CN111215876A

CN111215876A - Automatic replacement equipment for welding gun contact tube

Info

Publication number: CN111215876A
Application number: CN202010067661.1A
Authority: CN
Inventors: 周明贺; 张博
Original assignee: Guangzhou Woodpecker Intelligent Technology Co Ltd; Zhuhai Woodpecker Automation Equipment Co Ltd
Current assignee: Guangzhou Woodpecker Intelligent Technology Co Ltd; Zhuhai Woodpecker Automation Equipment Co Ltd
Priority date: 2020-01-20
Filing date: 2020-01-20
Publication date: 2020-06-02

Abstract

The invention discloses automatic replacement equipment for a welding gun contact tube; the automatic replacement equipment of the welding gun contact tube is used for being matched with the welding gun control robot to realize the automatic replacement of the welding gun contact tube; the automatic welding gun contact tube replacing equipment is characterized by comprising a contact tube dismantling device and an automatic wire cutting device for cutting off residual welding wires at the end part of the contact tube of a welding gun; the contact tube dismantling device comprises a second rotating body, the second rotating body is controlled to rotate by taking a second rotating shaft as a shaft, and the second rotating body drives the contact tube of the welding gun to rotate around a central shaft of the contact tube; the automatic wire cutting device comprises a wire cutting knife and a control structure for controlling the wire cutting knife to cut wires. The automatic dismounting device for the welding gun contact tube can realize automatic replacement of the contact tube, saves labor force, and can realize the stability of the contact tube after the contact tube is replaced through full-automatic control.

Description

Automatic replacement equipment for welding gun contact tube

Technical Field

The invention relates to the technical field of welding gun contact tube replacement and motor vehicle production, in particular to automatic welding gun contact tube replacement equipment.

Background

In the production process of products, welding operation needs to be carried out on some parts and parts, a more common mode is welding in a gas shielded welding (such as carbon dioxide shielded welding) mode, and a welding gun is needed to be used for implementation at the moment, wherein the common welding gun comprises a contact tip and a nozzle, and the contact tip and the nozzle are installed at the end part of the welding gun in a threaded connection mode; after the welding gun works for a period of time, the contact tip and the nozzle are abraded, particularly the contact tip is high in abrasion degree, the abraded contact tip affects welding quality, and serious poor welding quality can cause market/customer complaints, cause product withdrawal, generate high paying cost and even cause company failure; therefore, the contact tip needs to be replaced after the welding gun works for a period of time, and the contact tip needs to be replaced for 2-4 hours in the actual production process; in the prior production, the contact tips are mostly replaced manually, but because the contact tips are frequently replaced, the whole automatic arc welding production line needs to be stopped by adopting a manual replacement mode, so that the production line efficiency is inevitably reduced, meanwhile, because the welding length of each post welding gun is different, the contact tips are replaced in advance without the service life, and the production cost is increased; the condition that the installation of the contact tube is not firm after manual replacement occurs, the instable installation of the contact tube influences the service life of the contact tube for a moment, the loss of the contact tube is accelerated, the welding quality is influenced, and certain potential safety hazards exist; in addition, the replacement of the contact tip is managed manually, and there may be a problem that the replacement is missed or the replacement time is uncertain.

Disclosure of Invention

The invention aims to provide automatic contact tube replacing equipment, which can realize automatic replacement of a welding gun contact tube, improve the efficiency, save the labor and ensure the installation quality of the contact tube; the invention is realized by the following technical scheme:

the automatic replacement equipment for the contact tube of the welding gun is used in cooperation with a welding gun control robot to realize automatic replacement of the contact tube of the welding gun, the contact tube and a nozzle are mounted at the end part of the welding gun, and the contact tube and the nozzle are mounted at the end part of the welding gun in a threaded connection mode; the welding wire is extended from the end of the contact tip to perform welding;

the automatic welding gun contact tube replacing equipment is characterized by comprising a contact tube dismantling device and an automatic wire cutting device for cutting off residual welding wires at the end part of the contact tube of a welding gun; the contact tip removing device comprises a second rotating body, the second rotating body is controlled to rotate by taking a second rotating shaft as a shaft, and the second rotating body drives the contact tip of the welding gun to rotate around a central shaft of the contact tip; the automatic wire cutting device comprises a wire cutting knife and a control structure for controlling the wire cutting knife to cut wires.

The contact tube mounting device comprises a rotating body assembly, the rotating body assembly is provided with a third inner cavity for accommodating the contact tube to be mounted, and the rotating body assembly is provided with a shaft body for driving the contact tube to be mounted to rotate around the central shaft of the contact tube.

Specifically, the swivel assembly comprises a third swivel and a fourth swivel; the third rotating body is controlled to rotate by taking a third rotating shaft as a shaft; the third rotating body is in butt joint with or separated from the fourth rotating body; when the fourth rotating body is in butt joint with the third rotating body, the fourth rotating body is driven by the third rotating body to rotate by taking a fourth rotating shaft as a shaft; the fourth swivel has the third inner cavity.

And further, the welding gun further comprises a contact tube mounting and dismounting detection device for detecting whether the end part of the welding gun is provided with the contact tube.

Specifically, the contact tube mounting and dismounting detection device comprises a detection rod and a first detection part connected with the detection rod;

or the contact nozzle mounting and dismounting detection device is a photoelectric sensor.

Further, the contact tube installation in-place detection device is used for detecting whether the contact tube is installed in place or not.

Further, the contact tube dismantling device comprises a contact tube collecting box for collecting the dismantled contact tubes.

The nozzle mounting and dismounting device comprises a first rotating body, wherein the first rotating body is controlled to rotate around a first rotating shaft, and the first rotating body drives the nozzle of the welding gun to rotate around the central shaft of the nozzle.

Specifically, the first rotating body is provided with an inner cavity for accommodating the nozzle to be sprayed, and the second rotating body is provided with a clamping mechanism for clamping the nozzle, wherein the clamping mechanism comprises at least two clamping jaws which are arranged around the inner cavity at intervals; the clamping jaws are movably connected with the inner cavity wall of the inner cavity in a mode that the top ends of the clamping jaws move towards the direction close to the center of the inner cavity when the bottom ends of the clamping jaws move away from the center of the inner cavity gradually, and the top ends of the clamping jaws move towards the direction far from the center of the inner cavity when the bottom ends of the clamping jaws move towards the direction close to the center of the inner cavity gradually.

Further, the device also comprises a control device and a rotation driving device for driving the first rotator, the second rotator and the third rotator to rotate; the control device is electrically connected with the rotary driving device.

Specifically, the rotary driving device comprises a plurality of servo motors, and respective rotating shafts of the first rotating body, the second rotating body and the third rotating body are correspondingly connected with a driving end of one servo motor; the control device is electrically connected with each servo motor;

or the rotary driving device comprises a servo motor and a rotary linkage structure of the first rotating body, the second rotating body and the third rotating body; the control device is electrically connected with the servo motor.

More specifically, in the case where the rotation driving device includes a servo motor and a rotation linkage structure of each of the rotors, the rotation linkage structure includes a first synchronizing wheel, a second synchronizing wheel, a third synchronizing wheel, a fourth synchronizing wheel, a first synchronizing belt, and a second synchronizing belt; the first synchronizing wheel is fixedly arranged on the rotating shaft of the first rotating body and is coaxial with the first rotating body; the second synchronizing wheel and the third synchronizing wheel are fixedly arranged on a rotating shaft of the second rotating body and are coaxial with the second rotating body; the fourth synchronizing wheel is fixedly arranged on the rotating shaft of the third rotating body and is coaxial with the third rotating body; the first synchronous wheel is connected with the second synchronous wheel through a first synchronous belt, and the third synchronous wheel is connected with the fourth synchronous wheel through a second synchronous belt; and the driving end of the servo motor is connected with the rotating shaft of the first synchronous wheel.

Specifically, the second rotating body comprises an air chuck for clamping the contact tip, the air chuck is provided with an inner cavity for accommodating the contact tip, the head of the air chuck is provided with an opening leading to the inner cavity, and the contact tip enters and exits the inner cavity through the opening; the pneumatic chuck is provided with a plurality of clamping jaws, and each clamping jaw is arranged around the inner cavity; the air chuck is controlled to rotate by taking the second rotating shaft as an axis; when the air chuck is supplied with air, the air chuck clamps the nozzle.

Specifically, the contact tube dismantling device is provided with a through hole which penetrates through the contact tube dismantling device along the vertical direction, and the through hole penetrates through the pneumatic chuck from the opening; the through hole passes through the inner cavity; the through hole has a diameter greater than an outer diameter of the nozzle, and the nozzle is free to pass through the through hole when the air chuck is not being supplied with air.

The invention has the beneficial technical effects that:

the automatic dismounting and mounting equipment for the welding gun contact tube can realize automatic replacement of the contact tube, not only saves labor, but also can realize the stability of the contact tube after the contact tube is replaced through full-automatic control, and can effectively ensure the welding quality.

Drawings

FIG. 1 is a schematic view of a torch;

FIG. 2 is a schematic view of a contact tip of a welding gun;

FIG. 3 is a schematic overall view of an apparatus for automatically assembling and disassembling a contact tip of a welding gun according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an internal structure of an automatic assembling and disassembling apparatus for a contact tip of a welding gun according to an embodiment of the present invention;

fig. 5 is a second schematic diagram of an internal structure of an automatic dismounting apparatus for a contact tip of a welding gun according to a first embodiment of the present invention;

FIG. 6 is a sectional view of an apparatus for automatically assembling and disassembling a contact tip of a welding gun according to an embodiment of the present invention;

FIG. 7 is an assembly view of the nozzle mounting and dismounting device according to the second embodiment of the present invention;

fig. 8 is an exploded view of a nozzle mounting and dismounting device according to a second embodiment of the present invention;

fig. 9 is a schematic structural view of a first clamping jaw of the nozzle dismounting device according to the second embodiment of the present invention;

fig. 10 is a schematic structural diagram of a contact tip removing device provided in a third embodiment of the present invention (excluding a mounting base and a spring on the mounting base);

FIG. 11 is a schematic illustration of the contact tip removal device of FIG. 10 mounted to a linkage box;

fig. 12 is a schematic structural diagram of a contact tip removing device according to a third embodiment of the present invention (including a mounting base and a spring on the mounting base);

fig. 13 is a schematic structural view of an auxiliary jaw of the contact tube removing device according to the third embodiment of the present invention;

fig. 14 is a view schematically illustrating a structure of a contact tip mounting apparatus according to a fourth embodiment of the present invention;

fig. 15 is a second schematic structural view of a contact tip mounting device according to a fourth embodiment of the present invention;

fig. 16 is a side view of a contact tip mounting apparatus provided in accordance with a fourth embodiment of the present invention;

fig. 17 is a schematic structural view of a fourth rotator of the contact tip mounting device according to the fourth embodiment of the present invention;

fig. 18 is a schematic structural view of a position switching mechanism of a contact tip mounting apparatus according to a fourth embodiment of the present invention;

fig. 19 is a schematic diagram of the positions and structures of a fourth rotor and a third rotor of the contact tip installation station provided by the fourth embodiment of the present invention (the fourth rotor is in a separated position);

fig. 20 is a schematic diagram of the positions and structures of the fourth rotor and the third rotor of the contact tip installation station provided by the fourth embodiment of the present invention (the fourth rotor is in the docking position);

fig. 21 is a schematic structural view of an automatic wire cutting device and a nozzle removing device according to a fifth embodiment of the present invention;

fig. 22 is a schematic structural view of an automatic wire cutting device and a nozzle removing device according to a fifth embodiment of the present invention;

fig. 23 is a schematic structural view of a contact tip removing device according to a seventh embodiment of the present invention;

the reference numbers illustrate:

001-welding gun, 002-contact tip, 003-nozzle, 004-welding wire, 005-gun body, 006-base end, 007-plane and 008-mounting end;

100-nozzle dismounting device, C1-first rotating shaft, K1-first opening, 110-first shaft body, 120-first barrel part, 121-top cover, 122-barrel body, 123-base, 124-mounting hole, 125-connecting shaft, 126-notch, 130-first clamping jaw, 130 a-outer side edge of first clamping jaw, 131-clamping jaw mounting pin, 132-roller mounting pin, 133-through hole, 134-roller mounting groove, 135-roller, 136-first auxiliary clamping jaw and 140-first guide part;

200-contact tip removing device, C2-second rotating shaft, K2-second opening, 210-second shaft, 211-window, 220-pneumatic chuck, 222-circular cylinder, 221-air pipe, 222-second auxiliary clamping jaw, 223-protrusion, 230-through hole, 250-second guide part, 260-spring and 290-mounting seat;

300-conductive nozzle mounting device, C3-third rotating shaft, C4-fourth rotating shaft, K3-third opening, 310-position switching mechanism, 311-wheel disc, 312-pawl, 314-positioning hole, 315-positioning structure mounting bracket, 316-elastic plunger, 320-conductive nozzle mounting table, 322-rotating shaft, 330-third rotating body, 331-third shaft body, 332-rotating part, 333-second elastic part, 341-third detection mechanism, 350-third guide part, 360-fourth rotating body, 361-sleeve, 364-step, 366-first elastic part, 367-rotating combination part, 370-first control cylinder, W1-conductive nozzle mounting station and W2-conductive nozzle preparing mounting station;

400-automatic wire cutting device, 410-first cutter body, 420-second cutter body, 430-cutter shaft, 440-wire cutting collection box, 441-fifth shaft body, 442-turntable, 443-guide projection and 445-second driving cylinder;

500-installing and detaching a detection device, 510-detecting a rod and 511-bending part of a conductive nozzle;

610-cover body, 620-upper cover;

710-a servo motor, 720-a linkage structure box, 721-a first synchronous wheel, 722-a second synchronous wheel, 723-a third synchronous wheel, 724-a fourth synchronous wheel, 731-a first synchronous belt and 732-a second synchronous belt;

910-rotating cylinder, 911-conductive nozzle moving groove, 920-sixth shaft, 930-conductive nozzle conveying track, 931-photoelectric sensor, 932-circular baffle, 933-notch, 941-third control cylinder and 942-moving pushing block.

Detailed Description

In order to clearly understand the technical solutions of the present invention, the present invention is further described with reference to the following embodiments, which are only used for the convenience of explaining the technical solutions of the present invention, and the present invention is not limited to the disclosure of the embodiments.

With reference to fig. 1 and 2, a structure of a machine welding gun (hereinafter referred to as a welding gun) will be briefly described; the general welding gun 001 is provided with a cylindrical gun body 005, and an inner cavity for welding wire to run is arranged in the gun body 005; a cylindrical nozzle 003 is screwed to the end of the gun body 005, and a thin rod-shaped contact tip 002 is screwed to the end of the gun body 005.

The contact tube 002 is generally made of pure copper, chrome red copper, tungsten bronze and zirconium copper; an inner cavity for accommodating the welding wire 004 to pass through is formed in the contact tube 002, and the inner cavity of the contact tube 002 is vertically communicated with the inner cavity of the gun body 005; the inner cavity of the contact tube 002 penetrates through the top end and the bottom end of the contact tube 002, the welding wire 004 sequentially penetrates through the inner cavity of the welding gun 001 and the inner cavity of the contact tube 002 and extends out of the front end of the contact tube 002, and the welding of parts is completed at the front end of the contact tube 002; referring to fig. 2, the lower portion of the contact tip 002 is formed in a shape with a gradually reduced diameter, and two planes 007 are formed in parallel with a central axis (i.e., a rotation axis of the contact tip) in a portion of the outer surface of the contact tip 002 of the machine welding gun 001 near the base end 006; in the present invention, the mounting end 008 of the contact tip 002 is a threaded end provided at the top of the contact tip.

Wherein the nozzle 003 is a means for delivering a shielding gas, such as carbon dioxide, to the welding area to prevent the wire tip, arc, and air from coming into contact. The nozzle 003 is divided into a ceramic nozzle and a metal nozzle according to the material; when a metal nozzle is used, the metal nozzle must be insulated from the conductive portion of the torch 001; the lower portion of the nozzle 003 assumes a shape in which the diameter gradually decreases as it approaches the bottom end opening.

The base end portion of the contact tip 002 protrudes from the base end opening of the nozzle 003, and the contact tip 002 is disposed coaxially with the nozzle 003. The nozzle 003 and the contact tube 002 are both wearing parts and need to be replaced frequently, wherein the replacement frequency of the nozzle 003 is far less than that of the contact tube 002, and the nozzle 003 is replaced once in 1-2 months generally, so that the nozzle 003 can be replaced manually.

Example one

With reference to fig. 3 to 6, the present embodiment provides an automatic dismounting device for a welding gun contact tube, and the automatic dismounting device for a welding gun contact tube of the present application is used in cooperation with a welding gun control robot to realize automatic dismounting of the contact tube, wherein the welding gun control robot controls a welding gun to perform a specified operation at a specified position. The automatic welding torch contact tip mounting and dismounting device of the present invention is used for automatic replacement of the contact tip 002, and since the contact tip 002 is inserted into the nozzle 003, the replacement of the contact tip 002 is generally performed in the following order: nozzle removal-contact tip removal (old) -contact tip installation (new) -nozzle installation.

The automatic welding gun contact tube dismounting device comprises a nozzle dismounting device 100, a contact tube dismounting device 200, a contact tube mounting device 300, an automatic wire cutting device 400, a contact tube mounting and dismounting detection device 500 and a control device (not shown).

The nozzle mounting and dismounting device 100 includes a first rotating body that is controlled to rotate around a first rotation axis C1 in a reverse or forward direction to remove or mount the nozzle; the contact tip removing device 200 has a second rotator that is controlled to be reversed about a second rotation axis C2 to effect the removal of the contact tip; the contact tip mounting device 300 has a third rotor that is controlled to rotate forward about a third rotation axis C3 to achieve mounting of the contact tip.

The automatic welding gun contact tube dismounting device further comprises a rotation driving device for controlling each rotation body to rotate, in the embodiment, the rotation driving device comprises a servo motor 710 and a rotation shaft linkage structure of each rotation shaft, and the servo motor 710 controls the action of the rotation shaft linkage structure to control the rotation of each rotation shaft; the servo motor 710 in this embodiment can control each rotor to rotate forward or backward and set the torque required for installation.

In the description of the invention, forward rotation is used for indicating the removal of the contact tip or the nozzle, and reverse rotation is used for indicating the installation; it should be noted that, in other embodiments, depending on the actual situation, one of the rotors may be configured to rotate around the rotating shaft to perform the reverse rotation, which indicates removal, and rotate around the rotating shaft to perform the forward rotation, which indicates installation.

In this embodiment, the rotating shaft linkage structure is installed in the linkage structure box 720, and the nozzle dismounting device 100, the contact tip dismounting device 200, and the contact tip installation device 300 are installed above the linkage structure box 720; the automatic wire cutting device 400 and the contact tip mounting and dismounting detection device 500 are mounted on the side surface of the linkage structure box 720.

In this embodiment, the rotating shaft linkage structure is formed by combining gears and a synchronous belt, and includes a first synchronous wheel 721, a second synchronous wheel 722, a third synchronous wheel 723, a fourth synchronous wheel 724, a first synchronous belt 731 and a second synchronous belt 732; the first synchronizing wheel 721 is fixedly connected to the first rotating body, and the rotating shaft thereof coincides with the first rotating shaft C1; the second synchronizing wheel 722 and the third synchronizing wheel 723 are both fixedly connected with the second rotating body, and rotating shafts of the second synchronizing wheel 722 and the third synchronizing wheel 723 are both superposed with the second rotating shaft C2; the fourth synchronizing wheel 724 is fixedly connected with the third rotating body, and the rotating shaft of the fourth synchronizing wheel 724 is superposed with the third rotating shaft C3; the first synchronizing wheel 721 is connected with the second synchronizing wheel 722 through a first synchronous belt 731, and the third synchronizing wheel 723 is connected with the fourth synchronizing wheel 724 through a second synchronous belt 732; the driving end of the servo motor 710 is connected to a first synchronous wheel 721 to drive the first synchronous wheel 721 to rotate, and the first synchronous wheel 721 is a driving wheel of other synchronous wheels; when the servo motor 710 controls the first synchronous wheel 721 to rotate, the first, second, third and fourth synchronous wheels rotate in the same direction at the same time under the driving of the two synchronous belts, so as to drive the first, second and third rotating bodies to rotate in the same direction at the same time.

In other embodiments, the rotating shaft linkage structure may rotate synchronously by meshing and matching between the gears (each rotating body may rotate in different directions according to the number of the gears), and the specific working manner is a more common technical means in the prior art, and is not described herein again.

In another embodiment, the rotating shaft linkage structure can also be completed by the engagement between gears and the cooperation of a synchronous belt and a synchronous wheel, for example, the first and second rotors are linked by the cooperation between synchronous belts, and the second and third rotors are linked by the engagement between gears; specifically, the description is omitted here.

Referring to fig. 3 and 4, the contact tip mounting and dismounting detection device 500 is a toggle sensor, and includes a detection rod 510 and a first detection component connected to the detection rod 510, and the top end of the detection rod 510 has a bending portion 511; the welding gun control robot controls the welding gun to move to the position of the detection rod 510, then controls the welding gun to transversely move to toggle the bending part 511 of the detection rod 510, when the welding gun is provided with a conductive nozzle, the conductive nozzle can toggle the detection rod 510, and the first detection part can detect signals; when the torch is not fitted with a contact tip (and no nozzle at this time), the sensing rod 510 cannot be pulled and the first sensing part cannot detect a signal. Specifically, the contact tip attachment/detachment detecting device 500 is, for example, an ohilon WLCA limit switch. The first detection component is connected with the control device.

In other embodiments, the contact tip installation and removal detection device 500 may also be a photoelectric sensor, and the specific working principle thereof is a technology commonly used in the prior art, and is not described herein again.

Preferably, the automatic dismounting and mounting equipment for the welding gun contact tube further comprises a contact tube in-place detection device for detecting whether the contact tube is in place or not, so that the contact tube is prevented from loosening caused by the fact that the contact tube cannot be in place; the contact tip in-position detection device is not shown in the figure.

Because the contact tip of the welding gun is replaced in the gap of welding work, the end part of a common contact tip has welding wire residues, and the end part of the welding wire is cooled after being melted by high temperature in the welding process, so that the end part of the welding wire can be in a spherical shape, if the end part of the welding wire is not cut off, the end part of the welding wire can be clamped by the contact tip when the contact tip is removed, and the contact tip cannot be removed, therefore, the wire cutting work is required before the contact tip is removed; the present invention uses the automatic wire cutting device 400 to cut wire; the automatic filament cutting device 400 of the present invention includes a filament cutter and a filament cutter control mechanism.

The automatic disassembling and assembling equipment for the welding gun contact tube further comprises a cover body 610 and an upper cover 620; the upper cover 620 is arranged at the upper opening of the cover body 610, and the upper cover 620 can open and close the upper opening of the cover body 610; the cover body 610 and the upper cover 620 enclose a first accommodating cavity, and the nozzle dismounting device 100, the contact tube dismounting device 200, the contact tube mounting device 300 and the linkage structure box 720 are located in the first accommodating cavity.

The nozzle dismounting device 100 is provided with a first opening K1 through which a nozzle of a welding gun enters and exits the automatic contact tip replacing equipment, the contact tip dismounting device 200 is provided with a second opening K2 through which a contact tip of the welding gun enters the automatic contact tip replacing equipment, and the contact tip mounting device 300 is provided with a third opening K3 through which the end part of the welding gun enters and exits the automatic contact tip replacing equipment; the upper cover 620 is provided with holes corresponding to the respective openings.

In this embodiment, the rotation of each rotor is controlled by the cooperation of a servo motor 710 and a rotary shaft linkage structure; the servo motor 710 is connected with the control device.

In other embodiments, the rotation driving mechanism may not have a linkage structure of the rotation shafts, and the rotation driving mechanism uses a plurality of servo motors to control the rotation of each of the rotors respectively; each servo motor is respectively connected with the control device.

Example two

With reference to the first embodiment and fig. 7 to 9, the present embodiment provides a nozzle dismounting device 100, wherein a first rotating body of the nozzle dismounting device 100 includes a first barrel 120 and a first shaft 110; the first barrel 120 is connected to a first synchronizing wheel 721 through a first shaft 110; the first barrel 120 and the first shaft body 110 rotate about the first rotation axis C1, and the first barrel 120 rotates about the first rotation axis C1.

In this embodiment, the first cylinder 120 includes a base 123, a cylindrical cylinder 122, and a top cover 121, the base 123 is installed at the bottom of the cylindrical cylinder 122, and a connecting shaft 125 fixedly connected to the first shaft 110 is downward arranged at the bottom of the base 123; the top cover 121 is mounted on the top of the cylindrical barrel 122; the first cartridge 120 has a first interior cavity for receiving the nozzle, the cap 121 has a first opening K1 leading to the first interior cavity, and the nozzle 003 enters and exits the first interior cavity through the first opening K1.

A first clamping mechanism for clamping the nozzle 003 is arranged on the cylinder 122 and movably connected with the cylinder 122; as the nozzle 003 gradually moves downward during the entrance of the nozzle 003 into the first inner cavity, the first clamping mechanism gradually clamps the nozzle 003, and can clamp the nozzle 003 during the removal or installation of the nozzle 003 (i.e., during the rotation of the first rotor); in the process that the nozzle 003 is discharged out of the first inner cavity, the first clamping mechanism gradually loosens the nozzle 003.

In this embodiment, the first clamping mechanism includes a plurality of first clamping jaws 130 arranged at intervals around the first inner cavity, and the first clamping jaws 130 are movably connected with the inner cavity wall of the first inner cavity; each first clamping jaw 130 is movably connected with the inner cavity wall of the inner cavity in a manner that the top end of the first clamping jaw 130 moves towards the direction close to the center of the inner cavity when the bottom end of the first clamping jaw 130 moves away from the center of the inner cavity gradually, and the top end of the first clamping jaw 130 moves towards the direction away from the center of the inner cavity when the bottom end of the first clamping jaw 130 moves towards the direction close to the center of the inner cavity gradually; the inner cavity wall of the first inner cavity is provided with a plurality of strip-shaped gaps 126 matched with the first clamping jaws 130 for use, each gap 126 is arranged along the longitudinal direction of the inner cavity wall, and the first clamping jaws 130 are arranged at the strip-shaped gaps 126; specifically, the inner cavity wall is provided with mounting holes 124 at both sides of the notch 126, and the middle part of the first clamping jaw 130 is provided with a through hole 133; the clamping jaw mounting pin 131 (i.e. the rotating mounting pair) passes through the through hole 133 and the mounting holes 124 on both sides of the notch 126, so as to mount the first clamping jaw 130 on the cylinder 122, and the lower part of the outer side edge 130a of the first clamping jaw 130 is located in the first inner cavity, and the top of the first clamping jaw 130 is limited by the top cover 121, so that the range of motion of the first clamping jaw 130 in the inner cavity of the cylinder 122 is limited by taking the clamping jaw mounting pin 131 as an axis.

The bottom end of the first clamping jaw 130 is also provided with a rolling body, and the rolling body protrudes out of one side of the clamping jaw facing the inner cavity; the rolling body is in rolling connection with the surface of the nozzle; because the nozzle is when getting into first inner chamber, the bottom of nozzle and the bottom of first clamping jaw 130 contact at first to when the nozzle is downward, the nozzle promotes the bottom of first clamping jaw 130 and moves towards the center of keeping away from the inner chamber (the action that the nozzle goes out first inner chamber is opposite), consequently the bottom of first clamping jaw 130 begins all the time in the nozzle contact, the setting of rolling element can prevent the bottom scratch surface of nozzle of first clamping jaw 130 when the nozzle moves about in the inner chamber, simultaneously because it can roll from top to bottom on the nozzle surface, can let the more smooth and easy of the up-and-down operation of nozzle.

Specifically, the rolling body may be a roller 135, the bottom of the inner side of the first jaw 130 has a roller mounting groove 134, the roller 135 is mounted in the roller mounting groove 134 by a roller mounting pin 132, and the roller 135 protrudes from the inner side of the first jaw 130; the roller 135 is freely rotatable about the roller mounting pin 132; in other embodiments, the rolling elements may also be balls or other items that can roll between the surfaces of the nozzle.

Preferably, a first auxiliary clamping jaw 136 is further mounted at the top end of each first clamping jaw 130 to increase the friction force when the first clamping jaw 130 clamps the nozzle, one side of the first auxiliary clamping jaw 136 facing the first inner cavity of the cylinder 122 is provided with strip-shaped protrusions and strip-shaped grooves arranged at intervals, one side of each first auxiliary clamping jaw 136 facing the first inner cavity is arranged on the same circumference, and the circumference is arranged coaxially with the first shaft 110.

The nozzle clamping mode of the nozzle dismounting device 100 is ingenious in design and simple in structure, and the clamping of the nozzle can be realized by utilizing the gravity of the nozzle and the matching of the nozzle and the clamping jaw; when the nozzle of the welding gun enters the first inner cavity of the cylinder 122 through the first opening K1, the nozzle is not in contact with the first clamping jaw 130; as the end of the nozzle is gradually lowered onto roller 135, the nozzle contacts roller 135; since the end of the nozzle is of a gradually decreasing diameter, the nozzle continues to move downward, the roller 135 rolls along the surface of the nozzle, and the diameter of the position where the nozzle contacts the roller 135 becomes larger, so that the bottom end of the first clamping jaw 130 gradually moves away from the first rotation axis C1, so that the top of the first clamping jaw 130 gradually moves closer to the first rotation axis C1 until the first auxiliary clamping jaw 136 of the first clamping jaw 130 clamps the nozzle, at which time the nozzle can not move downward any more; after the nozzle is clamped, the servo motor 710 controls the first shaft body 110 to rotate reversely to realize the nozzle removal; then the welding gun is controlled to be taken out upwards, and the nozzle is kept in the first inner cavity of the nozzle dismounting device 100; when the contact tip is replaced (the old contact tip is removed and the new contact tip is installed), the welding gun moves to the nozzle dismounting device 100, the contact tip is inserted into the nozzle in the first inner cavity of the nozzle dismounting device 100, and the servo motor 710 controls the first shaft 110 to rotate forward to realize nozzle reinstallation; when the welding gun is pulled out, the nozzle moves upwards, the roller 135 gradually moves towards the inner cavity, the top of the first clamping jaw 130 is driven to gradually move towards the outer cavity, the nozzle is loosened, and the nozzle is conveniently taken out.

The embodiment is a specific embodiment for installing and removing a nozzle on a welding gun; it should be appreciated that this embodiment may also be used as a swivel attachment and/or removal device for attaching and/or removing a barreled or rod-like device that is threadably attached to an end of an object.

In other embodiments, the first barrel 120 may be used as a clamping mechanism for holding the device on a device or apparatus for clamping and positioning the device; the lower part of the device is a structure with gradually increased size from bottom to top; the first barrel 120 may be configured to rotate or be fixed according to actual use requirements.

EXAMPLE III

With reference to the first embodiment and fig. 10 to 13, a contact tip removing device 200 is provided, where the contact tip removing device 200 includes a second rotating body and a second shaft body 210; the second rotating body is fixedly connected with the second shaft body 210, and the second shaft body 210 is fixedly connected with the second synchronizing wheel 722 and the third synchronizing wheel 723.

The second rotating body comprises a second clamping structure for clamping the contact nozzle; in this embodiment, the second rotator is an air chuck 220, and the second clamping structure includes a second clamping jaw (not shown) disposed in the air chuck 220; the air chuck 220 comprises a circular air cylinder 222 and an air pipe 221, and the air pipe 221 of the air chuck 220 is connected with the control device; the circular cylinder 222 of the air chuck 220 has a second cavity for accommodating the contact tip, each second clamping jaw is arranged around the second cavity, and when the air chuck 220 is not supplied with air, the diameter of the circumference surrounded by the second clamping jaws is larger than the outer diameter of the contact tip; when the air chuck 220 is energized, the second jaws grip the contact tip.

The contact tip removing device 200 comprises a through hole 230 which penetrates through the contact tip removing device 200 from the second opening K2, wherein the through hole 230 is communicated with the second inner cavity; the inner diameter of the through hole 230 is larger than the outer diameter of the contact tip, and a contact tip collecting device (not shown) for collecting the removed contact tip can be arranged at the bottom of the contact tip removing device 200 and at an opening below the through hole 230; above the air chuck 220, there is a second opening K2 leading to a second inner cavity, into which the contact tip 002 of the welding gun enters through a second opening K2. The air chuck 220 is connected with a second synchronous wheel 722 through a second shaft body 210; the air chuck 220 and the second shaft 210 rotate about the second rotation axis C2.

The contact tip removing device 200 is mounted above the interlocking structure box 720 by the second guide member 250, and the second shaft body 210 is inserted into the second guide member 250 and rotates on the second guide member 250 about the second rotation axis C2.

As shown in fig. 13, preferably, a circular mounting seat 290 of an elastic element is disposed between the second guide member 250 and the air chuck 220, a plurality of springs 260 are disposed between the mounting seat 290 and the bottom of the air chuck 220, the plurality of springs 260 are disposed at positions close to the edge of the mounting seat 290 and circumferentially spaced along the mounting seat 290, and the arrangement of the springs 260 enables the air chuck 220 to be movable in the up-down direction (i.e., the axial direction of the second shaft body 210); at this time, the mounting seat 290 is fixedly connected to the second synchronizing wheel 722 through the second shaft body 210, and the air chuck 220 is connected to the mounting seat 290 through the respective springs 260. The elastic element is set to offset the position variation of the contact tip and the welding gun in the process of detaching the contact tip. The second guide member 250 is set such that the air chuck maintains its rotation direction stably.

As shown in fig. 13 and 14, a second auxiliary jaw 222 is preferably further mounted above each jaw of the air chuck 220; the side (inner side) of each second subsidiary jaw 222 facing the second opening K2 is arc-shaped, and the inner side edges of each second subsidiary jaw 222 are arranged on the same circumference, and both ends of the side of each second subsidiary jaw 222 facing the second opening K2 are provided with protrusions 223, and the front ends of the protrusions 223 are provided with sharp corners, which can facilitate gripping of the contact tip.

Preferably, with reference to fig. 11, the contact tip removing device 200 further has a second detecting mechanism 240 for detecting whether the contact tip is completely collected, the second shaft 210 is a hollow shaft (that is, the through hole 230 penetrates through the second shaft 210), the second shaft 210 is provided with a window 211 having a second inner cavity communicating with the outside, the second detecting mechanism 240 is aligned with the window 211, when the contact tip falls after being removed, the contact tip passes through the window 211, and the second detecting mechanism 240 detects that an object passes through the window, which proves that the contact tip has fallen. The next contact tip is removed and the process is normal. The second detection mechanism 240 is connected with the control device; the second detection mechanism may be a reflective photoelectric sensor, and the light transmitted by the second detection mechanism is irradiated into the through hole 230 through the window 211, and the received reflected signal is calculated to detect whether the contact tip passes through the through hole.

The contact tube removing device adopts a pneumatic clamping mode, when a contact tube enters a second clamping jaw of a second inner cavity through a second opening K2, a control device controls the pneumatic chuck 220 to be supplied with air, the second clamping jaw of the pneumatic chuck 220 deforms towards one side in the second inner cavity under the action of the air pressure, the contact tube is clamped, the control device controls the servo motor 710 to rotate, the pneumatic chuck 220 rotates reversely around a second rotating shaft C2 to remove the contact tube, in the process of removing the contact tube, because the relative position of the contact tube and a welding gun changes, under the condition that the position of the welding gun does not change, the relative position of the contact tube and the pneumatic chuck 220 does not change, the pneumatic chuck 220 gradually moves downwards, the spring 260 gradually contracts, and the removal stability of the contact tube can be ensured; when the dismounting is finished, the control device controls the position of the welding gun to transfer and stops supplying air to the air chuck 220, at the moment, under the action of the elastic force of the spring 260, the air chuck 220 returns, because the air chuck 220 stops supplying air, the pressure of the second clamping jaw of the air chuck 220 is released, the clamping force on the contact tube is released, the contact tube falls into a contact tube collecting device (not shown) along the through hole 230 under the action of gravity, and when the contact tube passes through the window 211 in the falling process, the second detection mechanism 240 detects the passing of an object and sends a signal of the completion of the collection to the contact tube of the control device; when the control device receives the signal of completion of collection from the second detecting means 240, the control device controls the contact tip mounting device to perform the contact tip mounting operation.

The embodiment is a specific embodiment for the removal of a contact tip on a welding gun; it should be appreciated that this embodiment may also be used as a swivel attachment and/or removal device for attaching and/or removing a barreled or rod-like device that is threadably attached to an end of an object. In other embodiments, the air chuck is mounted on a mounting bracket if the linkage box is not present.

Example four

Referring to fig. 14 to 20, a contact tip mounting device 300 is provided, where the contact tip mounting device 300 includes a position switching mechanism 310, a contact tip mounting table 320, a third rotator 330, and a detection unit.

The contact tip mounting table 320 has a plurality of stations; the contact tube mounting table 320 is a circular turntable, a plurality of fourth rotating bodies 360 are arranged on the contact tube mounting table 320, and each fourth rotating body 360 is positioned on one station; the fourth rotators 360 are disposed at intervals and uniformly along the circumference of the contact tip mounting table 320. Each of the fourth rotators 360 is rotatable about a respective fourth rotation axis C4.

The position switching mechanism 310 is mounted on the linkage structure box 720, the position switching mechanism 310 is connected to the contact tip mounting table 320, and is configured to control the rotation of the contact tip mounting table 320 to sequentially switch the positions of the fourth rotating bodies 360; the stations of the contact tip mounting table 320 include a contact tip mounting station W1 (i.e., a working station), a contact tip preliminary mounting station W2 (i.e., a preliminary working station), and the general contact tip mounting station W1 and the contact tip preliminary mounting station W2 are two adjacent stations; the operation of the position switching mechanism 310 includes moving the fourth rotator 360 of the contact tip preliminary mounting station W2 to the contact tip mounting station W1.

The third rotor 330 is located right below the contact tip mounting station W1, and the fourth rotation axis C4 of the fourth rotor 360 of the contact tip mounting station W1 coincides with the third rotation axis C3.

Referring to fig. 18, in the present embodiment, the position switching mechanism 310 includes a ratchet wheel, a wheel 311 of the ratchet wheel is fixedly connected to the contact tip mounting table 320, the ratchet wheel is a component which is driven by a pawl 312 to perform a stepping motion, and the wheel 311 has a plurality of teeth, and the stepping motion is characterized in that the ratchet wheel can only rotate in one direction, but cannot rotate reversely. The specific ratchet is a relatively general technology in the prior art, and the specific working principle is not described herein again. In this embodiment, the first control cylinder 370 controls the ratchet wheel to actuate; the number of the fourth rotating bodies 360 is the same as the number of the gear teeth of the ratchet wheel (ten in this embodiment).

Preferably, with reference to fig. 15, in this embodiment, the position switching mechanism 310 further includes a positioning structure, each gear tooth of the wheel disc 311 has a positioning hole 314 (or a positioning groove disposed on a lower surface of the wheel disc), the positioning structure includes a positioning structure mounting bracket 315 and an elastic plunger 316, the elastic plunger 316 is mounted on a top of the positioning structure mounting bracket 315, the positioning structure mounting bracket 315 is mounted on the linkage structure box 720, the elastic plunger 316 is located below the wheel disc, and an elastic portion of the elastic plunger 316 is matched with the positioning hole 314, so that the wheel disc can be positioned each time the position of the position switching mechanism 310 is switched, and thus the fourth rotating body 360 can accurately reach the mounting station; when the ratchet wheel rotates, the elastic part of the elastic plunger 316 is compressed and retracted, when the elastic part of the elastic plunger 316 reaches the position of the positioning hole 314, the elastic force of the elastic part is released, the elastic plunger 316 is clamped at the position of the positioning hole 314, so that the rotation angle of the rotating disc of the ratchet wheel is limited, the rotating disc of the ratchet wheel is positioned, and therefore, when the position is switched every time, the fourth rotating shaft C4 of the fourth rotating body 360 of the contact tip installation station W1 can be accurately matched with the position of the third rotating shaft C3.

The wheel 311 of the ratchet wheel is fixedly connected with the contact tip mounting platform 320 through a connecting rotating shaft 322, the contact tip mounting platform 320 rotates along with the ratchet wheel under the driving of the rotation of the ratchet wheel, and the rotating shaft of the ratchet wheel is coaxial with the rotating shaft of the contact tip mounting platform 320.

Each fourth rotating body 360 comprises a sleeve 361 (i.e. a fourth shaft body), a third inner cavity for accommodating a contact tip to be installed is enclosed by the inner side wall of the sleeve 361, and the shape of the third inner cavity is matched with that of the contact tip so as to position the contact tip; the inside wall of sleeve 361 is provided with step 364 towards the third inner chamber, and uses with two planes 007 of contact tube, and the side of step 364 has the flat shape that corresponds with plane 007, and after the contact tube of treating the installation was put into the third inner chamber, the top of step 364 can be spacing to the contact tube (the base end butt of contact tube is at the upper surface of step 364), simultaneously because the setting of step 364 has restricted that the contact tube of treating the installation can not rotate in the third inner chamber.

The sleeve 361 penetrates through the contact tube mounting table 320, the overall longitudinal section of the sleeve 361 is in an I shape, namely the outer diameter of the top end and the outer diameter of the bottom end of the sleeve 361 are both larger than the outer diameter of the middle part of the cylinder body of the sleeve 361, so that the sleeve 361 is limited on the contact tube mounting table 320 and cannot be separated from the contact tube mounting table, and meanwhile the sleeve 361 can move up and down relative to the rotary table to perform position switching.

A first elastic component 366 is further arranged between the top end of the sleeve 361 and the contact tube mounting table 320, the first elastic component 366 is a spring, and the sleeve 361 is sleeved with the first elastic component 366; the bottom end of each sleeve 361 is provided with a rotary joint 367, and the bottom of the rotary joint 367 is provided with a cross-shaped protruding part; the sleeves 361 are movably connected with the contact tube mounting table 320, and each sleeve 361 can move up and down relative to the contact tube mounting table 320 under the action of external force and can also rotate on the contact tube mounting table 320 by taking a respective fourth rotating shaft C4 as an axis; the first elastic member urges the fourth rotation body in a direction away from the third rotation body in an axial direction of the fourth rotation shaft.

The third rotor 330 includes a third shaft body 331, and a rotating part 332 fitted with a rotating coupling part 367 of the fourth rotor 360 of the contact tip mounting station W1 is mounted on the top end of the third shaft body 331; the shape of the rotating portion 332 is matched with the shape of the rotating joint portion 367, and in the present embodiment, in the contact tip mounting station W1, the cross-shaped protruding part of the rotating joint portion 367 can be fitted into the rotating portion 332; the rotation coupling portion 367 can rotate about the third rotation axis C3 by the rotation portion 332.

When the contact tip installation device 300 of the present embodiment does not operate, each of the fourth rotors 360 and the third rotors 330 are in a separated state; in operation, the fourth rotor 360 of the contact tip mounting station W1 has a docking position and a separation position; when the fourth rotor 360 of the contact tip mounting station W1 is located at the butting position, the rotation coupling portion of the fourth rotor is butted against the rotation portion of the third rotor; when the fourth rotor of the contact tip mounting station W1 is located at the separated position, the rotation coupling portion of the fourth rotor is separated from the rotation portion of the third rotor. As described above, the fourth rotator 360 and the third rotator 330 of the contact tip mounting station W1 in the present embodiment are butted and fitted to each other.

The third rotator 330 is mounted above the linkage structure box 720 through the third guide member 350, a second elastic member 333 is disposed between the bottom end of the rotating part 332 of the third rotator 330 and the third guide member 350, the rotating part 332 is sleeved on the third shaft body 331, and the rotating part 332 can be movably connected in the vertical direction (axial direction) along the third shaft body 331; the third shaft body 331 is provided with a stopper 334 for restricting the movement of the rotary portion in the rotational direction; the second elastic member 333 is a spring and is sleeved on the third shaft 331; the second elastic member 333 biases the rotating portion in the axial direction of the third rotation shaft C3.

When the welding gun control robot controls the welding gun to reach the position above the fourth rotator 360 of the contact tip installation station W1, the welding gun control robot controls the welding gun to move downwards, so that the bottom end of the welding gun is aligned with the contact tip of the contact tip installation station W1, the welding gun applies downward pressure to the contact tip, at this time, the first elastic component 366 of the fourth rotator 360 of the contact tip installation station W1 is compressed, the fourth rotator 360 of the contact tip installation station W1 moves downwards integrally, the rotating joint 367 at the bottom of the fourth rotator is embedded into the rotating part 332 of the third rotator 330, then the second elastic component 333 is compressed, and the fourth rotator 360 and the rotating part 332 move downwards simultaneously, so that the rotating joint 367 of the fourth rotator 360 is completely embedded into the rotating part 332 of the third rotator 330; at this time, the servo motor 710 controls the rotation of the third rotating body 330 to drive the fourth rotating body 360 of the contact tube mounting station W1 to rotate, so as to mount the contact tube; when the fourth rotor 360 is released from the downward pressure, the resilience of the second elastic member 333 returns the rotary part 332, and the resilience of the first elastic member 366 returns the fourth rotor 360.

In this embodiment, when the contact tip to be mounted is placed in the third inner cavity of the sleeve 361, the mounting end 008 of the contact tip is located outside the top end of the sleeve 361, that is, the mounting end 008 of the contact tip to be mounted does not completely enter the sleeve 361, and the mounting end 008 is exposed.

The detection unit of the contact tip mounting device 300 includes a third detection mechanism 341 for detecting whether or not the contact tip preliminary mounting station W2 is to be mounted, and a fourth detection mechanism for detecting whether or not the rotation portion 332 and the rotation coupling portion are fitted in place.

The third detecting mechanism 341 may be a reflective photoelectric sensor, and the third detecting mechanism 341 aligns with the mounting end 008 of the contact tip at the contact tip preliminary mounting station W2, and detects whether the contact tip is ready to be mounted at the contact tip preliminary mounting station W2 by calculating a reflection signal received by the third detecting mechanism.

When the contact tip is installed, the welding gun control robot controls the welding gun to press down the fourth rotating body 360 of the contact tip installation station W1, so that the rotating combination part 367 of the fourth rotating body 360 of the contact tip installation station W1 is embedded with the rotating part of the third rotating body 330, and after the embedding, the welding gun continues to face downwards for a certain distance, so that the embedding is convenient to be in place; then the servo motor 710 controls the third rotator to rotate, the fourth detection mechanism is connected with the servo motor 710 and is used for detecting the torsion in the servo motor 710, when the detected torsion reaches a set threshold value within a specified time, the embedding is proved to be in place, and when the detected torsion does not reach the set threshold value within a fixed time, the embedding is proved to be failed, at this time, the control device alarms, and the work is terminated.

When the third detection mechanism 341 detects that the contact tip preliminary mounting station W2 has no contact tip, the position switching mechanism 310 is controlled to perform position switching once, and then the third detection mechanism 341 detects whether the contact tip preliminary mounting station W2 has a contact tip until the third detection mechanism 341 detects that the contact tip preliminary mounting station W2 has a contact tip, at this time, the position switching mechanism 310 is controlled to perform position switching once, and the fourth rotator 360 of the contact tip preliminary mounting station is moved to the contact tip mounting station W1.

In this embodiment, the upper opening of the third inner cavity of the contact tip mounting station W1 is the third opening K3.

In other embodiments, the rotation coupling portion 367 and the rotation portion 332 may be engaged in other manners, and it is within the scope of the present invention that the rotation coupling portion 367 and the rotation portion 332 can rotate around the third rotation axis C3 under the driving of the rotation portion 332. For example, the rotating part is a first gear attached to the third shaft, and the rotation attachment part is a second gear attached to the fourth shaft; when the fourth rotating body of the contact tube mounting station W1 is located at the butt joint position, the first gear is meshed with the second gear; when the fourth rotating body is located at a separation position at the contact nozzle mounting position W1, the first gear is separated from the second gear; at this time, the fourth rotation axis C4 of the fourth rotor 360 of the contact tip mounting station W1 is not aligned with the third rotation axis C3.

Because the change of contact tube is frequent, set up a plurality of contact tubes of treating to install simultaneously and can satisfy daily production's needs, do not need frequent use the manual work to place the contact tube, use manpower sparingly.

In this embodiment, the third rotor and the fourth rotor of the contact tip mounting station W1 together form a rotor assembly.

Specifically, when the contact tip needs to be installed, the method comprises the following steps:

(1) the third detecting means 341 detects whether or not there is a contact tip at the contact tip preliminary mounting station W2, and if it is detected that there is a contact tip, executes step (2);

when no contact tip is detected, the contact tip position switching mechanism 310 works, the first driving cylinder 370 pushes the ratchet to step by one step, and step (1) is executed;

in the step (1), if the contact tips are not detected when the ratchet wheel rotates for one circle (8 positions), the fact that the contact tips to be installed do not exist is proved, the control device gives an alarm, and the work is stopped;

(2) the contact tube position switching mechanism 310 works, the first driving air cylinder 370 pushes the ratchet wheel to step by one step, the rotary table 323 rotates along with the ratchet wheel, and the contact tube of the contact tube preparatory installation station W2 is shifted to the contact tube installation station W1;

(3) the welding gun control robot controls the welding gun to move to the position right above the contact tube mounting station W1, the welding gun is aligned with the contact tube to be mounted, and the sleeve 361 of the contact tube mounting station W1 is pressed downwards until the rotary joint part 367 is embedded with the rotary part 332;

(4) the servo motor 710 controls the third rotator 330 to rotate, the fourth detection mechanism detects whether the torque force of the servo motor 710 meets the requirement, if so, the next step is executed, and if not, an alarm is given out to stop working;

(5) the servo motor continues to control the servo motor 710 to control the third rotating body 330 to rotate, so as to drive the sleeve 361 of the contact tube mounting station W1 to rotate, thereby driving the contact tube to rotate and mounting the contact tube on the welding gun.

(6) The welding gun control robot controls the welding gun to ascend and carries out the next process.

The embodiment is a specific embodiment for installing a contact tip on a welding gun; it should be appreciated that this embodiment may also be used as a swivel attachment and/or removal device for attaching and/or removing a barreled or rod-like device that is threadably attached to an end of an object.

EXAMPLE five

Because the welding gun is used for replacing the contact tube in the using process, the end part of the common contact tube has welding wire residues, and because the end part of the welding wire is cooled after being melted by high temperature in the welding process, the end part of the welding wire can be in a spherical shape, if the end part of the welding wire is not cut off, the end part of the welding wire is clamped by the contact tube when the contact tube is removed, so that the welding wire cannot retract, and therefore, the wire cutting work is required before the contact tube is removed; the present invention performs a wire cutting work using the automatic wire cutting device 400.

With reference to the first and second embodiments and fig. 20 and 21, the present embodiment provides an automatic filament cutting device 400, which includes a filament cutter, a control mechanism of the filament cutter, and a filament cutting collecting box 440; the wire cutter comprises a first cutter body 410 and a second cutter body 420; the first cutter body 410 is hinged with the second cutter body 420 through a cutter shaft 430; the first cutter body 410 and the second cutter body 420 are arranged in a vertically staggered manner in the embodiment; the first blade body 410 has a cutting end and a driving end, and the second blade body 420 has a cutting end and a fixed end; the trimming end and the driving end of the first cutter body 410 are respectively positioned at two ends of the cutter shaft 430, and the trimming end and the driving end of the second cutter body 420 are respectively positioned at two ends of the cutter shaft 430; the first cutter body 410 and the second cutter body 420 relatively move by taking the cutter shaft 430 as an axis, so that the wire cutting end of the first cutter body 410 is matched with the wire cutting end of the second cutter body 420 to realize wire cutting; when the wire cutting action is not performed, the wire cutting end of the first cutter body 410 is separated from the wire cutting end of the second cutter body 420, and when the wire cutting action is performed, the wire cutting end of the first cutter body 410 and the wire cutting end of the second cutter body 420 move oppositely to be involuted to realize the wire cutting; the thread cutting tool has a thread cutting position, and the thread cutting collecting box 440 is disposed right below the thread cutting position (see fig. 4).

In this embodiment, the second blade 420 is a fixed structure, and the first blade 410 and the second blade 420 are movably connected; the opening and closing of the thread cutting end of the first cutter body 410 and the thread cutting end of the second cutter body 420 are realized by driving the driving end of the first cutter body 410 by the thread cutting cutter control mechanism.

In this embodiment, the driving end of the first blade 410 has a guiding structure; the thread-cutting cutter control mechanism comprises a fifth rotating body, the fifth rotating body comprises a fifth shaft body 441 and a rotating disc 442 fixedly connected with the fifth shaft body 441, and the rotating disc 442 can rotate by taking the fifth shaft body 441 as an axis; the carousel 442 has a guide protrusion 443 that cooperates with the guide structure of the first blade 410, the guide protrusion 443 protruding out of the bottom surface of the carousel 442 at a position near the edge of the bottom surface of the carousel 442. When the turntable 442 rotates, the guide protrusion 443 cooperates with the guide structure of the first cutter body 410 to rotate the first cutter body 410 around the cutter shaft 430, so as to open and close the first cutter body 410 and the second cutter body 420.

The automatic wire cutting device 400 further comprises a clutch assembly; the clutch assembly has a moving end, the moving end of the clutch assembly is fixedly connected with the fifth shaft body 441 (i.e. the moving end of the clutch assembly is fixedly connected with the guide protrusion 443), and the clutch assembly switches the position of the guide driving structure between a standby position and an operating position; when the guiding driving structure is positioned at the standby position and the fifth shaft body 441 is controlled to rotate, the guiding driving structure does not contact with the first cutter body when rotating by taking the fifth shaft body 441 as a shaft; when the guide driving structure is located at the working position, when the fifth shaft body 441 is controlled to rotate, the guide driving structure is driven to push the guide end of the first cutter body to move. In this embodiment, the clutch assembly includes a second control cylinder 445, the second control cylinder 445 has a moving end moving back and forth, and the moving end is fixedly connected with the fifth shaft 441; the second control cylinder drives the fifth shaft body to move up and down, and when the fifth shaft body 441 moves upwards, the guide driving structure moves towards the standby position; when the fifth shaft body 441 moves downward, the guide driving structure moves toward the working position.

Preferably, in the present embodiment, the automatic wire cutting device 400 is used in cooperation with the contact tip removing device 200; the rotational shaft linkage structure further includes a sixth gear 726 mounted on the first shaft 110, the sixth gear 726 being rotatable about the first rotational shaft C1; the clutch assembly further comprises a fifth gear mounted on the fifth shaft body 441, and the second driving cylinder 445 controls the fifth shaft body 441 to move up and down so as to realize the separation or engagement of the fifth gear and the sixth gear 726; when the fifth gear is separated from the sixth gear 726, the guide driving structure is located at the standby position; when the fifth gear is separated from the sixth gear 726, the guiding driving structure is located at the working position.

The second driving cylinder 445 is connected with the control device; when the automatic wire cutting device 400 is not required to work, the fifth gear is separated from the sixth gear 726, the fifth shaft body 441 cannot rotate in the rotation process of other mechanisms, and the automatic wire cutting device 400 is in a standby state; when the automatic wire cutting device 400 needs to work, the second driving cylinder 445 controls the fifth rotating body to move downwards, the fifth gear is meshed with the sixth gear 726, and the servo motor 710 controls the rotation of the first synchronizing wheel 721 to drive the rotation of the fifth gear.

The fifth gear is the same as the turntable 442 in this embodiment, and the guide projection 443 is provided on the lower surface of the fifth gear.

In other embodiments, the fifth gear and the rotary disk 442 may be provided as two separate components, both of which are mounted on the fifth shaft body 441 and both of which rotate around the fifth shaft body 441, and each of which performs its own function, wherein the fifth synchronizing wheel is responsible for driving the fifth shaft body 441 to rotate, and the guide protrusion 443 of the rotary disk 442 cooperates with the guide structure of the first cutter body 410 to perform wire cutting.

The automatic wire cutting device of this embodiment is provided with the fifth gear that clutch assembly set up, just meshes with the sixth gear when only needing to cut the silk to control the wire cutter to open and shut and realize the wire cutter, can the wearing and tearing of the first cutter body 410 of effectual reduction and second cutter body 420, the life of extension wire cutter, and simple structure, the cost is also lower.

In another embodiment, the automatic wire cutting device 400 may not be provided with a clutch assembly, but the rotation of the fifth shaft 441 may be controlled by a separate servo motor, which may increase the cost.

In another embodiment, the automatic wire cutting device 400 may not include a clutch assembly, but when the servo motor 710 controls the other rotating bodies to rotate, the fifth shaft body 441 is controlled to rotate synchronously, so that the fifth shaft body is in a rotating state for a long time, and the high-frequency opening and closing of the first cutter body and the second cutter body may cause abrasion of the first cutter body 410 and the second cutter body 420, thereby affecting the service life of the wire cutter.

EXAMPLE six

With reference to the above embodiments, the working process of the automatic dismounting device for welding gun contact tube of the present invention and the welding gun control robot is as follows:

s1, controlling the welding gun to reach the nozzle dismounting device 100 by the welding gun control robot; the welding gun control robot controls the nozzle of the welding gun to be inserted into the first opening K1 of the nozzle mounting and dismounting device 100; the welding gun control robot controls the welding gun to move downwards so as to enable the nozzle to move downwards to be clamped;

s2, the control device controls the servo motor 710 to rotate reversely, at the moment, the shaft bodies of all the devices rotate reversely, the nozzle is detached, and after the detachment is completed, the control device controls the servo motor 710 to stop working;

s4, controlling a welding gun to reach the automatic wire cutting device 400 by the welding gun control robot, and controlling the welding wire to be discharged by 10-30 cm at the same time, wherein the purpose of controlling the wire discharge of the welding wire is to enable the welding wire at the end of the contact tip to have enough length so as to ensure that wire cutting can be realized;

s5, the control device controls the second driving cylinder 445 to move to the working position, and the fifth gear is meshed with the sixth gear 726; then the control device controls the servo motor 710 to rotate reversely (or rotate forwardly), and the automatic wire cutting device 400 realizes the wire cutting work; after the wire cutting operation is finished, the control device controls the second driving cylinder 445 to return to the standby position, and the fifth gear is separated from the sixth gear;

s5, controlling the welding gun to reach the contact tube dismantling device 200 by the welding gun control robot; controlling the contact tip of the welding gun to be inserted into the second opening K2 of the contact tip removing device 200; meanwhile, the control device controls the pneumatic chuck 220 to supply air, so that the pneumatic chuck clamps the conductive nozzle on the welding gun;

s6, the control device controls the servo motor 710 to rotate reversely, the nozzle is removed, and after the removal is completed, the control device controls the servo motor 710 to stop working and controls the air chuck 220 to stop supplying air; at this time, as the air chuck 220 stops working, the removed contact tip falls into the contact tip collection box through the through hole 230;

s7, controlling the welding gun to reach the contact tube mounting and dismounting detection device 500 by the welding gun control robot; controlling the welding gun to pull the detection rod 510; if the first detection part has signal output, the detection rod is stirred, and further the conductive nozzle is not dismounted, the control device gives an alarm to stop working;

if the first detection component does not output a signal, the detection rod 510 is not pushed, the contact tip is further removed, and the next step is executed;

s8, controlling the welding gun to reach the contact tube mounting device 300 by the welding gun control robot; the following steps are carried out:

in the step (1), if no contact tip is detected when the ratchet wheel rotates for one circle (10 positions), the fact that no contact tip to be installed exists is proved, the control device gives an alarm, and the work is stopped;

S9, controlling the welding gun to reach the contact tube mounting and dismounting detection device 500 by the welding gun control robot; controlling the welding gun to pull the detection rod 510; if the first detection part has signal output, the detection rod is stirred, the installation of the contact nozzle is further explained to be completed, and the next step is executed;

if the first detection part does not output signals, the detection rod 510 is not pushed, and further the contact tip is not installed, the control device gives an alarm to stop working;

s10, controlling the welding gun to reach the nozzle dismounting device 100 by the welding gun control robot; controlling a contact tip of a welding gun to be inserted into the nozzle;

and S11, controlling the servo motor 710 to rotate forward by the control device to finish the nozzle reloading.

EXAMPLE seven

With reference to the first embodiment and fig. 23, this embodiment provides a contact tip removing device 200 with another structure, where the second rotator includes a sixth shaft 920 and a rotating cylinder 910; the rotating cylinder 910 has a sixth inner cavity for accommodating the contact tip, and the sixth inner cavity is shaped to fit the contact tip, so as to position the contact tip.

The contact tip removing device 200 includes a contact tip collecting device including a contact tip moving-out mechanism, a contact tip conveying rail 930, and a contact tip collecting box (not shown); the contact tip transfer rail 930 has an inlet and an outlet, and is disposed obliquely with the inlet higher than the outlet; the inlet of the device collecting box is arranged at the outlet of the device conveying track; the inlet of the contact tip collection box is disposed at the outlet of the contact tip transfer rail 930.

The contact tip removing mechanism comprises a movable push block 942 and a motion control mechanism for moving the push block 942; the motion control mechanism in this embodiment is a third control cylinder 941, and the third control cylinder 941 has a moving end, and the moving end is fixedly connected to one end of the moving push block 942. The third control cylinder 941 is connected to the control device.

The barrel of the rotating drum 910 is provided with a through hole leading to the sixth inner cavity, and the side opposite to the through hole is provided with a contact tip removing groove 911 leading to the sixth inner cavity; the rotating cylinder 910 has a contact tip collecting position, when the rotating cylinder 910 is in the contact tip collecting position, the pushing block 942 is moved to be opposite to the through hole of the rotating cylinder 910, the contact tip removing groove 911 is opposite to the inlet of the contact tip conveying rail 930, the contact tip removing groove 911 leads to the inlet of the contact tip conveying rail 930, and the pushing block 942 is moved to push the contact tip in the sixth inner cavity out of the contact tip removing groove 911 to the contact tip conveying rail 930 through the through hole and then to be conveyed to the contact tip collecting box through the contact tip conveying rail 930.

The contact tube dismantling device also comprises a position detection mechanism of the contact tube collecting position; the sixth shaft 920 is fixedly connected with a measured member; in this embodiment, the measured member is a circular blocking piece 932 fixedly connected to the sixth shaft 920, and a portion of the circular blocking piece 932 near the edge has a notch 933; the position detecting mechanism is a photoelectric sensor 931 provided at a portion of the circular stopper 932 near the edge, and the edge portion of the circular stopper 932 is provided between the light projecting element and the light path of the light receiving element of the photoelectric sensor 931.

When the rotating drum 910 is required to rotate to the contact nozzle collecting position, the sixth shaft 920 is controlled to rotate, when the circular blocking piece 932 rotates to the notch 933 of the circular blocking piece to align with the photoelectric sensor 931, the light receiving element of the photoelectric sensor 931 receives the light output by the light projecting element, so that the photoelectric sensor 931 outputs a signal to the control device, and the control device controls the servo motor 710 to stop working.

Preferably, the contact tip removing device 200 of this embodiment further includes a fifth detecting mechanism for detecting whether a contact tip is present in the sixth cavity, for example, the fifth detecting mechanism is a reflective photoelectric sensor, and the fifth detecting mechanism irradiates the inside of the contact tip remover 910 with light speed to determine whether the contact tip is removed and has been pushed out by the moving pushing block 942; the fifth detection mechanism is connected with the control device.

In the present embodiment, referring to fig. 23, the nozzle mounting and dismounting device 100 is attached to the upper side of the linkage structure case 720 by the first guide member 140, and the first shaft body 110 is inserted into the first guide member 140 and rotated about the first rotation axis C1 by the guide of the first guide member 140.

The first guide member 140 is directly connected to the main shaft of the servo motor 710, so that the rotation direction of the first rotating body is more stable.

The contact tip of this embodiment is removed as follows:

(1) the welding gun control robot controls the welding gun to reach the contact tip dismantling device 200; the fifth detection mechanism detects whether a contact tube exists in the sixth inner cavity, and if the contact tube of the welding gun is not controlled to be inserted into the sixth inner cavity of the contact tube removing device 200 through the second opening K2; if yes, the control device gives an alarm, and the automatic contact tip replacing device stops working.

(2) The control device controls the servo motor 710 to rotate reversely, so that the contact tube is detached, and after the detachment is completed, the control device controls the servo motor 710 to rotate until the light receiving element of the photoelectric sensor 931 receives the light output by the light projecting element, the servo motor 710 stops rotating, and at the moment, the rotary drum 910 reaches the contact tube collecting position;

(3) the fifth detection mechanism detects whether the detached contact tip is in the sixth inner cavity, if so, the control device controls the third control cylinder 941 to operate, and the third control cylinder 941 drives the movable push block 942 to move the detached contact tip to the contact tip collection box through the contact tip conveying rail 930.

The embodiment is another specific embodiment for the removal of the contact tip on the welding gun; it should be appreciated that this embodiment may also be used as a swivel attachment and/or removal device for attaching and/or removing a barreled or rod-like device that is threadably attached to an end of an object.

The automatic dismounting device for the welding gun contact tube can realize automatic replacement of the contact tube, saves labor force, can realize the stability of the contact tube after the contact tube is replaced through full-automatic control, and can effectively ensure the welding quality.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made without departing from the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. The automatic replacement equipment for the contact tube of the welding gun is used in cooperation with a welding gun control robot to realize automatic replacement of the contact tube of the welding gun, the contact tube and a nozzle are mounted at the end part of the welding gun, and the contact tube and the nozzle are mounted at the end part of the welding gun in a threaded connection mode; the welding wire is extended from the end of the contact tip to perform welding;

2. The automatic contact tube replacement apparatus according to claim 1, further comprising a contact tube mounting device including a rotator assembly having a third inner cavity for receiving a contact tube to be mounted, the rotator assembly having a body for rotating the contact tube to be mounted about a central axis of the contact tube.

3. The automatic contact tip replacement device according to claim 2, wherein the swivel assembly includes a third swivel, a fourth swivel; the third rotating body is controlled to rotate by taking a third rotating shaft as a shaft; the third rotating body is in butt joint with or separated from the fourth rotating body; when the fourth rotating body is in butt joint with the third rotating body, the fourth rotating body is driven by the third rotating body to rotate by taking a fourth rotating shaft as a shaft; the fourth swivel has the third inner cavity.

4. The automatic contact tube replacement apparatus according to claim 2, further comprising a contact tube attachment/detachment detecting device for detecting whether or not a contact tube is attached to an end of the welding gun.

5. The automatic contact tube replacement apparatus according to claim 4, wherein the contact tube attachment/detachment detection means includes a detection rod and a first detection member connected to the detection rod;

6. The automatic contact tube replacement apparatus according to claim 5, further comprising contact tube in-position detecting means for detecting whether the contact tube is in position.

7. The automatic contact tube replacement apparatus according to claim 2, wherein the contact tube removing device includes a contact tube collecting box that collects the detached contact tube.

8. The automatic contact tip replacement apparatus according to any one of claims 3 to 7, further comprising a nozzle mounting and dismounting device including a first rotating body that is controlled to rotate about a first rotation axis, the first rotating body driving a nozzle of the welding gun to rotate about a central axis of the nozzle.

9. The automatic torch tip changer according to claim 8, wherein the first rotor has an inner cavity for receiving the nozzle, and the second rotor has a clamping mechanism mounted thereon for clamping the nozzle, the clamping mechanism including at least two clamping jaws spaced around the inner cavity; the clamping jaws are movably connected with the inner cavity wall of the inner cavity in a mode that the top ends of the clamping jaws move towards the direction close to the center of the inner cavity when the bottom ends of the clamping jaws move away from the center of the inner cavity gradually, and the top ends of the clamping jaws move towards the direction far from the center of the inner cavity when the bottom ends of the clamping jaws move towards the direction close to the center of the inner cavity gradually.

10. The automatic contact tip replacement device according to claim 8, further comprising a control means and a rotation driving means for driving the first, second, and third rotors to rotate; the control device is electrically connected with the rotary driving device.

11. Automatic contact tip replacement apparatus according to claim 10,

the rotary driving device comprises a plurality of servo motors, and rotating shafts of the first rotating body, the second rotating body and the third rotating body are correspondingly connected with a driving end of one servo motor; the control device is electrically connected with each servo motor;

12. The automatic contact tip replacing apparatus according to claim 11, wherein, in the case where the rotary driving means includes a servo motor and a rotary linkage structure of each of the rotors, the rotary linkage structure includes a first synchronizing wheel, a second synchronizing wheel, a third synchronizing wheel, a fourth synchronizing wheel, a first synchronizing belt, and a second synchronizing belt; the first synchronizing wheel is fixedly arranged on the rotating shaft of the first rotating body and is coaxial with the first rotating body; the second synchronizing wheel and the third synchronizing wheel are fixedly arranged on a rotating shaft of the second rotating body and are coaxial with the second rotating body; the fourth synchronizing wheel is fixedly arranged on the rotating shaft of the third rotating body and is coaxial with the third rotating body; the first synchronous wheel is connected with the second synchronous wheel through a first synchronous belt, and the third synchronous wheel is connected with the fourth synchronous wheel through a second synchronous belt; and the driving end of the servo motor is connected with the rotating shaft of the first synchronous wheel.

13. The automatic contact tube replacement device according to any one of claims 1 to 7, wherein the second rotor comprises a pneumatic chuck for clamping the contact tube, the pneumatic chuck having an inner cavity for accommodating the contact tube, a head of the pneumatic chuck having an opening to the inner cavity, the contact tube entering and exiting the inner cavity through the opening; the pneumatic chuck is provided with a plurality of clamping jaws, and each clamping jaw is arranged around the inner cavity; the air chuck is controlled to rotate by taking the second rotating shaft as an axis; when the air chuck is supplied with air, the air chuck clamps the nozzle.

14. The automatic contact tip replacement apparatus according to claim 13, wherein the contact tip removing device has a through hole penetrating in an up-down direction, the through hole penetrating the air chuck from the opening; the through hole passes through the inner cavity; the through hole has a diameter greater than an outer diameter of the nozzle, and the nozzle is free to pass through the through hole when the air chuck is not being supplied with air.