CN111545953A - Welding, assembling and assisting tool for elevator car bottom robot and welding method - Google Patents
Welding, assembling and assisting tool for elevator car bottom robot and welding method Download PDFInfo
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- CN111545953A CN111545953A CN202010287472.5A CN202010287472A CN111545953A CN 111545953 A CN111545953 A CN 111545953A CN 202010287472 A CN202010287472 A CN 202010287472A CN 111545953 A CN111545953 A CN 111545953A
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- 238000003466 welding Methods 0.000 title claims abstract description 130
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 76
- 239000000463 material Substances 0.000 claims abstract description 57
- 230000005540 biological transmission Effects 0.000 claims abstract description 44
- 238000001125 extrusion Methods 0.000 claims description 39
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 239000003381 stabilizer Substances 0.000 description 19
- 230000005484 gravity Effects 0.000 description 6
- 230000032258 transport Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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Abstract
The invention discloses an elevator car bottom robot welding and assembling auxiliary tool which comprises a supporting plate, wherein two groups of ground rails arranged in parallel are mounted at the top of the supporting plate, a first stabilizing frame and a second stabilizing frame are clamped on the inner sides of the ground rails, a first manipulator is mounted at the top of the first stabilizing frame, a second manipulator is mounted at the top of the second stabilizing frame, a transmission chain is arranged on the outer side of one group of the ground rails, a plurality of groups of supporting legs are mounted at the bottom of the supporting plate, clamping frames are mounted on the outer side of the supporting plate, the first manipulator comprises a base, and a rotary table is mounted at the top of the base. When the elevator car bottom welding machine is used, the elevator car bottom welding material can be effectively fixed and limited, the welding operation can be conveniently and accurately carried out, the welding gun can be conveniently replaced, the stability of the mechanical arm I and the mechanical arm II in the use period is effectively ensured, the efficiency of the whole elevator car bottom welding process is improved, and a large amount of manual operation is saved.
Description
Technical Field
The invention relates to the field of welding aids, in particular to an elevator car bottom robot welding assembly aid and a welding method.
Background
When the elevator car bottom is assembled, different materials are basically connected together by welding, so that an elevator car bottom structure is formed, the materials are connected and fixed in a welding mode, and welding and assembling of the elevator car bottom can be realized by utilizing a robot welding and assembling auxiliary tool.
The existing welding and assembling auxiliary tool for the elevator car platform robot has certain disadvantages in use, and the existing welding and assembling auxiliary tool for the elevator car platform robot cannot transport materials when in use, basically transports the materials by manpower, and wastes time and labor in operation; the existing welding and assembling auxiliary tool for the elevator car bottom robot is inconvenient for replacing a welding gun after the welding gun is fixed and is inconvenient for installing the welding gun; when the existing welding and assembling auxiliary tool for the elevator car platform robot is used, the manipulator has general stability during operation, and the ground rail is easy to be pulled to cause damage; the existing welding and assembling auxiliary tool for the elevator car platform robot cannot well clamp and position elevator car platform materials when in use, so that the welding is not accurate enough, and certain influence is brought to actual use.
Disclosure of Invention
The invention aims to provide an elevator car bottom robot welding and assembling auxiliary tool and a welding method, and the elevator car bottom robot welding and assembling auxiliary tool can effectively solve the problems that the existing elevator car bottom robot welding and assembling auxiliary tool cannot transport materials when in use, basically transports the materials by manpower, and wastes time and labor when in operation; the existing welding and assembling auxiliary tool for the elevator car bottom robot is inconvenient for replacing a welding gun after the welding gun is fixed and is inconvenient for installing the welding gun; when the existing welding and assembling auxiliary tool for the elevator car platform robot is used, the manipulator has general stability during operation, and the ground rail is easy to be pulled to cause damage; the existing welding and assembling auxiliary tool for the elevator car platform robot cannot well clamp and position elevator car platform materials when in use, and the problem of inaccurate welding is easily caused.
The purpose of the invention can be realized by the following technical scheme:
the robot welding and assembling auxiliary tool for the elevator car bottom comprises a supporting plate, wherein two groups of ground rails arranged in parallel are mounted at the top of the supporting plate, a first stabilizing frame and a second stabilizing frame are clamped on the inner sides of the ground rails, a first mechanical arm is mounted at the top of the first stabilizing frame, a second mechanical arm is mounted at the top of the second stabilizing frame, a transmission chain is arranged on the outer side of one group of the ground rails, a plurality of groups of supporting legs are mounted at the bottom of the supporting plate, and clamping frames are mounted on the outer side of the supporting plate;
the manipulator I comprises a base, a turntable is mounted at the top of the base, a bearing seat is connected to the top of the turntable, a connecting arm is connected to the inner side of the bearing seat, a supporting arm is connected to one end of the connecting arm, a fixed disc is connected to the end of the supporting arm, and a welding gun is clamped to the inner side of the fixed disc;
the inner side of the fixed disk is provided with a fixed groove, the inner side of the fixed groove is provided with an inner bushing, four groups of extrusion plates are arranged on the outer side edge of the fixed groove, four groups of top plates are arranged on the outer side of the fixed disk, the four groups of top plates are respectively arranged in parallel with the four groups of extrusion plates, and two elastic rods arranged in parallel are connected between the top plates and the extrusion plates;
the top of the clamping frame is provided with four groups of transverse chutes which are arranged in parallel in pairs, a positioning plate is connected between the inner sides of the two groups of transverse chutes in the same vertical direction, the outer side of the positioning plate is provided with a first air cylinder, the bottom of the clamping frame is provided with a plurality of groups of reinforcing supports, the middle positions of two ends of the clamping frame are provided with lifting supports, the top of each lifting support is provided with a second air cylinder, and one end of each second air cylinder is connected with a push plate;
the lifting support comprises a mounting plate and a bottom plate, two sets of hydraulic cylinders which are arranged in parallel are mounted between the bottom of the mounting plate and the top of the bottom plate, and a folding frame is mounted between the bottom of the mounting plate and the top of the bottom plate by means of the two sets of hydraulic cylinders.
Preferably, first stabilizer frame and second stabilizer frame parallel arrangement, and first stabilizer frame include the joint board and accept the board, the joint board with accept and be connected with two sets of parallel arrangement's backplate between the board, and the joint board with accept and lean on the position between two sets of backplates to install the counter weight support between the board, the inboard of counter weight support is provided with the connecting rod.
Preferably, the length of joint board is greater than the length of accepting the board, and first stabilizer and second stabilizer are all through joint board and ground rail looks joint, and the both ends of joint board are blocked in the middle of the inboard of two sets of ground rails respectively.
Preferably, a transmission rod is connected between the outer sides of the first stabilizing frame and the second stabilizing frame and the transmission chain, and the first stabilizing frame and the second stabilizing frame are in transmission connection with the transmission chain through the transmission rod.
Preferably, the four groups of extrusion plates are equidistantly distributed at the outer side edge of the fixing groove, the outer sides of the extrusion plates are arranged in an arc shape, the end part of the welding gun is clamped at the inner side of the fixing groove, and the outer sides of the four groups of extrusion plates are all in contact with the outer wall of the welding gun.
Preferably, the counterweight support is composed of a plurality of groups of flat plates, each group of flat plates are sequentially arranged in parallel from top to bottom, and the connecting rods are supported between the adjacent flat plates.
Preferably, the bottom of base and the top welded fastening of first stabilizer, the base is cylindrical setting, and the terminal box is installed to the outside of base.
Preferably, the folding frame is formed by two crossed folding rods, each folding rod is formed by connecting a plurality of sections of supporting rods, and two adjacent supporting rods are connected through a rotating shaft.
Preferably, the locating plate is L-shaped, the horizontal end of the locating plate is located at the bottom of the locating plate, a sliding block matched with the transverse sliding groove is installed at the bottom of the locating plate, and the locating plate is connected with the transverse sliding groove in a sliding mode through the sliding block.
A welding method for an elevator car bottom robot welding and assembling auxiliary tool specifically comprises the following steps:
the method comprises the following steps: firstly, fixing a first stabilizing frame and a second stabilizing frame with ground rails at the tops of supporting plates respectively, clamping and connecting a clamping plate between two groups of ground rails, welding a first manipulator and a second manipulator at the tops of the first stabilizing frame and the second stabilizing frame respectively, arranging a welding gun into a fixing groove on the inner side of a fixing plate connected with one end of a supporting arm, extruding an extrusion plate by using an elastic rod, and fixing the extrusion plate on the outer side of the welding gun to finish the fixation of the welding gun;
step two: the gripper is arranged at the end part of the second manipulator, the PLC is adopted to control the first manipulator and the second manipulator, the external motor is used for driving the transmission chain to drive the transmission chain to horizontally move on the ground rail, the second stabilizing frame is driven to horizontally move by the transmission of the transmission chain, the manipulator is controlled to grip the elevator car bottom material after the elevator car bottom material arrives at a specified place, then the transmission chain is used for driving the second stabilizing frame again, and the manipulator is driven to place the elevator car bottom material into the top of the clamping frame;
step three: the first air cylinder is adopted to drive the two groups of positioning plates to clamp and fix the elevator car bottom material, meanwhile, the hydraulic cylinder is utilized to drive the mounting plate to lift according to the stacking height, the height of the lifting support is adjusted, the height of the second air cylinder is driven to adjust, and the second air cylinder drives the two groups of push plates to position the upper layer material;
step four: the external PLC controller is adopted to carry out drive control on the first mechanical arm, the direction of the support arm is adjusted through the rotary disc, the direction of the welding gun is driven to be adjusted, meanwhile, the rotation of the bearing seat is utilized, the size of an included angle between the connecting arm and the support arm is adjusted, the horizontal direction of the first mechanical arm is adjusted through the transmission chain, the position of the welding gun for welding the elevator car bottom material is adjusted, the welding gun is utilized to weld and fix different elevator car bottom materials, and the whole welding operation is completed.
The invention has the beneficial effects that:
according to the elevator car bottom material fixing device, the clamping frame is arranged, when the elevator car bottom material is welded, the elevator car bottom material can be grabbed to the top of the clamping frame by the second manipulator, the first cylinder is adopted to drive the two groups of positioning plates to clamp and fix the elevator car bottom material, the positioning plates horizontally move on the inner sides of the transverse sliding grooves by the aid of the sliders at the bottoms of the positioning plates, the reinforcing supports are used for supporting the clamping frame, meanwhile, the hydraulic cylinders are used for driving the mounting plates to ascend and descend according to the stacking height, the height of the ascending and descending support is adjusted, the height of the second cylinder is driven to be adjusted, the second cylinder is used for driving the two groups of push plates to position an upper layer material, and therefore the upper layer elevator car bottom material and the lower layer elevator car bottom material can be fixed, positioning of the material can be achieved, welding of;
by arranging the fixed disc, after the fixed disc is connected with the support arm, the end part of the welding gun is clamped and fixed by the inner bushing in the fixed groove, the extrusion plates are extruded by the elastic rods, one end of each elastic rod is connected with the top plate, the extrusion plates are fixed on the outer sides of the welding gun, four groups of extrusion plates are respectively fixed at four different positions on the outer sides of the welding gun, the welding gun can be fixed, the four groups of extrusion plates are arranged at equal intervals and are uniformly distributed, the welding gun is simpler to fix, and the disassembly can be completed by only extruding the extrusion plates in the direction of the top plate during the disassembly, so that the welding gun is more convenient to install and replace;
by arranging the counterweight support, the counterweight support is arranged on the inner sides of the first stabilizing frame and the second stabilizing frame and is formed by connecting a plurality of groups of flat plates and connecting rods, and the counterweight support is arranged in a layered manner, so that when the first manipulator and the second manipulator are used for operation, the counterweight blocks are additionally arranged on the inner sides of the counterweight support to reduce the gravity centers of the first stabilizing frame and the second stabilizing frame according to the actual weight bearing conditions of the first manipulator and the second manipulator, so that the stability of the first stabilizing frame and the second stabilizing frame is improved, the situation that the first manipulator and the second manipulator incline at the inner side of the ground rail due to gravity center offset and damage to the ground rail due to extrusion is prevented, and the ground rail is effectively protected;
through setting up manipulator one and manipulator two and mutually supporting, utilize manipulator one to be connected welder and carry out welding operation, manipulator two carries the operation, can save a large amount of manual handling operations, and effectual using manpower sparingly improves the efficiency of welding process at the bottom of the whole elevator sedan-chair simultaneously, adopts the holding frame to carry out the location centre gripping to the material at the bottom of the elevator sedan-chair simultaneously, saves artifical support and carries out the welded trouble.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic view of the whole structure of an elevator platform robot welding and assembling auxiliary tool.
Fig. 2 is a structural diagram of a first manipulator in the welding and assembling auxiliary tool of the elevator car platform robot.
Fig. 3 is an enlarged view of a region a in fig. 2 of an elevator platform robot welding assembly auxiliary tool of the present invention.
Fig. 4 is a cross-sectional view of a fixed disk in an elevator car platform robot welding assembly auxiliary tool.
Fig. 5 is a top view of a clamping frame in an elevator platform robot welding assembly auxiliary tool of the invention.
Fig. 6 is a structural diagram of a lifting bracket in the welding and assembling auxiliary tool of the elevator car platform robot.
Fig. 7 is a structural diagram of a first stabilizing frame in an elevator platform robot welding and assembling auxiliary tool.
In the figure: 1. a support plate; 2. a ground rail; 3. a first stabilizer frame; 4. a first mechanical arm; 5. a second stabilizer frame; 6. a second manipulator; 7. a drive chain; 8. supporting legs; 9. a clamping frame; 10. a base; 11. a turntable; 12. a bearing seat; 13. a connecting arm; 14. a support arm; 15. fixing the disc; 16. a welding gun; 17. fixing grooves; 18. an inner liner; 19. a top plate; 20. a pressing plate; 21. an elastic rod; 22. a transverse chute; 23. a reinforcing support; 24. positioning a plate; 25. a first cylinder; 26. a lifting support; 27. a second air cylinder; 28. pushing the plate; 29. mounting a plate; 30. a base plate; 31. a hydraulic cylinder; 32. a folding frame; 33. a clamping and connecting plate; 34. a bearing plate; 35. a guard plate; 36. a counterweight bracket; 37. a connecting rod.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood 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.
Referring to fig. 1-7, an elevator car bottom robot welding assembly auxiliary tool comprises a supporting plate 1, wherein two groups of ground rails 2 which are arranged in parallel are mounted at the top of the supporting plate 1, a first stabilizing frame 3 and a second stabilizing frame 5 are clamped on the inner sides of the ground rails 2, a first manipulator 4 is mounted at the top of the first stabilizing frame 3, a second manipulator 6 is mounted at the top of the second stabilizing frame 5, a transmission chain 7 is arranged on the outer side of one group of ground rails 2, a plurality of groups of supporting legs 8 are mounted at the bottom of the supporting plate 1, a clamping frame 9 is mounted on the outer side of the supporting plate 1, and related materials for welding of the elevator car bottom are clamped and positioned by the clamping frame 9, so that the normal operation of welding work is facilitated;
the manipulator I4 comprises a base 10, a rotary table 11 is mounted at the top of the base 10, a bearing seat 12 is connected to the top of the rotary table 11, a connecting arm 13 is connected to the inner side of the bearing seat 12, a supporting arm 14 is connected to one end of the connecting arm 13, a fixed disc 15 is connected to the end of the supporting arm 14, a welding gun 16 is clamped on the inner side of the fixed disc 15, and materials of the elevator car bottom are welded through the welding gun 16, so that different materials are fixed, and the elevator car bottom is assembled;
a fixing groove 17 is formed in the inner side of the fixed disk 15, an inner bushing 18 is installed on the inner side of the fixing groove 17, four groups of extrusion plates 20 are arranged on the outer edge of the fixing groove 17, four groups of top plates 19 are installed on the outer side of the fixed disk 15, the four groups of top plates 19 are respectively arranged in parallel with the four groups of extrusion plates 20, two elastic rods 21 which are arranged in parallel are connected between the top plates 19 and the extrusion plates 20, the extrusion plates 20 are extruded by the elastic rods 21, and therefore the outer side of the welding gun 16 is fixed by the extrusion plates 20;
four groups of transverse sliding grooves 22 which are arranged in parallel in pairs are formed in the top of the clamping frame 9, a positioning plate 24 is connected between the inner sides of the two groups of transverse sliding grooves 22 in the same vertical direction, a first air cylinder 25 is arranged on the outer side of the positioning plate 24, a plurality of groups of reinforcing supports 23 are arranged at the bottom of the clamping frame 9, lifting supports 26 are arranged in the middle positions of two ends of the clamping frame 9, a second air cylinder 27 is arranged at the top of each lifting support 26, one end of the second air cylinder 27 is connected with a push plate 28, the second air cylinder 27 is used for driving the push plate 28, and therefore the push plate 28 is used;
the lifting support 26 comprises a mounting plate 29 and a bottom plate 30, two sets of hydraulic cylinders 31 which are arranged in parallel are mounted between the bottom of the mounting plate 29 and the top of the bottom plate 30, a folding frame 32 is mounted between the bottom of the mounting plate 29 and the top of the bottom plate 30 by means of the two sets of hydraulic cylinders 31, the folding frame 32 reinforces the space between the mounting plate 29 and the bottom plate 30, and the folding frame 32 extends and retracts along with the driving of the hydraulic cylinders 31 under the driving of the hydraulic cylinders 31.
The length of joint board 33 is greater than the length of accepting board 34, and first stabilizer 3 and second stabilizer 5 all pass through joint board 33 and ground rail 2 looks joint, and the both ends of joint board 33 are blocked respectively in the middle of two sets of ground rail 2's inboard, utilize the removal of joint board 33 in ground rail 2 inboard to realize the horizontal migration of first stabilizer 3 and second stabilizer 5.
The transmission rods are connected between the outer sides of the first stabilizing frame 3 and the second stabilizing frame 5 and the transmission chain 7, the first stabilizing frame 3 and the second stabilizing frame 5 are in transmission connection with the transmission chain 7 through the transmission rods, and the transmission of the transmission chain 7 is utilized to drive the transmission rods to move, so that the horizontal displacement of the first manipulator 4 and the second manipulator 6 is realized.
The four groups of extrusion plates 20 are equidistantly distributed at the outer edge of the fixed groove 17, the outer sides of the extrusion plates 20 are arranged in an arc shape, the end part of the welding gun 16 is clamped at the inner side of the fixed groove 17, and the outer sides of the four groups of extrusion plates 20 are all contacted with the outer wall of the welding gun 16.
The balance weight support 36 is composed of a plurality of groups of flat plates, each group of flat plates are sequentially arranged in parallel from top to bottom, the connecting rods 37 are erected between the adjacent flat plates, and a plurality of groups of flat plates are arranged, so that a plurality of balance weights can be conveniently placed.
The bottom of base 10 and the top welded fastening of first steady rest 3, base 10 are cylindrical setting, and the terminal box is installed in the outside of base 10, sets up the terminal box and is convenient for install the PLC controller, conveniently controls each manipulator.
The folding frame 32 is formed by two crossed folding rods, each folding rod is formed by connecting a plurality of sections of supporting rods, and two adjacent supporting rods are connected through a rotating shaft.
Positioning plate 24 is the setting of L type, and positioning plate 24's horizontal end is located its bottom position, and positioning plate 24's bottom is installed the slider that agrees with mutually with horizontal spout 22, and positioning plate 24 passes through slider and horizontal spout 22 sliding connection, and positioning plate 24 sets up and is the L type to can accept elevator sedan-chair bottom material.
A welding method for an elevator car bottom robot welding and assembling auxiliary tool specifically comprises the following steps:
the method comprises the following steps: firstly, fixing a first stabilizing frame 3 and a second stabilizing frame 5 with ground rails 2 at the top of a supporting plate 1 respectively, clamping a clamping plate 33 between two groups of ground rails 2, welding a first manipulator 4 and a second manipulator 6 at the top of the first stabilizing frame 3 and the top of the second stabilizing frame 5 respectively, installing a welding gun 16 into a fixing groove 17 on the inner side of a fixing plate 15 connected with one end of a supporting arm 14, extruding an extrusion plate 20 by using an elastic rod 21, fixing the extrusion plate 20 on the outer side of the welding gun 16, and finishing the fixing of the welding gun 16;
step two: the end part of the second manipulator 6 is provided with a gripper, a PLC controller is adopted to control the first manipulator 4 and the second manipulator 6, an external motor is utilized to drive a transmission chain 7, the transmission chain 7 is driven to transmit, the transmission of the transmission chain 7 drives a second stabilizing frame 5 to horizontally move on a ground rail 2, after the elevator car bottom material arrives at a specified place, the second manipulator 6 is controlled to grip the elevator car bottom material, then the transmission chain 7 is utilized again to drive the second stabilizing frame 5, and the second manipulator 6 is driven to place the elevator car bottom material into the top of a clamping frame 9;
step three: the first air cylinder 25 is adopted to drive the two groups of positioning plates 24 to clamp and fix the elevator car bottom material, meanwhile, according to the stacking height, the hydraulic cylinder 31 is used to drive the mounting plate 29 to lift, the height of the lifting support 26 is adjusted, the height of the second air cylinder 27 is driven to adjust, and the second air cylinder 27 is used to drive the two groups of push plates 28 to position the upper layer material;
step four: the external PLC controller is adopted to carry out drive control on the first mechanical arm 4, the direction of the support arm 14 is adjusted through the rotary table 11, the direction of the welding gun 16 is adjusted, meanwhile, the included angle between the connecting arm 13 and the support arm 14 is adjusted through rotation of the bearing seat 12, the horizontal direction of the first mechanical arm 4 is adjusted through the transmission chain 7, the position of the welding gun 16 for welding elevator car bottom materials is adjusted, different elevator car bottom materials are welded and fixed through the welding gun 16, and the whole welding operation is completed.
When the welding and assembling auxiliary tool for the elevator car bottom robot is used, a first stabilizing frame 3 and a second stabilizing frame 5 are respectively fixed with a ground rail 2 at the top of a supporting plate 1, the bottom of the supporting plate 1 is supported by a plurality of supporting feet 8, a clamping plate 33 is clamped between two groups of ground rails 2, a first manipulator 4 and a second manipulator 6 are respectively welded at the tops of the first stabilizing frame 3 and the second stabilizing frame 5, a base 10 is welded at the tops of the first stabilizing frame 3 and the second stabilizing frame 5, so that the first manipulator 4 and the second manipulator 6 are fixed, a welding gun 16 is arranged in a fixing groove 17 on the inner side of a fixing disc 15 connected with one end of a supporting arm 14, the end part of the welding gun 16 is clamped and fixed by using an inner bushing 18, an extrusion plate 20 is extruded by using an elastic rod 21, one end of the elastic rod 21 is connected with a top plate 19, the extrusion plate 20 is fixed on the outer side of the welding gun 16, fixing of the butt welding gun 16 is completed, a gripper is installed at the end portion of the second manipulator 6, the first manipulator 4 and the second manipulator 6 are controlled by a PLC, the type of the PLC is MPU222XP, the transmission chain 7 is driven by an external motor to drive the transmission chain 7 to transmit, the second stabilizing frame 5 is driven by the transmission chain 7 to horizontally move on the ground rail 2, after the elevator car bottom material reaches a specified place, the second manipulator 6 is controlled to grab the elevator car bottom material, then the transmission chain 7 is used for driving the second stabilizing frame 5 again, the second manipulator 6 is driven to place the elevator car bottom material on the top of the clamping frame 9, the first cylinder 25 is used for driving the two sets of positioning plates 24 to clamp and fix the elevator car bottom material, the positioning plates 24 horizontally move on the inner side of the transverse sliding groove 22 by using sliders at the bottoms of the positioning plates 24, the clamping frame 9 is supported by using the reinforcing supports 23, and meanwhile according to the stacking height, the hydraulic cylinder 31 is used for driving the mounting plate 29 to lift, the height of the lifting support 26 is adjusted, the height of the cylinder II 27 is driven to be adjusted, the cylinder II 27 drives the two groups of push plates 28 to position an upper layer material, the external PLC is used for driving and controlling the manipulator I4, the direction of the support arm 14 is adjusted by the turntable 11, the direction adjustment of the welding gun 16 is driven, meanwhile, the size of an included angle between the connecting arm 13 and the support arm 14 is adjusted by the rotation of the bearing seat 12, the horizontal direction of the manipulator I4 is adjusted by the transmission chain 7, the position of the welding gun 16 for welding elevator car bottom materials is adjusted, different elevator car bottom materials are welded and fixed by the welding gun 16, the whole welding operation is completed, after the manipulator I4 and the manipulator II 6 are mounted, a balancing weight can be additionally arranged on the inner side of a balancing weight support 36 arranged between the clamping, the gravity centers of the first stabilizing frame 3 and the second stabilizing frame 5 are reduced, the damage to the ground rail 2 caused by gravity center shift due to overlarge bearing weight of the first manipulator 4 and the second manipulator 6 during operation is avoided, and a good protection effect is achieved.
By arranging the clamping frame 9, when the elevator car bottom material is welded, the elevator car bottom material can be grabbed to the top of the clamping frame 9 by using the second manipulator 6, the first cylinder 25 is adopted to drive the two groups of positioning plates 24 to clamp and fix the elevator car bottom material, the positioning plates 24 horizontally move on the inner sides of the transverse sliding grooves 22 by using the sliders at the bottoms of the positioning plates 24, the clamping frame 9 is supported by using the reinforcing support 23, meanwhile, according to the stacking height, the hydraulic cylinder 31 is used for driving the mounting plate 29 to lift, the height of the lifting bracket 26 is adjusted, the height of the second air cylinder 27 is driven to be adjusted, the second air cylinder 27 drives the two groups of push plates 28 to position the upper layer material, therefore, the elevator car bottom materials on the upper layer and the lower layer can be fixed, so that the materials can be positioned, the welding of the welding gun 16 is facilitated, the welding accuracy is improved, and the situation that the elevator car bottom materials deviate in the welding period is avoided; by arranging the fixed disc 15, after the fixed disc 15 is connected with the support arm 14, the end part of the welding gun 16 is clamped into the fixed groove 17, the end part of the welding gun 16 is clamped and fixed by using the inner bushing 18, the extrusion plates 20 are extruded by using the elastic rods 21, one ends of the elastic rods 21 are connected with the top plate 19, the extrusion plates 20 are fixed on the outer side of the welding gun 16, four groups of extrusion plates 20 are respectively fixed at four different positions on the outer side of the welding gun 16, the fixing of the welding gun 16 can be completed, the four groups of extrusion plates 20 are arranged at equal intervals and are distributed uniformly, so that the welding gun 16 is simpler in fixing, and the disassembly can be completed by only extruding the extrusion plates 20 towards the direction of the top plate 19 during disassembly, thereby the welding gun 16 is more; by arranging the counterweight support 36, the counterweight supports 36 are arranged on the inner sides of the first stabilizing frame 3 and the second stabilizing frame 5, the counterweight supports 36 are formed by connecting a plurality of groups of flat plates with the connecting rods 37, the counterweight supports 36 are arranged in a layered manner, when the first manipulator 4 and the second manipulator 6 are used for operation, the counterweight blocks are additionally arranged on the inner sides of the counterweight supports 36 to reduce the gravity centers of the first stabilizing frame 3 and the second stabilizing frame 5 according to the actual weight bearing conditions of the first manipulator 4 and the second manipulator 6, so that the stability of the first stabilizing frame 3 and the second stabilizing frame 5 is improved, the situation that the ground rail 2 is extruded to be damaged due to the fact that the clamping plate 33 inclines on the inner side of the ground rail 2 due to gravity center deviation of the first manipulator 4 and the second manipulator 6 is prevented, and the ground rail 2 is effectively protected; through setting up manipulator 4 and manipulator two 6 and mutually supporting, utilize manipulator 4 to connect welder 16 and carry out welding operation, manipulator two 6 carries the operation, can save a large amount of manual handling operations, and effectual using manpower sparingly improves the efficiency of welding process at the bottom of whole elevator sedan-chair simultaneously, adopts holding frame 9 to carry out the location centre gripping to the material at the bottom of the elevator sedan-chair simultaneously, saves the manual work and supports and carry out the welded trouble.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The welding and assembling auxiliary tool for the elevator car bottom robot is characterized by comprising a supporting plate (1), wherein two groups of ground rails (2) which are arranged in parallel are mounted at the top of the supporting plate (1), a first stabilizing frame (3) and a second stabilizing frame (5) are clamped on the inner sides of the ground rails (2), a first manipulator (4) is mounted at the top of the first stabilizing frame (3), a second manipulator (6) is mounted at the top of the second stabilizing frame (5), a transmission chain (7) is arranged on the outer side of one group of ground rails (2), a plurality of groups of supporting legs (8) are mounted at the bottom of the supporting plate (1), and a clamping frame (9) is mounted on the outer side of the supporting plate (1);
the manipulator I (4) comprises a base (10), a rotary table (11) is mounted at the top of the base (10), a bearing seat (12) is connected to the top of the rotary table (11), a connecting arm (13) is connected to the inner side of the bearing seat (12), a supporting arm (14) is connected to one end of the connecting arm (13), a fixed disc (15) is connected to the end of the supporting arm (14), and a welding gun (16) is clamped to the inner side of the fixed disc (15);
a fixing groove (17) is formed in the inner side of the fixed disc (15), an inner bushing (18) is installed on the inner side of the fixing groove (17), four groups of extrusion plates (20) are arranged on the outer side edge of the fixing groove (17), four groups of top plates (19) are installed on the outer side of the fixed disc (15), the four groups of top plates (19) are respectively arranged in parallel with the four groups of extrusion plates (20), and two elastic rods (21) arranged in parallel are connected between the top plates (19) and the extrusion plates (20);
four groups of transverse sliding grooves (22) which are arranged in parallel in pairs are formed in the top of the clamping frame (9), a positioning plate (24) is connected between the inner sides of the two groups of transverse sliding grooves (22) which are located in the same vertical direction, a first air cylinder (25) is arranged on the outer side of the positioning plate (24), a plurality of groups of reinforcing supports (23) are arranged at the bottom of the clamping frame (9), lifting supports (26) are arranged in the middle positions of two ends of the clamping frame (9), a second air cylinder (27) is arranged at the top of each lifting support (26), and one end of each second air cylinder (27) is connected with a push plate (28;
lifting support (26) include mounting panel (29) and bottom plate (30), install two sets of parallel arrangement's pneumatic cylinder (31) between the bottom of mounting panel (29) and the top of bottom plate (30), and lean on between two sets of pneumatic cylinder (31) to install folding leg (32) between the bottom of mounting panel (29) and the top of bottom plate (30).
2. The welding and assembling auxiliary tool for the elevator car bottom robot as claimed in claim 1, wherein the first stabilizing frame (3) and the second stabilizing frame (5) are arranged in parallel, the first stabilizing frame (3) comprises a clamping plate (33) and a bearing plate (34), two groups of guard plates (35) which are arranged in parallel are connected between the clamping plate (33) and the bearing plate (34), a counterweight support (36) is arranged between the clamping plate (33) and the bearing plate (34) and between the two groups of guard plates (35), and a connecting rod (37) is arranged on the inner side of the counterweight support (36).
3. The welding and assembling auxiliary tool for the elevator car bottom robot as claimed in claim 2, wherein the length of the clamping plate (33) is greater than that of the bearing plate (34), the first stabilizing frame (3) and the second stabilizing frame (5) are clamped with the ground rails (2) through the clamping plate (33), and two ends of the clamping plate (33) are clamped into the inner sides of the two groups of ground rails (2) respectively.
4. The welding and assembling auxiliary tool for the elevator car bottom robot as claimed in claim 1, wherein a transmission rod is connected between the outer sides of the first stabilizing frame (3) and the second stabilizing frame (5) and the transmission chain (7), and the first stabilizing frame (3) and the second stabilizing frame (5) are in transmission connection with the transmission chain (7) through the transmission rod.
5. The welding and assembling auxiliary tool for the elevator car bottom robot as claimed in claim 1, wherein four groups of the extrusion plates (20) are equidistantly distributed at the outer edge of the fixing groove (17), the outer sides of the extrusion plates (20) are arranged in an arc shape, the end of the welding gun (16) is clamped at the inner side of the fixing groove (17), and the outer sides of the four groups of the extrusion plates (20) are all in contact with the outer wall of the welding gun (16).
6. The welding and assembling assistive device for the elevator car platform robot according to claim 1, wherein the counterweight support (36) is composed of a plurality of groups of flat plates, the flat plates of each group are sequentially arranged in parallel from top to bottom, and the connecting rods (37) are arranged between the adjacent flat plates in a supporting manner.
7. The welding and assembling auxiliary tool for the elevator car bottom robot as claimed in claim 1, wherein the bottom of the base (10) is welded and fixed with the top of the first stabilizing frame (3), the base (10) is cylindrical, and a junction box is installed on the outer side of the base (10).
8. The welding and assembling assistive device for the elevator car platform robot as claimed in claim 1, wherein the folding frame (32) is formed by two folding rods arranged in a crossed manner, each folding rod is formed by connecting a plurality of sections of supporting rods, and two adjacent supporting rods are connected through a rotating shaft.
9. The welding and assembling auxiliary tool for the elevator car bottom robot as claimed in claim 1, wherein the positioning plate (24) is arranged in an L shape, the horizontal end of the positioning plate (24) is located at the bottom of the positioning plate, a sliding block matched with the transverse sliding groove (22) is installed at the bottom of the positioning plate (24), and the positioning plate (24) is connected with the transverse sliding groove (22) in a sliding mode through the sliding block.
10. The welding method for the robot welding, assembling and assisting tool for the elevator car platform as claimed in claim 1 is characterized by comprising the following steps:
the method comprises the following steps: firstly, a first stabilizing frame (3) and a second stabilizing frame (5) are respectively fixed with a ground rail (2) at the top of a supporting plate (1), a clamping plate (33) is clamped between two groups of ground rails (2), a first mechanical arm (4) and a second mechanical arm (6) are respectively welded at the tops of the first stabilizing frame (3) and the second stabilizing frame (5), a welding gun (16) is arranged in a fixing groove (17) on the inner side of a fixing disc (15) connected with one end of a supporting arm (14), an elastic rod (21) is adopted to extrude an extrusion plate (20), the extrusion plate (20) is fixed on the outer side of the welding gun (16), and the fixing of the welding gun (16) is completed;
step two: the end part of the second manipulator (6) is provided with a gripper, a PLC controller is adopted to control the first manipulator (4) and the second manipulator (6), an external motor is used for driving a transmission chain (7) to drive the transmission chain (7) to transmit, the transmission of the transmission chain (7) drives a second stabilizing frame (5) to horizontally move on a ground rail (2), after the second stabilizing frame reaches a specified place, the second manipulator (6) is controlled to grab the elevator car bottom material, then the transmission chain (7) is used for driving the second stabilizing frame (5) again, and the second manipulator (6) is driven to place the elevator car bottom material into the top of a clamping frame (9);
step three: the first air cylinder (25) is adopted to drive the two groups of positioning plates (24) to clamp and fix the elevator car bottom material, meanwhile, the hydraulic cylinder (31) is utilized to drive the mounting plate (29) to lift according to the stacking height, the height of the lifting support (26) is adjusted, the height of the second air cylinder (27) is driven to adjust, and the second air cylinder (27) drives the two groups of push plates (28) to position the upper layer material;
step four: adopt external PLC controller to carry out drive control to manipulator (4), utilize direction of carousel (11) adjustment support arm (14), drive the direction adjustment of welder (16), utilize the rotation of bearing frame (12) simultaneously, the contained angle size between adjustment linking arm (13) and support arm (14), utilize driving chain (7) to adjust the horizontal direction of manipulator (4), adjust the position of welder (16) welding elevator sedan-chair bottom material, utilize welder (16) to carry out welded fastening with the elevator sedan-chair bottom material of difference, accomplish whole welding operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010287472.5A CN111545953A (en) | 2020-04-13 | 2020-04-13 | Welding, assembling and assisting tool for elevator car bottom robot and welding method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010287472.5A CN111545953A (en) | 2020-04-13 | 2020-04-13 | Welding, assembling and assisting tool for elevator car bottom robot and welding method |
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| CN111545953A true CN111545953A (en) | 2020-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010287472.5A Pending CN111545953A (en) | 2020-04-13 | 2020-04-13 | Welding, assembling and assisting tool for elevator car bottom robot and welding method |
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| CN112059492A (en) * | 2020-08-31 | 2020-12-11 | 杭州职业技术学院 | Mechanical arm structure for welding elevator car bottom |
| CN116512214A (en) * | 2023-05-18 | 2023-08-01 | 广州中益机械有限公司 | Welding robot for welding sheet metal of vehicle body |
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| CN207387416U (en) * | 2017-09-25 | 2018-05-22 | 新昌县七星街道炜德机械厂 | A kind of clamping device of grinding machine collet |
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Application publication date: 20200818 |