CN111390460B

CN111390460B - Automatic welding device

Info

Publication number: CN111390460B
Application number: CN202010234199.XA
Authority: CN
Inventors: 刘爱军; 钟誉
Original assignee: Shenzhen Deyang Experimental Equipment Co ltd
Current assignee: Shenzhen Deyang Experimental Equipment Co ltd
Priority date: 2020-03-30
Filing date: 2020-03-30
Publication date: 2021-10-08
Anticipated expiration: 2040-03-30
Also published as: CN111390460A

Abstract

The invention discloses an automatic welding device, and belongs to the field of welding. An automatic welding device comprising: a machine base; the central shaft is vertically arranged on the base; the first driving mechanism is used for driving the central shaft to rotate; the welding gun is hinged to the support frame and driven by the second driving mechanism to rotate; the mechanical arm is hinged on the central shaft; the manipulator is arranged on the mechanical arm and used for clamping a workpiece to be welded; the first sliding rail and the second sliding rail are fixedly arranged on the machine center shaft, the support frame is connected with the center shaft in a sliding mode through the first sliding rail, and the mechanical arm is connected with the center shaft in a sliding mode through the second sliding rail; and the workbench is arranged on the machine base and is used for placing the workpiece. Compared with the prior art, the automatic welding device is higher in welding efficiency.

Description

Automatic welding device

Technical Field

The invention relates to the field of welding, in particular to an automatic welding device.

Background

Welding is a commonly used metal process that melts material at a high temperature to secure two parts together. In some welding processes with high welding requirements, a plurality of welding points are needed between two parts, and repeated welding is carried out. In order to save labor, various automatic welding devices have been introduced in the market for automatically welding the joint portions of workpieces.

But current welding set degree of freedom is relatively poor to be difficult to realize unloading fast, need artifical location and transport, to large-scale part, artifical transport obviously consumes the manpower. On the other hand, in some welding equipment, parts need to be transported between the discharging channel and the feeding channel, which is not suitable for welding large parts, and a high-power source and a handling tool are needed, so that the equipment cost is high. And the efficiency of carrying and welding switching welding is low.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an automatic welding device. The technical problems that an existing welding device is low in welding efficiency and not suitable for large parts are solved.

The purpose of the invention can be realized by the following technical scheme:

an automatic welding device comprising:

a machine base;

the central shaft is vertically arranged on the base;

the first driving mechanism is used for driving the central shaft to rotate;

a support frame vertically arranged on the central shaft,

the welding gun is hinged on the support frame and is driven by the second driving mechanism to rotate;

the mechanical arm is hinged on the central shaft;

the manipulator is arranged on the mechanical arm and used for clamping a workpiece to be welded;

the first sliding rail and the second sliding rail are fixedly arranged on the central shaft, the support frame is connected with the central shaft in a sliding mode through the first sliding rail, and the mechanical arm is connected with the central shaft in a sliding mode through the second sliding rail;

and the two working tables are arranged on the machine base and used for placing the workpieces.

Furthermore, a gas nozzle is arranged on the welding gun, faces the head of the welding gun and is communicated with an external gas source.

Further, a thimble is fixedly mounted on the workbench and used for fixing the workpiece.

Further, a suspension bracket is fixedly mounted on the mechanical arm, a stretching and swinging cylinder is fixedly mounted on the suspension bracket, a polishing brush is fixedly mounted at the output end of the stretching and swinging cylinder, and the stretching and swinging cylinder is used for driving the polishing brush to rotate and move along the output end of the stretching and swinging cylinder.

Furthermore, a heating pipe is arranged between the gas nozzle and the external gas source, a heating resistance wire is arranged in the heating pipe, and the heating pipe is spiral.

The positioning laser lamp is arranged on the workbench, points to the welding seam and is aligned to the welding seam;

the temperature sensor is arranged on the welding gun and used for measuring the temperature of a welding position;

the two distance sensors are respectively arranged on the manipulator and the welding gun and are respectively used for measuring the distances between the lower end of the manipulator and the workpiece and between the welding gun and the workpiece;

the infrared sensor is arranged on the workbench;

the positioning laser lamp, the temperature sensor, the first driving mechanism, the distance sensor and the infrared sensor are all electrically connected with the processor.

Further, the mechanical arm comprises a hinge joint and at least two arm bodies, the adjacent arm bodies are hinged, one of the arm bodies is hinged with the hinge joint, and the hinge joint is connected with the second sliding rail in a sliding manner; the manipulator is mounted on the arm body farthest from the joint.

Further, the use method of the automatic welding device comprises the following steps:

driving the mechanical arm to enable the polishing brush to face the workpiece, starting the stretching and swinging cylinder to enable the polishing brush to abut against the welding seam of the workpiece, and then driving the polishing brush to rotate to polish the welding seam;

braking the stretching and swinging cylinder, and rotating the mechanical arm to separate the polishing brush from the surface of the workpiece;

clamping the workpiece by using a manipulator, driving the central shaft to rotate by using the first driving mechanism, placing the workpiece on the workbench, and supporting and fixing the workpiece by using a clamp;

welding the workpiece using the welding gun.

the mechanical arm is driven, the workpiece is clamped by a mechanical arm, the first driving mechanism drives the central shaft to rotate, the workpiece is placed on the workbench, and the workpiece is supported and fixed by a clamp;

adjusting the height of the support frame and the angle of the welding gun to enable the welding gun to face the welding part of the workpiece;

the heating resistance wire is electrified and heated, so that an external gas source transmits welding shielding gas to the gas nozzle, the heating resistance wire heats the welding shielding gas, and the welding shielding gas is sprayed to the workpiece after being heated;

welding the workpiece using the welding gun.

Further, the heating resistance wire heats the welding protection gas to 60-100 ℃.

The invention has the beneficial effects that:

through rotatory center pin for welder and arm can exchange the station, and welder carries out the welded while, and the arm carries out the unloading of work piece with the manipulator on the workstation of opposite side, when reducing transport work, can bilateral alternate operation, is showing and is improving welding efficiency.

Drawings

The invention will be further described with reference to the accompanying drawings.

Fig. 1 is a schematic perspective view of an automatic welding apparatus according to the present application;

FIG. 2 is a schematic front view of an automatic welding apparatus according to the present application;

fig. 3 is a schematic diagram of electrical connection relationship of the automatic welding device of the present application.

The parts corresponding to the reference numerals in the figures are as follows:

1. a central shaft; 2. a first drive mechanism; 3. a support frame; 4. a welding gun; 5. a manipulator; 6. a first slide rail; 7. a second slide rail; 8. a work table; 9. a gas shower; 10. a thimble; 11. polishing brushes; 12. a suspension bracket; 13. positioning a laser lamp; 14. a distance sensor; 15. a temperature sensor; 16. an arm body; 17. a hinge joint; 18. an infrared sensor; 19. a processor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "opening," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like are used in an orientation or positional relationship that is merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced component or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present invention.

An automatic welding device comprising: a machine base; the central shaft 1 is vertically arranged on the machine base and has a supporting function; the first driving mechanism 2 is used for driving the central shaft 1 to rotate, wherein the first driving mechanism 2 can be a motor or a tilt cylinder; the support frame 3 is vertically arranged on the central shaft 1; the welding gun 4 is hinged on the support frame 3 and is driven by the second driving mechanism to rotate; the mechanical arm is hinged on the central shaft 1; the manipulator 5 is arranged on the mechanical arm and used for clamping a workpiece to be welded; wherein the manipulator 5 can be started or electric; the first sliding rail 6 and the second sliding rail 7 are both fixedly arranged on the central shaft 1, the support frame 3 is connected with the central shaft 1 in a sliding manner through the first sliding rail 6, and the mechanical arm is connected with the central shaft 1 in a sliding manner through the second sliding rail 7; two work tables 8, set up on the frame, and arrange in center pin 1 both sides for place the work piece.

In the embodiment, the first driving mechanism 2 can drive the central shaft 1 to rotate, so as to drive the mechanical arm and the support frame 3 to rotate, so that the welding gun 4 is positioned above one workbench 8, and the mechanical arm 5 is positioned on a conveyor belt at one side of the other workbench 8. And then the workpiece fixed on the workbench 8 is clamped by using the clamp, and on the other hand, the mechanical arm moves the mechanical arm 5, so that the mechanical arm 5 clamps the workpiece to be welded on the conveyor belt and moves the workpiece to be machined to another workbench 8 from the conveyor belt. After the workpiece on the worktable 8 is fixed, the welding gun 4 can be adjusted, so that the welding gun 4 moves down along the first slide rail 6. And (5) closing the welding seam, and starting the welding gun 4 for welding. After the welding is completed, the first driving mechanism 2 drives the central shaft 1 to rotate 180 degrees, so that the welding gun 4 is positioned above the other workbench 8, and the manipulator 5 is positioned on the conveying belt on one side of the workbench 8. The welding gun 4 now welds the workpieces previously to be welded, while at the same time the robot arm cooperates with the robot arm 5 to return the previously welded parts to the conveyor.

Therefore, the central shaft 1 is rotated through the first driving mechanism 2, so that the welding gun 4 and the mechanical arm can exchange stations, the mechanical arm and the mechanical arm 5 can carry out workpiece feeding and discharging on the workbench 8 on the other side while the welding gun 4 carries out welding, the carrying work is reduced, bilateral alternate operation can be carried out, and the welding efficiency is obviously improved.

Further, a gas nozzle 9 is arranged on the welding gun 4, the gas nozzle 9 faces the head of the welding gun 4, and the gas nozzle 9 is communicated with an external gas source. Wherein the gas component of the external gas source can be, but is not limited to, nitrogen, argon or helium, and the gas in the metal droplet, the molten pool and the weld zone is protected by spraying a protective gas, so that the high-temperature metal is protected from the external gas.

Furthermore, a heating pipe is arranged between the gas nozzle 9 and an external gas source, a heating resistance wire is arranged in the heating pipe, and the heating pipe is spiral. Through this kind of setting, during the ohmic heating resistance wire, will heat the welding protective gas in the heating tube, welding protective gas sprays at the welding surface after the heating, when the protection welding seam for welding seam department surface temperature risees, gets rid of near moisture, effectively reduces humidity, improves welding quality.

More specifically, a thimble 10 is fixedly mounted on the worktable 8, and the thimble 10 is used for fixing the workpiece. Particularly for cylindrical workpieces and pipe fittings, the workpiece can be fixed quickly by moving the thimble 10.

The arm is fixedly provided with a suspension bracket 12, the suspension bracket 12 is fixedly provided with a swing stretching cylinder, the output end of the swing stretching cylinder is fixedly provided with a polishing brush 11, and the swing stretching cylinder is used for driving the polishing brush 11 to rotate and moving along the output end of the swing stretching cylinder. Through stretching pendulum cylinder drive polish brush 11 and feeding and the rotation action, press from both sides like this and get with the welding article before, can stretch out polish brush 11, polish welding seam department for the welding seam is more level and smooth, reduces the stick up limit and the burr of welding seam department, improves welding quality.

In addition, the automatic welding device of the invention also comprises an infrared sensor 18, a positioning laser lamp 13, a temperature sensor 15, at least two distance sensors 14 and a processor 19, wherein the positioning laser lamp 13 is arranged on the workbench 8, points to the welding seam and is aligned with the welding seam; the temperature sensor 15 is arranged on the welding gun 4 and used for measuring the temperature of a welding position; the two distance sensors 14 are respectively arranged on the manipulator 5 and the welding gun 4 and are respectively used for measuring the distances between the lower end of the manipulator 5 and the workpiece and between the welding gun 4 and the workpiece; the infrared sensor 18 is mounted on the worktable 8; the positioning laser lamp 13, the temperature sensor 15, the first driving mechanism 2, the distance sensor 14 and the infrared sensor 18 are all electrically connected with the processor 19.

The sensors can be used for cooperative control, and specifically, in the embodiment, when the infrared sensor 18 detects that a workpiece is on the conveyor belt, the processor 19 controls the mechanical arm and the mechanical arm 5 to grab the workpiece. The distance sensor 14 detects the distance between the robot 5 and the support stand 3 and the table, and controls the height. The temperature sensor 15 monitors the temperature during welding in real time, and prevents the temperature from being too high during welding, and when the temperature exceeds a preset value, the temperature is fed back to the processor 19, and the processor 19 sends out an alarm signal.

More specifically, the mechanical arm comprises a hinge joint 17 and at least two arm bodies 16, wherein the adjacent arm bodies 16 are hinged, one arm body 16 is hinged with the hinge joint 17, and the hinge joint is connected with the second slide rail 7 in a sliding manner; the manipulator 5 is mounted on the arm 16 furthest from the joint.

In one embodiment of the invention, a method of using an automated welding apparatus comprises the steps of: the mechanical arm is driven to enable the polishing brush 11 to face the workpiece, the stretching and swinging cylinder is started to enable the polishing brush 11 to abut against the welding seam of the workpiece, and then the polishing brush 11 is driven to rotate to polish the welding seam; braking the stretching cylinder and rotating the mechanical arm to enable the polishing brush 11 to be separated from the surface of the workpiece; clamping a workpiece by using a manipulator 5, driving a central shaft 1 to rotate by using a first driving mechanism 2, placing the workpiece on a workbench 8, and supporting and fixing the workpiece by using a clamp; the workpiece is welded using a welding gun 4.

By the method, the swing cylinder is used in advance before welding, so that the polishing brush is extended out, and welding seam materials are polished, the polishing brush 11 can be extended out before clamping and welding objects, the welding seam is polished, the welding seam is smoother and smoother, the raised edges and burrs at the welding seam are reduced, and the welding quality is improved.

In another embodiment of the present invention, a method of using an automated welding apparatus comprises the steps of: the mechanical arm is driven, the mechanical arm 5 is used for clamping a workpiece, the first driving mechanism 2 drives the central shaft 1 to rotate, the workpiece is placed on the workbench 8, and the clamp is used for supporting and fixing the workpiece; adjusting the height of the support frame 3 and the angle of the welding gun 4 to enable the welding gun 4 to face the welding part of the workpiece; the resistance wire is electrified to heat the resistance wire, so that an external gas source transmits welding shielding gas to the gas nozzle 9, the resistance wire heats the welding shielding gas, and the welding shielding gas is sprayed to the workpiece after being heated; the workpiece is welded using a welding gun 4. The resistance wire heats the welding protection gas to 60-100 ℃.

Part of the workpieces have cooling liquid remained at the welding seam during cutting, so that when the welding material is melted, moisture easily damages the metal material at the welding seam. In this way, the moisture in the weld can be removed by heating the shielding gas injected from the gas nozzle 9.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims

1. An automatic welding device, comprising:

a machine base;

the central shaft (1) is vertically arranged on the machine base;

the first driving mechanism (2) is used for driving the central shaft (1) to rotate;

a supporting frame (3) vertically arranged on the central shaft (1),

the welding gun (4) is hinged on the support frame (3) and driven by the second driving mechanism to rotate;

the mechanical arm is hinged on the central shaft (1);

the mechanical arm (5) is arranged on the mechanical arm and used for clamping a workpiece to be welded;

the first sliding rail (6) and the second sliding rail (7) are fixedly arranged on the central shaft (1), the support frame (3) is connected with the central shaft (1) in a sliding mode through the first sliding rail (6), and the mechanical arm is connected with the central shaft (1) in a sliding mode through the second sliding rail (7);

the two working tables (8) are arranged on the machine base and used for placing the workpiece;

the device is characterized by further comprising an infrared sensor (18), a positioning laser lamp (13), a temperature sensor (15), a processor (19) and at least two distance sensors (14), wherein the positioning laser lamp (13) is mounted on the workbench (8), points to a welding seam and is aligned with the welding seam;

the temperature sensor (15) is arranged on the welding gun (4) and is used for measuring the temperature of a welding position;

the two distance sensors (14) are respectively arranged on the manipulator (5) and the welding gun (4) and are respectively used for measuring the distances between the lower end of the manipulator (5) and the workpiece and between the welding gun (4) and the workpiece;

the infrared sensor (18) is arranged on the workbench (8);

the positioning laser lamp (13), the temperature sensor (15), the first driving mechanism (2), the distance sensor (14) and the infrared sensor (18) are electrically connected with the processor (19).

2. The automatic welding device according to claim 1, characterized in that a gas nozzle (9) is arranged on the welding gun (4), the gas nozzle (9) faces the head of the welding gun (4), and the gas nozzle (9) is communicated with an external gas source.

3. The automatic welding device according to claim 1, characterized in that a thimble (10) is fixedly mounted on the worktable (8), and the thimble (10) is used for fixing the workpiece.

4. The automatic welding device according to claim 1, characterized in that a suspension bracket (12) is fixedly mounted on the mechanical arm, a pendulum cylinder is fixedly mounted on the suspension bracket (12), a polishing brush (11) is fixedly mounted at an output end of the pendulum cylinder, and the pendulum cylinder is used for driving the polishing brush (11) to rotate and move along the output end of the pendulum cylinder.

5. The automatic welding device according to claim 2, characterized in that a heating tube is arranged between the gas nozzle (9) and the external gas source, a heating resistance wire is arranged in the heating tube, and the heating tube is spiral.

6. The automatic welding device according to claim 1, characterized in that said mechanical arm comprises a joint (17) and at least two arms (16), adjacent arms (16) being hinged, one of said arms (16) being hinged to said joint (17), said joint (17) being slidably connected to said second sliding track (7); the manipulator (5) is mounted on an arm (16) furthest from the joint (17).

7. The automated welding device of claim 4, wherein the method of using the automated welding device comprises the steps of:

the mechanical arm is driven to enable the polishing brush (11) to face the workpiece, the stretching and swinging cylinder is started to enable the polishing brush (11) to abut against the welding seam of the workpiece, and then the polishing brush (11) is driven to rotate to polish the welding seam;

braking the stretching and swinging cylinder, and rotating the mechanical arm to enable the polishing brush (11) to be separated from the surface of the workpiece;

clamping the workpiece by using a manipulator (5), driving the central shaft (1) to rotate by using the first driving mechanism (2), placing the workpiece on the workbench (8), and supporting and fixing the workpiece by using a clamp;

welding the workpiece using the welding torch (4).

8. The automated welding device of claim 5, wherein the method of using the automated welding device comprises the steps of:

the mechanical arm is driven, a mechanical arm (5) is used for clamping the workpiece, the first driving mechanism (2) drives the central shaft (1) to rotate, the workpiece is placed on the workbench (8), and the workpiece is supported and fixed by a clamp;

adjusting the height of the support frame (3) and the angle of the welding gun (4) to enable the welding gun (4) to face the welding part of the workpiece;

the heating resistance wires are electrified and heated, so that an external gas source transmits welding shielding gas to the gas spray head (9), the heating resistance wires heat the welding shielding gas, and the welding shielding gas is sprayed to the workpiece after being heated;

welding the workpiece using the welding torch (4).

9. The automatic welding device according to claim 8, wherein the heating resistance wire heats the welding shielding gas to 60-100 ℃.