CN111702320A - Heavy-load truss carrying robot and carrying method thereof - Google Patents
Heavy-load truss carrying robot and carrying method thereof Download PDFInfo
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- CN111702320A CN111702320A CN202010624482.3A CN202010624482A CN111702320A CN 111702320 A CN111702320 A CN 111702320A CN 202010624482 A CN202010624482 A CN 202010624482A CN 111702320 A CN111702320 A CN 111702320A
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- axle housing
- manipulator
- conveying mechanism
- truss
- chain plate
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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
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The invention provides a heavy-load truss transfer robot, which comprises a truss, an axle housing conveying device, an axle head feeding device, an axle housing grabbing mechanical arm, an axle head feeding mechanical arm and a control device, wherein a clamping welding area is formed below the rear part of the truss, a first slide rail is arranged between the axle housing conveying device and the clamping welding area at the top of the truss, the axle housing grabbing mechanical arm is arranged on the first slide rail in a sliding manner, a second slide rail is arranged between the axle head feeding device and the clamping welding area at the top of the truss, the axle head feeding mechanical arm is arranged on the second slide rail in a sliding manner, the axle housing conveying device comprises a first chain plate conveying mechanism, a second chain plate conveying mechanism and a turntable transfer trolley, the axle head feeding device comprises a third chain plate conveying mechanism and a turnover device, the third chain plate conveying mechanism is transversely arranged and positioned below the axle head feeding mechanical arm, the third chain plate conveying, the technical problems of high feeding cost and low feeding efficiency in the process of welding the axle housing with the axle head can be solved.
Description
Technical Field
The invention relates to the technical field of axle housing processing, in particular to a heavy-load truss carrying robot and a carrying method thereof.
Background
Friction welding is a solid state welding method which utilizes the relative motion between welding contact end surfaces to generate friction heat and plastic deformation heat at a friction surface and a nearby area thereof under the action of constant or increasing pressure and torque, so that the temperature of the nearby area is increased to a temperature range close to but generally lower than a melting point, the deformation resistance of a material is reduced, the plasticity is improved, an oxide film of an interface is crushed, and under the action of top forging pressure, the material generates plastic deformation and flow along with the plastic deformation and flow, and the welding is realized through the molecular diffusion and recrystallization of the interface.
The rear axle housing assembly is an important load-bearing part of the vehicle, which approximately bears 2/3 of the total mass of the whole vehicle, and the reliability and safety of the running of the whole vehicle are related, so that the welding of the rear axle housing body and the shaft heads at the two ends of the rear axle housing body is crucial. Vehicle rear-axle housing body generally can adopt double-end axle friction welding machine to carry out the welded mode with the welding of spindle nose, at continuous welded in-process, need constantly carry out the material loading to axle housing middle section and spindle nose, the material loading mode that adopts carries out the material loading through six shaft linkage robots at present, but because six shaft linkage robots are not exclusively used in the material loading of axle housing middle section and spindle nose welding process, consequently welding procedure is complicated and equipment is expensive, consequently, need develop a machinery of carrying out the material loading to axle housing middle section and spindle nose specially, with reduce cost and realize high-efficient material loading.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a heavy load truss transfer robot to solve and carry out the technical problem that the material loading is with high costs and material loading efficiency is low in the in-process of spindle nose welding to the axle housing.
In order to solve the technical problems, the technical scheme of the invention is as follows: a heavy-load truss transfer robot comprises a truss, an axle housing conveying device, an axle head feeding device, an axle housing grabbing mechanical arm, an axle head feeding mechanical arm and a control device, wherein the axle housing conveying device and the axle head feeding device are arranged below the front portion of the truss, the axle housing conveying device is positioned in front of the axle head feeding device, a clamping welding area is formed below the rear portion of the truss, a first sliding rail is arranged at the top of the truss between the axle housing conveying device and the clamping welding area, the axle housing grabbing mechanical arm is arranged on the first sliding rail in a sliding mode, a second sliding rail is arranged at the top of the truss between the axle head feeding device and the clamping welding area, the axle head feeding mechanical arm is arranged on the second sliding rail in a sliding mode, first driving devices are respectively arranged between the axle housing grabbing mechanical arm and the first sliding rail and between the axle head feeding mechanical arm and the second sliding rail, the first driving device is used for driving the axle housing grabbing mechanical arm or the axle head feeding mechanical arm to slide, the axle housing conveying device comprises a first chain plate conveying mechanism, a second chain plate conveying mechanism and a rotary table transfer trolley, the first chain plate conveying mechanism and the second chain plate conveying mechanism are transversely arranged, the rotary table transfer trolley is arranged between the first chain plate conveying mechanism and the second chain plate conveying mechanism and is positioned below the axle housing grabbing mechanical arm, the axle head feeding device comprises a third chain plate conveying mechanism and a turnover device, the third chain plate conveying mechanism is transversely arranged and is positioned below the axle head feeding mechanical arm, the turnover device is arranged on the third chain plate conveying mechanism and is arranged on the outer side of the second slide rail, and the axle housing conveying device, the axle head feeding device, the axle housing grabbing mechanical arm and the axle head feeding mechanical arm are respectively connected with the control device through control lines, the first driving device is connected with the control device through a control line.
Preferably, turning device includes support frame, anchor clamps, slide, upset motor and servo screw mechanism, support frame fixed mounting in just be located in third chain conveyor's the frame third chain conveyor top, the vertical cunning of slide is located on the support frame, anchor clamps rotate install in on the slide, upset motor fixed mounting in on the slide, upset motor drive the anchor clamps upset, the support frame with be equipped with between the slide servo screw mechanism.
Preferably, the left side and the right side of the first sliding rail are respectively provided with one second sliding rail, the second sliding rails are provided with the spindle head feeding mechanical arm in a sliding mode, and each spindle head feeding mechanical arm is provided with a turnover device on the outer side.
Preferably, the axle housing snatchs the manipulator and includes first supporting beam, first lifing arm, second drive arrangement and mechanical clamping jaw, first supporting beam transversely sets up and cunning locates on the first slide rail, the upper end of first lifing arm with first supporting beam lateral sliding connects, install the lower extreme of first lifing arm mechanical clamping jaw, first supporting beam with install between the first lifing arm second drive arrangement, second drive arrangement is used for the drive first lifing arm lateral sliding, the axle housing snatchs the manipulator and includes axle housing material loading manipulator and axle housing unloading manipulator.
Preferably, the spindle nose snatchs manipulator includes second supporting beam, second lifing arm, third drive arrangement and three appointed heart chucks, second supporting beam transversely sets up and locates smoothly on the second slide rail, the upper end of second lifing arm with second supporting beam lateral sliding connects, install the lower extreme of second lifing arm three appointed heart chucks, second supporting beam with install between the second lifing arm third drive arrangement, third drive arrangement is used for the drive second lifing arm lateral sliding.
Preferably, the first lifting arm and the second lifting arm both comprise an upper support arm and a lower support arm, a servo screw rod mechanism is arranged between the upper support arm and the lower support arm, the first driving device and the second driving device are gear and rack driving mechanisms, and the third driving device is a servo screw rod driving mechanism.
Preferably, the turntable transfer trolley comprises a trolley body, a turntable and a fourth driving device, the turntable is rotatably mounted at the top of the trolley body, and the fourth driving device is mounted on the trolley frame and used for driving the turntable to rotate.
Preferably, the first chain plate conveying mechanism, the second chain plate conveying mechanism and the third chain plate conveying mechanism respectively comprise a rack, chain plates, chain wheels and driving motors, the chain plates are annular, the chain plates are installed on the rack through the chain wheels, and the driving motors drive the chain plates to rotate.
Preferably, the third chain plate conveying mechanism is provided with a plurality of position sensors for detecting the positions of the shaft heads, and the position sensors are connected with the control device.
The invention solves another technical problem of providing a carrying method of the heavy-load truss carrying robot.
In order to solve the technical problems, the technical scheme is that the carrying method of the heavy-load truss carrying robot comprises the following steps:
1) starting a control device, manually hoisting the middle section of the axle housing to be welded onto a first chain plate conveying mechanism, conveying the middle section of the axle housing onto a turntable transfer trolley by the first chain plate conveying mechanism, rotating the middle section of the axle housing by 90 degrees by the turntable transfer trolley, hoisting the middle section of the axle housing onto a welding machine at a welding area by an axle housing feeding manipulator for clamping, and automatically returning to clamp a workpiece to wait after the feeding of the axle housing feeding manipulator is finished;
2) manually hoisting the shaft heads to be welded to a second chain plate conveying mechanism, allowing the first shaft head to pass through a first turnover device and then to be released to a turnover station of a second turnover device, allowing the second shaft head to reach the turnover station of the first turnover device and stop, allowing the shaft heads to vertically rotate for 90 degrees after clamps of the two turnover devices grab and clamp the shaft head workpiece, enabling the large-diameter ends of the shaft heads to point to the inner side, and hoisting the shaft heads to a welding machine of a welding area by a shaft head loading manipulator for clamping.
3) Friction welding is carried out on the middle section of the axle housing and the axle heads at the two ends of the axle housing through a welding machine;
4) the rear axle housing blanking manipulator to be welded advances along with the axle housing feeding manipulator, the axle housing feeding manipulator needs to operate beyond the clamping position of a welding area to wait for vacating a clamping space for the axle housing blanking manipulator, and a finished product is sent back to the transfer trolley to be transported away after the axle housing blanking manipulator completes clamping.
5) The axle housing feeding mechanical arm enters a welding area for feeding and enters the next welding work cycle.
The technical effect obtained by adopting the technical scheme is as follows:
the utility model provides a heavy load truss transfer robot carries out the in-process of welding at axle housing and spindle nose and can realize automatic on, the unloading, only need in the welding process that the manual work will treat welded axle housing middle section and spindle nose and place corresponding material loading conveyor respectively on, this system can transport axle housing middle section and spindle nose respectively, the upset and go up, the unloading, after the welding is accomplished, still can be with finished product automatic output, the heavy load truss transfer robot of this application can realize the automatic material loading welding of axle housing and spindle nose, the material loading process is accurate high-efficient, welding efficiency can be greatly improved, the labour has been saved, and each component part of unloading system all adopts conventional mechanical components to assemble and form, consequently greatly reduced the processing cost, do benefit to and promote and use in the enterprise.
Because turning device includes support frame, anchor clamps, slide, upset motor and servo screw mechanism, support frame fixed mounting in just be located in third chain conveyor's the frame third chain conveyor top, the vertical cunning of slide is located on the support frame, anchor clamps rotate install in on the slide, upset motor fixed mounting in on the slide, upset motor drive the anchor clamps upset, the support frame with be equipped with between the slide servo screw mechanism, turning device can realize treating the upset of welding the spindle nose.
Because the left and right sides of first slide rail is equipped with one respectively the second slide rail, it is equipped with to slide on the second slide rail spindle nose material loading manipulator, each the outside of spindle nose material loading manipulator all is equipped with turning device, both sides spindle nose material loading manipulator can snatch a spindle nose through the turning device upset respectively and carry out the material loading to the realization is welded simultaneously to the spindle nose at axle housing both ends.
Because the axle housing snatchs the manipulator and includes first supporting beam, first lifing arm, second drive arrangement and mechanical clamping jaw, first supporting beam transversely sets up and cunning locates on the truss, the upper end of first lifing arm with first supporting beam lateral sliding connects, install the lower extreme of first lifing arm mechanical clamping jaw, first supporting beam with install between the first lifing arm second drive arrangement, second drive arrangement is used for the drive first lifing arm lateral sliding, but the axle housing snatchs the manipulator lateral sliding in order to grab the axle housing middle section.
Because the spindle nose snatchs the manipulator and includes second supporting beam, second lifing arm, third drive arrangement and three appointed heart chucks, second supporting beam transversely sets up and smooth locating on the truss, the upper end of second lifing arm with second supporting beam lateral sliding connects, install the lower extreme of second lifing arm three appointed heart chucks, second supporting beam with install between the second lifing arm third drive arrangement, third drive arrangement is used for the drive second lifing arm lateral sliding, but the spindle nose snatchs the manipulator lateral sliding in order to snatch the spindle nose.
The third chain plate conveying mechanism is provided with a plurality of position sensors for detecting the positions of the shaft heads, the position sensors are connected with the control device, the position sensors can be unthreaded hole switches, and the control device receives signals passing through the position sensors and controls the left and right turnover devices to mutually cooperate to respectively grab and clamp the two shaft heads.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a block diagram of the truss of the present invention;
FIG. 3 is a block diagram of a spindle nose loading manipulator;
FIG. 4 is a structural view of the turning device;
in the figure 1, a truss; 11. a first slide rail; 12. a second slide rail; 13. a first driving device; 21. a first link plate conveying mechanism; 22. a second link plate conveying mechanism; 23. a turntable transfer trolley; 31. a third chain plate conveying mechanism; 32. a turning device; 321. A support frame; 322. a clamp; 323. turning over a motor; 324. a servo screw mechanism; 325. a slide base; 4. an axle housing feeding manipulator; 41. a first support beam; 42. a first lifting arm; 43. a second driving device; 44. a mechanical jaw; 5. a shaft head feeding manipulator; 51. a second support beam; 52. a second lifting arm; 53. a third driving device; 54. three appointed centering chucks; 6 a control device; 7. an axle housing blanking manipulator; 81. a middle section of the axle housing; 82. a shaft head; 9. a welding machine; 10. a position sensor.
Detailed Description
As shown in fig. 1-4, a heavy-duty truss transfer robot, including truss 1, axle housing conveyor, spindle nose loading attachment, axle housing snatch manipulator, spindle nose loading manipulator 5 and controlling means 6, be equipped with axle housing conveyor and spindle nose loading attachment below truss 1 front portion, axle housing conveyor is located spindle nose loading attachment the place ahead, and 1 rear portion below of truss forms the clamping weld area.
First slide rail 11 is equipped with at truss 1 top between axle housing conveyor and clamping welding district, it snatchs the manipulator to slide on first slide rail 11 to be equipped with the axle housing, the axle housing snatchs the manipulator and includes first supporting beam 41, first lifing arm 42, second drive arrangement 43 and mechanical clamping jaw 44, first supporting beam 41 transversely sets up and cunning locates on first slide rail 11, the upper end and the first supporting beam 41 lateral sliding connection of first lifing arm 42, mechanical clamping jaw 44 is installed to the lower extreme of first lifing arm 42, install second drive arrangement 43 between first supporting beam 41 and the first lifing arm 42, second drive arrangement 43 is used for driving first lifing arm 42 lateral sliding, the axle housing snatchs the manipulator lateral sliding in order to snatch axle housing middle section 81. The axle housing grabbing mechanical arm comprises an axle housing feeding mechanical arm and an axle housing discharging mechanical arm.
The second sliding rail 12 is arranged between the spindle head feeding device and the clamping welding area at the top of the truss 1, the spindle head feeding manipulator 5 is arranged on the second sliding rail 12 in a sliding mode, the first sliding rail 11 and the second sliding rail 12 are arranged side by side, the spindle head feeding manipulator 5 comprises a second supporting beam 51, a second lifting arm 52, a third driving device 53 and three appointed center chucks 54, the second supporting beam 51 is transversely arranged and arranged on the second sliding rail 12 in a sliding mode, the upper end of the second lifting arm 52 is transversely connected with the second supporting beam 51 in a sliding mode, the three appointed center chucks 54 are arranged at the lower end of the second lifting arm 52, the third driving device 53 is arranged between the second supporting beam 51 and the second lifting arm 52, the third driving device 53 is used for driving the second lifting arm 52 to transversely slide, and the spindle head feeding manipulator 5 can transversely slide to grab the spindle head 82.
The first lifting arm 42 and the second lifting arm 52 each include an upper arm and a lower arm, a servo screw mechanism 324 is provided between the upper arm and the lower arm, the first driving device 13 and the second driving device 43 are gear-rack driving mechanisms, and the third driving device 53 is a servo screw driving mechanism. First driving devices 13 are installed between the axle housing grabbing mechanical arm and the first sliding rail 11 and between the spindle head feeding mechanical arm 5 and the second sliding rail 12, and the first driving devices 13 are used for driving the axle housing grabbing mechanical arm or the spindle head feeding mechanical arm 5 to slide.
The axle housing conveying device comprises a first chain plate conveying mechanism 21, a second chain plate conveying mechanism 22 and a rotary disc transfer trolley 23, the first chain plate conveying mechanism 21 and the second chain plate conveying mechanism 22 are transversely arranged, the rotary disc transfer trolley 23 is arranged between the first chain plate conveying mechanism 21 and the second chain plate conveying mechanism 22 and located below an axle housing grabbing manipulator, the rotary disc transfer trolley 23 comprises a vehicle body, a rotary disc and a fourth driving device, the rotary disc is rotatably installed on the top of the vehicle body, and the fourth driving device is installed on the vehicle frame and used for driving the rotary disc to rotate.
The shaft head feeding device comprises a third chain plate conveying mechanism 31 and a turning device 32, the third chain plate conveying mechanism 31 is transversely arranged and is positioned below the shaft head feeding manipulator 5, the turning device 32 is arranged on the chain plate conveying mechanism and is arranged on the outer side of the second slide rail 12, the turning device 32 comprises a support frame 321 and a clamp 322, slide 325, upset motor 323 and servo lead screw mechanism 324, support frame 321 fixed mounting just is located third chain conveying mechanism 31 top in third chain conveying mechanism 31's the frame, the vertical cunning of slide 325 is located on support frame 321, anchor clamps 322 rotate and install on slide 325, upset motor 323 fixed mounting is on the slide, upset motor drive anchor clamps 322 upset, be equipped with servo lead screw mechanism 324 between support frame 321 and the slide, servo lead screw mechanism 324 includes servo motor and lead screw, install at the support frame 321 top including servo motor, the upset of treating welding spindle nose 82 can be realized with slide threaded connection turning device 32 to the lead screw.
In order to realize welding the axle heads 82 at the two ends of the axle housing simultaneously, the left side and the right side of the first slide rail 11 are respectively provided with a second slide rail 12, the second slide rail 12 is provided with an axle head feeding mechanical arm 5 in a sliding manner, the outer side of each axle head feeding mechanical arm 5 is provided with a turnover device 32, and the axle head feeding mechanical arms 5 at the two sides can respectively grab an axle head 82 turned over by the turnover devices 32 for feeding. The third chain plate conveying mechanism 31 is provided with a plurality of position sensors 10 used for detecting the positions of the shaft heads 82, the position sensors 10 are connected with the control device 6, the position sensors 10 can be unthreaded hole switches, and the control device 6 receives signals passing through the position sensors 10 and controls the left and right turning devices 32 to mutually cooperate to respectively grab and clamp the two shaft heads 82.
The axle housing conveying device, the shaft head feeding device, the axle housing grabbing mechanical arm and the shaft head feeding mechanical arm 5 are respectively connected with the control device 6 through control lines, and the first driving device 13, the second driving device 43, the third driving device 53 and the fourth driving device are connected with the control device 6 through control lines.
The first chain plate conveying mechanism 21, the second chain plate conveying mechanism 22 and the third chain plate conveying mechanism 31 all comprise a rack, chain plates, chain wheels and a driving motor, the chain plates are annular, the chain plates are installed on the rack through the chain wheels, and the driving motor drives the chain plates to rotate.
The carrying method of the heavy-load truss carrying robot comprises the following steps:
1) starting the control device 6, manually hoisting the axle housing middle section 81 to be welded onto the first chain plate conveying mechanism 21, conveying the axle housing middle section 81 onto the turntable transfer trolley 23 by the first chain plate conveying mechanism 21, rotating the axle housing middle section 81 by 90 degrees by the turntable transfer trolley 23, hoisting the axle housing middle section 81 to the welding machine 9 in a welding area by the axle housing feeding manipulator 4 for clamping, and automatically returning and clamping a workpiece to wait after the axle housing feeding manipulator 4 finishes feeding;
2) manually hoisting the shaft head 82 to be welded to the second chain plate conveying mechanism 22, allowing the first shaft head 82 to pass through the first turnover device 32 and then to be released to the turnover station of the second turnover device 32, stopping the second shaft head 82 when reaching the turnover station of the first turnover device 32, enabling the shaft head 82 to vertically rotate for 90 degrees after the clamps 322 of the two turnover devices 32 grab the shaft head 82 workpiece, enabling the large-diameter end of the shaft head 82 to point to the inner side, and hoisting the shaft head 82 to the welding machine 9 in a welding area by the shaft head loading manipulator 5 for clamping.
3) Friction welding is carried out on the middle section of the axle housing and the shaft heads 82 at the two ends of the axle housing through a welding machine 9;
4) wait to weld and accomplish rear-axle housing unloading manipulator 7 and follow axle housing material loading manipulator 4 and go forward, axle housing material loading manipulator 4 need move the clamping position that surpasss the welding area and wait for to vacate the clamping space for axle housing unloading manipulator 7, and axle housing unloading manipulator 7 sends the finished product back to the transfer car after the clamping is accomplished and transports away.
5) The axle housing feeding mechanical arm 4 enters a welding area for feeding and enters the next welding work cycle.
Claims (10)
1. The utility model provides a heavy load truss transfer robot which characterized in that: comprises a truss, an axle housing conveying device, a shaft head feeding device, an axle housing grabbing mechanical arm, a shaft head feeding mechanical arm and a control device,
the axle housing conveying device and the shaft head feeding device are arranged below the front part of the truss, the axle housing conveying device is positioned in front of the shaft head feeding device, a clamping welding area is formed below the rear part of the truss,
the axle housing is characterized in that a first slide rail is arranged between the axle housing conveying device and the clamping welding area at the top of the truss, the axle housing grabbing manipulator is arranged on the first slide rail in a sliding manner, a second slide rail is arranged between the axle head feeding device and the clamping welding area at the top of the truss, the axle head feeding manipulator is arranged on the second slide rail in a sliding manner, first driving devices are respectively arranged between the axle housing grabbing manipulator and the first slide rail and between the axle head feeding manipulator and the second slide rail, and the first driving devices are used for driving the axle housing grabbing manipulator or the axle head feeding manipulator to slide,
the axle housing conveying device comprises a first chain plate conveying mechanism, a second chain plate conveying mechanism and a turntable transfer trolley,
the first chain plate conveying mechanism and the second chain plate conveying mechanism are both transversely arranged, the rotary table transfer trolley is arranged between the first chain plate conveying mechanism and the second chain plate conveying mechanism and is positioned below the axle housing grabbing manipulator,
the shaft head feeding device comprises a third chain plate conveying mechanism and a turnover device, the third chain plate conveying mechanism is transversely arranged and is positioned below the shaft head feeding manipulator, the turnover device is arranged on the third chain plate conveying mechanism and is positioned on the outer side of the second slide rail,
axle housing conveyor, spindle nose loading attachment, axle housing snatch manipulator and spindle nose loading manipulator respectively with controlling means passes through control scheme and connects, a drive arrangement with controlling means passes through control scheme and connects.
2. The heavy-duty truss handling robot as claimed in claim 1, wherein the turnover device includes a support frame, a clamp, a slide carriage, a turnover motor, and a servo screw mechanism, the support frame is fixedly mounted on the frame of the third chain-link conveying mechanism and located above the third chain-link conveying mechanism, the slide carriage is vertically slidably disposed on the support frame, the clamp is rotatably mounted on the slide carriage, the turnover motor is fixedly mounted on the slide carriage, the turnover motor drives the clamp to turn over, and the servo screw mechanism is disposed between the support frame and the slide carriage.
3. The heavy-duty truss transfer robot as claimed in claim 1, wherein one of said second slide rails is disposed on each of left and right sides of said first slide rail, said spindle head loading manipulators are slidably disposed on said second slide rails, and a turning device is disposed on an outer side of each of said spindle head loading manipulators.
4. The heavy-duty truss transfer robot of claim 3, wherein the axle housing grabbing manipulator comprises a first supporting beam, a first lifting arm, a second driving device and a mechanical clamping jaw, the first supporting beam is transversely arranged and slidably arranged on the first sliding rail, the upper end of the first lifting arm is transversely slidably connected with the first supporting beam, the mechanical clamping jaw is installed at the lower end of the first lifting arm, the first supporting beam is mounted between the first lifting arm and the second driving device, the second driving device is used for driving the first lifting arm to transversely slide, the axle housing grabbing manipulator comprises an axle housing feeding manipulator and an axle housing blanking manipulator, and the axle housing blanking manipulator is arranged in front of the axle housing feeding manipulator.
5. The heavy-duty truss handling robot as claimed in claim 4, wherein the spindle nose grabbing manipulator includes a second supporting beam, a second lifting arm, a third driving device and a three-pointed center chuck, the second supporting beam is transversely disposed and slidably disposed on the second sliding rail, the upper end of the second lifting arm is transversely slidably connected to the second supporting beam, the three-pointed center chuck is mounted at the lower end of the second lifting arm, the third driving device is mounted between the second supporting beam and the second lifting arm, and the third driving device is configured to drive the second lifting arm to transversely slide.
6. The heavy-duty truss handling robot of claim 5 wherein said first and second lift arms each include an upper arm and a lower arm with a servo-screw mechanism disposed therebetween, said first and second drives being rack and pinion drives, and said third drive being a servo-screw drive.
7. The heavy-duty truss transfer robot of claim 1 wherein said carousel transfer trolley includes a body, a carousel rotatably mounted on top of said body, and a fourth drive means mounted to said body for driving said carousel in rotation.
8. The heavy-duty truss handling robot of claim 1, wherein each of said first, second and third drag conveying mechanisms includes a frame, a link, a sprocket, and a drive motor, said link being endless, said link being mounted to said frame via said sprocket, said drive motor driving said link to rotate.
9. The heavy-duty truss transfer robot as recited in claim 1, wherein said third flight conveyor has position sensors for sensing the position of said head, said position sensors being connected to said control means.
10. The method of handling a heavy duty truss handling robot as recited in claim 5, including the steps of:
1) starting a control device, manually hoisting the middle section of the axle housing to be welded onto a first chain plate conveying mechanism, conveying the middle section of the axle housing onto a turntable transfer trolley by the first chain plate conveying mechanism, rotating the middle section of the axle housing by 90 degrees by the turntable transfer trolley, hoisting the middle section of the axle housing onto a welding machine at a welding area by an axle housing feeding manipulator for clamping, and automatically returning to clamp a workpiece to wait after the feeding of the axle housing feeding manipulator is finished;
2) manually hoisting the shaft heads to be welded to a second chain plate conveying mechanism, allowing the first shaft head to pass through a first turnover device and then to be released to a turnover station of a second turnover device, allowing the second shaft head to reach the turnover station of the first turnover device and stop, allowing the shaft heads to vertically rotate for 90 degrees after clamps of the two turnover devices grab and clamp the shaft head workpiece, enabling the large-diameter ends of the shaft heads to point to the inner side, and hoisting the shaft heads to a welding machine of a welding area by a shaft head loading manipulator for clamping.
3) Friction welding is carried out on the middle section of the axle housing and the axle heads at the two ends of the axle housing through a welding machine;
4) the rear axle housing blanking manipulator to be welded advances along with the axle housing feeding manipulator, the axle housing feeding manipulator needs to operate beyond the clamping position of a welding area to wait for vacating a clamping space for the axle housing blanking manipulator, and a finished product is sent back to the transfer trolley to be transported away after the axle housing blanking manipulator completes clamping.
5) The axle housing feeding mechanical arm enters a welding area for feeding and enters the next welding work cycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010624482.3A CN111702320B (en) | 2020-06-30 | 2020-06-30 | Heavy-load truss carrying robot and carrying method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010624482.3A CN111702320B (en) | 2020-06-30 | 2020-06-30 | Heavy-load truss carrying robot and carrying method thereof |
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| Publication Number | Publication Date |
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| CN111702320A true CN111702320A (en) | 2020-09-25 |
| CN111702320B CN111702320B (en) | 2021-11-16 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111702321A (en) * | 2020-07-01 | 2020-09-25 | 广西瑞克工业机器人有限公司 | Heavy-load truss transfer robot |
| CN114148922A (en) * | 2021-11-15 | 2022-03-08 | 沈阳新松机器人自动化股份有限公司 | Full-automatic bridge type heavy-load robot |
| CN115922417A (en) * | 2023-03-01 | 2023-04-07 | 山东鑫木汽车配件有限公司 | Vehicle rear-axle housing rough machining automatic feeding mechanism |
| CN116060753A (en) * | 2023-04-06 | 2023-05-05 | 淮安太阳鸟焊割设备有限公司 | Automatic welding method and device for round drill rod end |
| CN116713577A (en) * | 2023-07-28 | 2023-09-08 | 安徽黄山恒久链传动有限公司 | Automatic chain plate welding unit |
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| CN209919221U (en) * | 2019-03-15 | 2020-01-10 | 广州中设机器人智能装备（武汉）有限公司 | Be applied to set-square of axle housing and assemble spot welding tilting mechanism |
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| JP2001277812A (en) * | 2000-03-31 | 2001-10-10 | Nissan Diesel Motor Co Ltd | Axle housing |
| CN102205460A (en) * | 2009-11-13 | 2011-10-05 | 陕西汉德车桥有限公司 | Friction welding process for intermediate section of axle cast steel axle housing and shaft heads of heavy-duty truck |
| CN202344172U (en) * | 2011-12-13 | 2012-07-25 | 安徽安凯福田曙光车桥有限公司 | Pneumatic axle housing and finished shaft head welding combined fixture |
| CN202591802U (en) * | 2012-05-29 | 2012-12-12 | 东风德纳车桥有限公司 | Automatic feeding and blanking shaft pipe welding system for stamping and welding bridge shell |
| CN106334889A (en) * | 2016-10-28 | 2017-01-18 | 山东蓬翔汽车有限公司 | Axle housing body straight slit automatic welding production line and control method thereof |
| CN206590492U (en) * | 2017-03-14 | 2017-10-27 | 天津汇润机电设备有限公司 | A kind of matrix form upset streamline and upset locking structure |
| CN107840145A (en) * | 2017-11-30 | 2018-03-27 | 苏州弘瀚自动化科技有限公司 | A kind of automatic turning device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111702321A (en) * | 2020-07-01 | 2020-09-25 | 广西瑞克工业机器人有限公司 | Heavy-load truss transfer robot |
| CN114148922A (en) * | 2021-11-15 | 2022-03-08 | 沈阳新松机器人自动化股份有限公司 | Full-automatic bridge type heavy-load robot |
| CN114148922B (en) * | 2021-11-15 | 2024-09-24 | 沈阳新松机器人自动化股份有限公司 | Full-automatic bridge type heavy-duty robot |
| CN115922417A (en) * | 2023-03-01 | 2023-04-07 | 山东鑫木汽车配件有限公司 | Vehicle rear-axle housing rough machining automatic feeding mechanism |
| CN116060753A (en) * | 2023-04-06 | 2023-05-05 | 淮安太阳鸟焊割设备有限公司 | Automatic welding method and device for round drill rod end |
| CN116713577A (en) * | 2023-07-28 | 2023-09-08 | 安徽黄山恒久链传动有限公司 | Automatic chain plate welding unit |
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