is characterised in that: the mechanically moving mobile phone
Structure (1) includes displacement cylinder (15) and the displacement plate (16) that sliding is located on rack (8), and the cylinder body of the displacement cylinder (15) is solid
It is scheduled on rack (8), the extension end of the displacement cylinder (15) is fixedly connected with displacement plate (16)；
The feed bin material grasping manipulator (11), flaring material grasping manipulator (12) and welding material grasping manipulator (13) are along displacement cylinder
(15) telescopic direction is successively fixed at equal intervals on displacement plate (16), the cylinder barrel feed mechanism (2), flaring mechanism (3), group
Dress manipulator (4) and rotary welding mechanism (7) are also successively fixed on rack (8) along the telescopic direction of displacement cylinder (15) at equal intervals
On, the connector feed mechanism (5) is located at the side of assembly mechanical hand (4), and the connector conveying robot (6) is located at group
Fill the top of manipulator (4).
3. gas spring according to claim 2 is flared welding integrated automatically, it is characterised in that: on the displacement plate (16)
Side far from feed bin material grasping manipulator (11) is equipped with discharging catching robot (14), and the discharging catching robot (14) is used for
Soldered cylinder barrel (9) on rotary welding mechanism (7) is grabbed, it is mechanical that the welding material grasping manipulator (13) is located at discharging crawl
Between hand (14) and flaring material grasping manipulator (12), the side of the discharging catching robot (14) is equipped with feeding plate (8-1).
4. gas spring according to claim 2 is flared welding integrated automatically, it is characterised in that: the feed bin material grasping is mechanical
Hand (11) includes longitudinal feed bin cylinder (11-1) and clamping jaw feed bin pneumatic-finger (11-2) directed downwardly, the longitudinal direction feed bin cylinder
The cylinder body of (11-1) is fixed on displacement plate (16), the extension end of the longitudinal direction feed bin cylinder (11-1) and feed bin pneumatic-finger
(11-2) is fixedly connected；
The flaring material grasping manipulator (12) includes laterally flaring cylinder (12-4), longitudinal flaring cylinder (12-1), rotary cylinder
(12-2) and clamping jaw flaring pneumatic-finger (12-3) directed downwardly, the laterally cylinder body of flaring cylinder (12-4) and displacement plate (16)
It is fixedly connected, the cylinder body of longitudinal flaring cylinder (12-1) is fixed on the laterally extension end of flaring cylinder (12-4), described
The extension end of longitudinal flaring cylinder (12-1) is fixedly connected with rotary cylinder (12-2), described to be flared the defeated of rotary cylinder (12-2)
Outlet is fixedly connected with flaring pneumatic-finger (12-3)；
Welding material grasping manipulator (13) includes transverse weld cylinder (13-1) and clamping jaw welding pneumatic-finger (13- facing forward
2), the cylinder body of the transverse weld cylinder (13-1) is fixed on displacement plate (16), and transverse weld cylinder (13-1's) stretches
Outlet is fixedly connected with welding pneumatic-finger (13-2).
5. gas spring according to claim 1 is flared welding integrated automatically, it is characterised in that: the cylinder barrel feed mechanism
It (2) include feeding cylinder (22), raising plate (23) and adjustable plate (24), the raising plate (23) is slidably arranged in along the vertical direction
Left side in feed bin (21), and its upper surface is the slope surface (23-2) of left low and right high, feed bin (21) the upper left side plate (21-1)
Right side and raising plate (23) slope surface (23-2) between minimum spacing < cylinder barrel (9) outer diameter, in the feed bin (21)
Bottom surface gradually inclination upwards from left to right, the cylinder body of the feeding cylinder (22) is fixed on feed bin (21), the feeding gas
The extension end of cylinder (22) is fixedly connected with raising plate (23), and the adjustable plate (24) is slidably arranged in feed bin (21) along the longitudinal direction
Interior, rotation, which is provided with, on the feed bin (21) adjusts screw rod (25), and the adjusting screw rod (25) is axially fixed on feed bin (21),
And it is connect with adjustable plate (24) screw-driven.
6. gas spring according to claim 5 is flared welding integrated automatically, it is characterised in that: on the raising plate (23)
The front position on surface offers downwards the first notch (23-1), and the top of feed bin (21) the upper left side plate (21-1) is opened downwards
Equipped with for and the first notch (23-1) corresponding second notch (21-11), when raising plate (23) rises to the first notch
When (23-1) is opposed with the second notch (21-11), the position at the first notch (23-1) place is cylinder barrel discharge zone.
7. gas spring according to claim 5 is flared welding integrated automatically, it is characterised in that: the adjustable plate (24) is leaned on
Backgauge is respectively and fixedly provided on the nearly side of feed bin (21) anepisternite (21-2) and the medial surface of feed bin (21) interior front side board (21-2)
Plate (27), the striker plate (27) tilt down from right to left, the lower surface of the striker plate (27) and feed bin (21) bottom surface it
Between spacing gradually become smaller from right to left.
8. gas spring according to claim 7 is flared welding integrated automatically, it is characterised in that: the striker plate (27)
Left end is extended with lower limit portion (27-1), between the left side of the lower limit portion (27-1) and the right side of raising plate (23)
The outer diameter of minimum spacing < cylinder barrel (9), between the minimum between the lower surface and feed bin (21) bottom surface of the lower limit portion (27-1)
Outer diameter away from >=single cylinder barrel (9), and the minimum spacing < between the lower surface of lower limit portion (27-1) and feed bin (21) bottom surface
The sum of the outer diameter of two cylinder barrels (9)；The right end of the striker plate (27) is upturned and has upper limit portion (27-2).
9. gas spring according to claim 1 is flared welding integrated automatically, it is characterised in that: the flaring mechanism (3)
Including flare seat (31), support plate (32) and extension end towards the pressurized cylinder (33) of flare seat (31), the pressurized cylinder (33)
It is fixed on extension end flaring head (36), the support plate (32) is located between flare seat (31) and pressurized cylinder (33), and opens up
There is the locating slot (32-1) for positional cylinder cylinder (9).
10. gas spring according to claim 1 is flared welding integrated automatically, it is characterised in that: the assembly mechanical hand
(4) it is provided with below support shaft (41), relatively fixed on the rack (8) to have height adjustment cylinder (42), the height tune
The output end of displacements of cylinders (42) is fixedly connected with support shaft (41).
11. gas spring according to claim 1 is flared welding integrated automatically, it is characterised in that: the connector feeding
Mechanism (5) includes pushing material component and vibrating disk (51), and the pushing material component includes pusher cylinder (52), charging ram (53) and discharging
Bottom plate (54), the discharging bottom plate (54) are fixed on the rack (8), offer deflector chute on the discharging bottom plate (54)
(54-1), the pusher cylinder (52) are fixed on the discharging bottom plate (54), and the charging ram (53) is slidably arranged in guide
In slot (54-1), the extension end of the pusher cylinder (52) is fixedly connected with charging ram (53), vibrating disk (51) top discharge
The output end of track (51-1) is connected to deflector chute (54-1), the extending direction of the discharging track (51-1) of the vibrating disk (51)
It is arranged in a crossed manner with the extending direction of deflector chute (54-1), one end end institute of the deflector chute (54-1) far from pusher cylinder (52)
It is connector discharge zone in the position at place.
12. according to claim 1 or gas spring described in 11 be flared automatically it is welding integrated, it is characterised in that: the connector
Conveying robot (6) includes longitudinal carrying cylinder (61), sideways transfer cylinder (62) and carries pneumatic-finger (63), the longitudinal direction
On the cylinder body fixed frame (8) of carrying cylinder (61), the extension end of the longitudinal direction carrying cylinder (61) and sideways transfer cylinder
(62) cylinder body is fixedly connected, and the extension end of the sideways transfer cylinder (62) is fixedly connected with pneumatic-finger (63) are carried, institute
It states and carries the clamping jaw of pneumatic-finger (63) downward, the moving rail of pneumatic-finger (63) is carried in the sideways transfer cylinder (62) driving
Mark is located at the surface of connector discharge zone and assembly mechanical hand (4).
13. gas spring according to claim 1 is flared welding integrated automatically, it is characterised in that: the rotary welding machine
Structure (7) includes the fixing seat (71) being fixed on rack (8), the drive roll (72) being rotatably installed on fixing seat (71) and consolidates
The contact roller (74) reservation (71) opposed sliding seat (73) and be rotatably installed on sliding seat (73)；It is set on the rack (8)
It is equipped with the rotary power unit for driving drive roll (72) to rotate and for driving sliding seat (73) relatively fixed seat (71) to lean on
Hold together or separate side compresses power device；
The drive roll (72) and contact roller (74) are arranged in parallel, the quantity of the drive roll (72) and contact roller (74) it
With >=tri-, the clamp area (75) for clamping cylinder barrel (9) is enclosed between all drive rolls (72) and contact roller (74), it is described
The welding gun (76) of alignment clamp area (75) is provided in rack (8)；
It is provided with top compression axis (77) above the clamp area (75), is provided on the rack (8) for driving top
The first power device that compression axis (77) rises or falls, the top compression axis (77) are rotatably installed in the first power device
On.
14. gas spring according to claim 13 is flared welding integrated automatically, it is characterised in that: the clamp area (75)
Lower section be provided with bottom compression axis (78), be provided on the rack (8) for drive bottom compression axis (78) rise or under
Second power device of drop, the bottom compression axis (78) are rotatably installed in the second power device.
15. gas spring according to claim 13 is flared welding integrated automatically, it is characterised in that: on the rack (8)
It is provided with welding gun mounting assembly, the welding gun mounting assembly includes welding gun mobile cylinder (715), mounting base (716) and fixture block
(717), the welding gun mobile cylinder (715) is fixed on rack (8), and the mounting base (716) is along welding gun mobile cylinder (715)
Telescopic direction be slidably arranged on rack (8), the extension end of the welding gun mobile cylinder (715) and mounting base (716) are fixed
It connects, is fixed with fixture block (717) on the mounting base (716), the welding gun (76) is clamped in mounting base (716) and fixture block
(717) between.
16. gas spring according to claim 13 is flared welding integrated automatically, it is characterised in that: the rotary power dress
It sets including motor (718), driving wheel (719) and driven wheel (720), the motor (718) is fixed on rack (8), the master
Driving wheel (719) is fixedly connected with the main shaft of motor (718), is rotatably connected to transmission shaft (723) on the fixing seat (71), described
Driven wheel (720) is fixedly connected with transmission shaft (723), passes through belt between the driving wheel (719) and driven wheel (720)
(721) it is sequentially connected, the transmission shaft (723) and drive roll (72) are sequentially connected；It includes side that the side, which compresses power device,
The cylinder body of square compression cylinder (722), the side compression cylinder (722) is fixed on rack (8), and the sliding seat (73) is fixed
On the extension end of side compression cylinder (722).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910752743.7A CN110480359B (en) | 2019-08-15 | 2019-08-15 | Automatic flaring and welding integrated machine for gas spring |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910752743.7A CN110480359B (en) | 2019-08-15 | 2019-08-15 | Automatic flaring and welding integrated machine for gas spring |
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| CN110480359A true CN110480359A (en) | 2019-11-22 |
| CN110480359B CN110480359B (en) | 2024-04-26 |
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| CN111975312A (en) * | 2020-08-06 | 2020-11-24 | 四川同一热能设备有限公司 | 5 equipment production system of pipe single channel heat exchanger |
| CN112318013A (en) * | 2020-10-17 | 2021-02-05 | 杭州醉夕风科技有限公司 | Air conditioner steel pipe welding machine |
| CN114055029A (en) * | 2021-11-29 | 2022-02-18 | 成都市威力特机器人有限公司 | Intelligent rivet welding workstation for steel structure parts |
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| CN110480359B (en) | 2024-04-26 |
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