CN111975267A - Welding manipulator - Google Patents
Welding manipulator Download PDFInfo
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- CN111975267A CN111975267A CN202010865148.7A CN202010865148A CN111975267A CN 111975267 A CN111975267 A CN 111975267A CN 202010865148 A CN202010865148 A CN 202010865148A CN 111975267 A CN111975267 A CN 111975267A
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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
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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
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The invention relates to the field of welding equipment, in particular to a welding manipulator which comprises a continuous feeding bin, a welding gun, a part transferring mechanism, a welding gun support mechanism, a tool platform, a rotary fixture table and a tool fixture component, wherein the tool fixture component is arranged on the rotary fixture table; a plurality of structural components are mutually matched to complete a series of processes of feeding, clamping, welding and discharging of a welding assembly, so that the functions of multi-station unmanned operation and automatic welding technology are realized, and the processing purposes of less labor, less welding instruments and less working hours are realized.
Description
Technical Field
The invention relates to the field of welding equipment, in particular to a welding manipulator which is particularly suitable for 360-degree rotary welding of a sheet metal bent part and a shaft part.
Background
At present, the manipulator is used widely, and the manipulator is applied to multiple stations such as material handling, product snatch, product cutting process, welding, when convenient production, has also solved the problem of cost of labor, in the product production course of working, often need adopt welding process to realize the fixed connection to the product.
The sheet metal of a present similar shift fork shape piece of bending, there are two holes on the body of the sheet metal piece of bending, an axle type part of one of them downthehole needs to weld, contact surface between them is 360 spot welding a week at least, perhaps 360 full weld a week, it is must very slow to use its efficiency of manual welding technique, adopt multiaxis welding robot welding firstly do not have suitable frock, secondly certainly need three face to stand multiaxis robot at least and just can weld, thirdly on frock clamp, the unloading is inconvenient, it is not more automatic, a series of technologies are accomplished to the mechanical equipment of no manual operation. Generally, the existing technology for welding the parts consumes manpower and labor hours, is efficient, and does not realize the functions of less manpower, less welding apparatuses and less labor hours.
Disclosure of Invention
The invention aims to provide a welding manipulator which can automatically weld two special parts in the background technology at 360 degrees and automatically carry out feeding and discharging, so that the manual labor is reduced, the automatic welding technology improves the processing efficiency, and the processing purposes of less labor, less welding instruments and less working hours are achieved.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the welding manipulator comprises a continuous feeding bin and a welding gun, wherein welding assemblies which are combined together are sequentially arranged on the continuous feeding bin, the welding manipulator further comprises a part transferring mechanism, a welding gun support mechanism, a tooling platform, a rotary fixture table and a tooling fixture component, the tooling fixture component is arranged on the rotary fixture table, the continuous feeding bin, the part transferring mechanism and the rotary fixture table are arranged on the tooling platform, a working line is formed on the tooling platform by the three components for conveying and welding the welding assemblies, the welding gun support mechanism is arranged on the tooling platform in a direction perpendicular to the working line, the welding gun is erected on the welding gun support mechanism, and the gun head of the welding gun is right opposite to the position of the tooling fixture component;
the part transferring mechanism comprises a transverse moving module, a longitudinal moving module and a module stand, wherein the module stand is arranged between the continuous feeding bin and the rotary fixture table, the transverse moving module is fixed on the module stand, the longitudinal moving module is arranged on the transverse moving module and moves horizontally along with the transverse moving module, and the longitudinal moving module moves longitudinally towards the rotary fixture table;
the welding gun support mechanism comprises a support inclined frame, a movable adjusting frame, an adjusting handle and a swinging connecting rod, wherein one end of the support inclined frame is hinged to one end of the movable adjusting frame, the other end of the support inclined frame is movably connected to the other end of the movable adjusting frame through the swinging connecting rod, the end, provided with the swinging connecting rod, of the support inclined frame is higher than the other end of the support inclined frame, the adjusting handle is arranged on the movable adjusting frame close to one side of the swinging connecting rod, and the adjusting handle is used for adjusting the support angle of the swinging connecting rod;
the rotary fixture platform comprises a driving motor, a rotary table and a clamping cylinder, wherein the driving motor is fixed on the lower bottom surface of the tool platform, a motor shaft of the driving motor penetrates through the tool platform and extends to the upper portion of the tool platform, the rotary table is arranged above the tool platform and is installed on the motor shaft of the driving motor, the clamping cylinder is installed on the rotary table, a tool fixture part covers the clamping cylinder, one end of a welding assembly of the tool fixture part is buckled on the tool fixture part, and the other end of the welding assembly of the tool fixture part is clamped and fixed by the clamping cylinder.
In order to bring the workpiece to be welded to be automatically transferred to the rotary fixture table from the continuous feeding bin, the part transfer mechanism needs to have the function of moving on the X, Y plane, so that the workpiece to be welded can be conveniently clamped to horizontally move, and then the workpiece to be welded is vertically moved and then placed on the rotary fixture table, and therefore the transverse moving module and the longitudinal moving module are designed.
The transverse moving module comprises a transverse moving frame and a transverse moving cylinder, the transverse moving frame is fixed on the module vertical frame, the transverse moving cylinder is horizontally arranged on the transverse moving frame, and the longitudinal moving module is fixed at the front end of a cylinder shaft of the transverse moving cylinder.
The longitudinal moving module comprises a longitudinal moving frame, a longitudinal moving cylinder, a connecting sliding block, a connecting rod and two transferring clamping cylinders, wherein the longitudinal moving frame is L-shaped, a vertical part of the longitudinal moving frame is fixed at the front end of a cylinder shaft of the transverse moving cylinder, the longitudinal moving cylinder is fixed on a horizontal part of the longitudinal moving frame, the cylinder shaft of the longitudinal moving cylinder stretches downwards, the connecting sliding block is fixed on the cylinder shaft of the longitudinal moving cylinder, the connecting rod horizontally penetrates through the connecting sliding block, and the transferring clamping cylinders are fixed at two ends of the connecting rod.
In order to ensure the telescopic stability of the transverse moving cylinder and the longitudinal moving cylinder and stably drive related parts to move, the transverse moving module and the longitudinal moving module respectively comprise a reinforcing slide rod and a slide rod seat, the slide rod seats are respectively fixed on the horizontal parts of the transverse moving frame and the longitudinal moving frame, the reinforcing slide rod of the transverse moving module penetrates through the slide rod seat and is parallel to the transverse moving cylinder, the vertical part of the longitudinal moving frame is fixed at one end of the reinforcing slide rod of the transverse moving module, and one end of the reinforcing slide rod of the longitudinal moving module penetrates through the slide rod seat and is fixed on the connecting slide block.
Specifically, the spacing distance between two transfer clamping cylinders is equal to the spacing distance between the discharge port of the continuous feeding bin and the clamping position of the rotary fixture table, and the designed distance ensures that the welding assembly can be smoothly transferred, so that the aim of smoothly transferring from the previous station to the next station is fulfilled.
In order to accurately align the welding position of a welding workpiece when the gun head of the welding gun is welded, a movable adjusting frame capable of adjusting the tool position is designed and used for flexibly adjusting the position of the welding gun. It is specific, remove the alignment jig including adjusting slide bar, track lead screw, track slider, support grudging post, adjust slide bar and track lead screw and be parallel to each other, its both ends fixed connection who adjusts the slide bar is between two support grudging posts, the wherein one end or both ends of track lead screw are fixed on supporting the grudging post through the shaft coupling, track slider cover is on adjusting slide bar and track lead screw, and wherein the middle hole internal thread of track slider cover on the track lead screw, in addition, the track slider cover still has inlayed supplementary slider in the limit hole on adjusting the slide bar, and the track slider is on supplementary slider through rigid connection's mode cover.
The welding gun adjusting device comprises a support inclined frame, a rotary fixture table, a track slide block, a welding gun adjusting vertical frame, a bidirectional cylinder and an inclined bottom plate, wherein the support inclined frame comprises the welding gun adjusting vertical frame, the bidirectional cylinder and the inclined bottom plate, one end of the inclined bottom plate is hinged to the support vertical frame close to one side of the rotary fixture table, the other end of the inclined bottom plate is hinged to the upper end of a swing connecting rod, the lower end of the swing connecting rod is hinged to the track slide block, a cylinder body of the bidirectional cylinder is fixed to the inclined bottom plate, the welding gun adjusting vertical frame comprises.
In order to adjust the fixing tightness of the welding gun, the welding gun adjusting vertical frame comprises a vertical frame base part and an adjusting locking part, the vertical frame base part and the adjusting locking part are adjustably fixed through bolts, semicircular notches are arranged on the vertical frame base part and the adjusting locking part, and the two semicircular notches are combined into a circular welding gun hole after the two semicircular notches are in butt joint.
The tooling fixture component comprises a platform plate covered on the clamping cylinder, a tooling cylinder table is arranged on the platform plate, and the tooling cylinder table is used for clamping and connecting the welding assembly; the design advantage of this frock clamp part lies in: after the part transfer mechanism puts the welding assembly on the fixture part, one hole of the sheet metal bending piece of the welding assembly is directly buckled on the fixture cylindrical table, so that the welding assembly is prevented from being thrown away when the rotary fixture is rotated, and the welding assembly is prevented from doing centrifugal motion, and the position deviation of subsequent welding is caused.
Two clamping arms of the clamping cylinder are provided with two auxiliary clamping blocks, and the opposite surfaces of the two auxiliary clamping blocks are provided with clamping notches.
The technology adopted by the invention has the following outstanding technical effects: the part transfer mechanism is used for transferring parts on the continuous feeding bin to the rotary fixture platform in a one-by-one mode to be clamped well, the tool fixture component is used for locking the welding machine assembly, the welding gun is convenient to weld directly, the welding gun support mechanism is used for fixing the welding gun, and the position of the welding gun relative to the rotary fixture platform and the tool fixture component is adjusted. Above a plurality of structural component mutually support, accomplish a series of processes of welding assembly from material loading, centre gripping, welding, unloading, realize the function of multistation unmanned operation, automated welding technique for the rapid bonding of the welding assembly that panel beating bent piece and axle type part make up like this, the welding assembly is rotatory, welder is fixed motionless, only needs the welder of a station, just can accomplish 360 welding process, wholly realized few manual works, few welding apparatus, the processing purpose of few man-hours.
Drawings
FIG. 1 is a schematic front view of a welding robot according to the present invention;
FIG. 2 is a schematic perspective view of a welding robot according to the present invention;
FIG. 3 is a schematic perspective view of the continuous feed bin and part transfer mechanism of the present invention;
FIG. 4 is a schematic perspective view of the part transfer mechanism of the present invention;
FIG. 5 is a schematic diagram of a three-dimensional explosive structure of a continuous feed bin according to the present invention;
FIG. 6 is a schematic diagram of a three-dimensional explosive structure of a continuous feed bin according to the present invention;
FIG. 7 is a perspective view of the welding gun support mechanism according to the present invention;
FIG. 8 is a schematic perspective view of a welding gun support mechanism, a rotary fixture table, and tooling fixture components of the present invention mounted on a tooling platform;
FIG. 9 is a schematic perspective view of a rotary clamp table and tooling clamp components;
fig. 10 is a perspective view of a welded assembly.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained in the following with the accompanying drawings and the specific embodiments.
The welding manipulator shown in fig. 1-10 comprises a continuous feeding bin 1 and a welding gun 2, wherein welding assemblies combined together are sequentially arranged on the continuous feeding bin, the continuous feeding bin comprises a supporting seat 10, a feeding part 11 fixed on the supporting seat 10 in an inclined manner, and a material limiting part 13 fixed on the feeding part 11, the feeding part 11 comprises a feeding channel consisting of a plurality of inclined rods and capable of accommodating a plurality of welding assemblies 2, the material limiting part 13 is arranged at the tail end of the feeding channel, and when the welding assemblies 2 are allowed to pass by the material limiting part 13, a material blocking block 14 is arranged at the lowest end of the feeding channel and used for blocking the welding assemblies at the position so as to facilitate a subsequent part transfer mechanism to clamp the welding assemblies to be welded at the position.
As shown in fig. 5 and 6, in particular, the material limiting component 13 includes a material limiting cylinder 130, a material limiting moving shaft 131, a material limiting baffle 132, an upper material blocking rod 133 and a lower material blocking rod 134, the material limiting baffles 132 are fixed on both sides of the feeding channel, the material limiting moving shaft 131 is fixedly connected with the two material limiting baffles 132, the material limiting cylinder 130 is fixed on one of the material limiting baffle plates 132 and is fixed with the material limiting moving shaft 131 in the coaxial direction, one end of each of the upper material blocking rod 133 and the lower material blocking rod 134 is fixed on each of the two material limiting blocking plates 132, the upper material blocking rod 133 and the lower material blocking rod 134 are fixed at a front-rear spacing distance along the feeding direction of the welding assembly 2 of the feeding channel, the welding assembly 2 blocked by the upper material blocking rod 133 is lowered to the position between the lower material blocking rod 134 and the upper material blocking rod 133 once when the material limiting cylinder 130 stretches and retracts, so that the welding assembly between the upper material blocking rod 133 and the lower material blocking rod 134 slides down to the position of the material blocking block 14 in advance. The above structure may be referred to a utility model patent of "full-automatic loading and unloading device for valve cone surface flaw detection" with patent number "201920635942.5".
As shown in fig. 10, the welding assembly 2 comprises a sheet metal bending part 20 and a shaft part 21, two circular holes 22 are formed in the sheet metal bending part 20, the shaft part 21 needs to be welded in one of the circular holes 22, the shaft part is already sleeved in one of the circular holes 22 of the sheet metal bending part before entering the continuous feeding bin, and then the inner wall of the circular hole 22 and the periphery of the shaft part 21 need to be spot-welded or fully welded for a circle.
The part conveying mechanism 3, the welding gun support mechanism 4, the tooling platform 5, the rotary fixture table 6 and the tooling fixture part 7 are further included, the tooling fixture part 7 is installed on the rotary fixture table 6, the continuous feeding bin, the part conveying mechanism 3 and the rotary fixture table 6 are installed on the tooling platform 5, a working line is formed by the three parts on the tooling platform 5 and used for conveying and welding a welding assembly, the welding gun support mechanism 4 is installed on the tooling platform 5 in a direction perpendicular to the working line, a welding gun is erected on the welding gun support mechanism 4, and the gun head of the welding gun is right opposite to the position of the tooling fixture part 7; the welding subassembly is got into by continuous feeding storehouse 1 in succession, then part transport mechanism 3 transports the welding subassembly to rotary fixture platform 6 from the 14 positions departments of material stopping block, utilizes frock clamp part 7 to fix the welding subassembly, fixes the welder on welder bearing structure at last and aims at the panel beating and bend the welding point department welding of piece and axle type part to it is the welding on one side of the rotation of rotary fixture platform 6, can weld the round along axle type part periphery like this.
As shown in fig. 4, the part transfer mechanism 3 includes a traverse module 30, a longitudinal module 31, and a module stand 32, the module stand 32 being interposed between the continuous feed magazine 1 and the rotary jig stage 6, the traverse module 30 being fixed to the module stand 32, the longitudinal module 31 being mounted on the traverse module 30 and horizontally moving as the traverse module 30 moves, the longitudinal module 31 being longitudinally moved in the direction of the rotary jig stage 6; the detailed structure and function of the traverse module 30 and the longitudinal module 31 are as follows:
the transverse moving module 30 comprises a transverse moving frame 300 and a transverse moving cylinder 301, the transverse moving frame 300 is fixed on the module vertical frame 32, the transverse moving cylinder 301 is horizontally installed on the transverse moving frame 300, and the longitudinal moving module 31 is fixed at the front end of the cylinder shaft of the transverse moving cylinder 301.
The longitudinal moving module 31 comprises a longitudinal moving frame 310, a longitudinal moving cylinder 311, a connecting slider 312, a connecting rod 313 and two transfer clamping cylinders 314, wherein the longitudinal moving frame 310 is L-shaped, the vertical part of the longitudinal moving frame 310 is fixed at the front end of the cylinder shaft of the transverse moving cylinder 301, the horizontal part of the longitudinal moving frame is fixed with the longitudinal moving cylinder 311, the cylinder shaft of the longitudinal moving cylinder 311 extends downwards, the connecting slider 312 is fixed on the cylinder shaft of the longitudinal moving cylinder 311, the connecting rod 313 horizontally penetrates through the connecting slider 312, the transfer clamping cylinders 314 are fixed at two ends of the connecting rod, preferably, the connecting slider 312 is taken as a symmetrical center, and the two transfer clamping cylinders 314 are symmetrically fixed on the connecting rod 313 to avoid unbalance.
The traverse module 30 and the traverse module 31 both further comprise a reinforcing slide bar 315 and a slide bar seat 316, the slide bar seat 316 is respectively fixed on the horizontal portions of the traverse frame 300 and the traverse frame 310, the reinforcing slide bar 315 of the traverse module 30 passes through the slide bar seat 316 and is parallel to the traverse cylinder 301, the vertical portion of the traverse frame 310 is fixed at one end of the reinforcing slide bar 315 of the traverse module 30, and one end of the reinforcing slide bar 315 of the traverse module 31 passes through the slide bar seat 316 and is fixed on the connecting slide block 312. It should be noted that the length of the reinforcing sliding rod 315 is longer than the extension stroke of the traverse cylinder 301 and the longitudinal cylinder 311, so as to prevent the reinforcing sliding rod 315 from separating from the sliding rod seat 316, thereby causing the whole structure to be scattered.
Preferably, the spacing distance between the two transfer clamping cylinders 314 is equal to the spacing distance between the material stop block 14 of the continuous feeding bin 1 and the clamping position of the rotary clamp table 6. When the clamping and placing are ensured, the transfer clamping cylinder 314 on the left can clamp a welding assembly 2 to be welded from the position of the material blocking block 14, and meanwhile, the transfer clamping cylinder 314 on the right can clamp the welding assembly 2 welded on the tool clamp part 7. In addition, still be equipped with discharge gate 50 on frock platform 5, after sideslip cylinder 301 was the horizontal motion, indulged the cylinder 311 and be vertical motion, when the transfer centre gripping cylinder 314 on the left placed the welding subassembly 2 of waiting to weld, the transfer centre gripping cylinder 314 on the right can loosen the welding subassembly 2 that welds, made this welding subassembly 2 can put down from discharge gate 50 position to set up the slide below discharge gate 50, let welding subassembly 2 slide in the storage frame of below.
As shown in fig. 7 and 8, in the embodiment, the welding gun is erected on the welding gun support mechanism 4, the welding gun support mechanism 4 includes a supporting inclined frame 40, a moving adjusting frame 41, an adjusting handle 42 and a swinging connecting rod 43, one end of the supporting inclined frame 40 is hinged to one end of the moving adjusting frame 41, the other end of the supporting inclined frame 40 is movably connected to the other end of the moving adjusting frame 41 through the swinging connecting rod 43, the end of the supporting inclined frame 40 with the swinging connecting rod 43 is higher than the other end, the adjusting handle 42 is installed on the moving adjusting frame 41 near the side with the swinging connecting rod 43, and the adjusting handle 42 is used for adjusting the supporting angle of the swinging connecting rod 43;
specifically, the detailed structure and the structural design principle of the welding gun support mechanism 4 are as follows:
the movable adjusting frame 41 comprises an adjusting slide rod 410, a track lead screw 411, a track sliding block 412 and supporting vertical frames 413, wherein the adjusting slide rod 410 and the track lead screw 411 are parallel to each other, two ends of the adjusting slide rod 410 are fixedly connected between the two supporting vertical frames 413, one end or two ends of the track lead screw 411 are fixed on the supporting vertical frames 413 through a coupler, the track sliding block 412 is sleeved on the adjusting slide rod 410 and the track lead screw 411, a middle hole of the track sliding block 412 sleeved on the track lead screw 411 is provided with an internal thread, in addition, an auxiliary sliding block 414 is further embedded in a side hole of the adjusting slide rod 410 in a mode that the track sliding block 412 is sleeved on the auxiliary sliding block 412 in a rigid connection mode, and when the track sliding block 412 moves, the auxiliary sliding block 414 also moves along with the track sliding block 412. The regulation rocking handle 42 install in the end of track lead screw 411, when rocking regulation rocking handle 42, track lead screw 411 rotates and can take track slider 412 to move, so, the angle of bracing just can be adjusted to swing connecting rod 43, causes to support the angle of bracing of leaning rack 40 round the hinged end adjustment bracing to the angle of adjustment welder for the position of frock clamp part 7 guarantees that welding position is accurate.
The support tilting frame 40 comprises a welding gun adjusting vertical frame 400, a bidirectional cylinder 401 and a tilting floor 402, wherein one end of the tilting floor 402 is hinged to a support vertical frame 413 close to one side of the rotary fixture table 6, the other end of the tilting floor 402 is hinged to the upper end of a swinging connecting rod 43, the lower end of the swinging connecting rod 43 is hinged to a track sliding block 412, a cylinder body of the bidirectional cylinder 401 is fixed on the tilting floor 402, the welding gun adjusting vertical frame 400 comprises two head and tail shaft ends which are respectively installed on the bidirectional cylinder 401, and a welding gun is adjustably installed on the two welding gun adjusting vertical frames 400. The bidirectional cylinder 401 is used for adjusting the angle of the movable adjusting frame 41 in a matching manner, so that the gun head of the welding gun can be aligned to the welding position of the welding assembly 2 more accurately.
Preferably, the welding gun adjusting stand 400 comprises a stand base part and an adjusting locking part, the stand base part and the adjusting locking part are adjustably fixed by bolts, semicircular notches are arranged on the stand base part and the adjusting locking part, and the two semicircular notches are combined into a circular welding gun hole after the two semicircular notches are butted with each other.
As shown in fig. 8, 9 and 10, in this embodiment, the rotary fixture table 6 includes a driving motor 60, a turntable 61 and a clamping cylinder 62, the driving motor 60 is fixed on the lower bottom surface of the tooling platform 5, a motor shaft of the driving motor 60 passes through the tooling platform 5 and extends to the upper side of the tooling platform 5, the turntable 61 is disposed above the tooling platform 5 and is installed on the motor shaft of the driving motor 60, the clamping cylinder 62 is installed on the turntable 61, the tooling fixture part 7 covers the clamping cylinder 62, one end of the welding assembly 2 is buckled on the tooling fixture part 7, and the other end is clamped and fixed by the clamping cylinder 62. After the welding assembly 2 is in place, the driving motor 60 drives the turntable 61 to rotate, so that the welding gun is not moved, the welding assembly rotates 360 degrees, and the welding of the sheet metal bending part 20 and the shaft part 21 is completed.
Frock clamp part 7 is including covering the landing slab 70 on die clamping cylinder 32, be equipped with frock cylinder platform 71 on the landing slab 70, frock cylinder platform 71 is used for joint welding assembly 2, and welding assembly 2 divide into panel beating 20 and axle type part 21 of bending, and axle type part occupies one of them round hole of panel beating 20 of bending, and when welding assembly 2 was fixed so, another round hole just blocked on frock cylinder platform 71, when avoiding carousel 61 to rotate, welding assembly 2 was centrifugal motion and led to shifting.
Preferably, two auxiliary clamping blocks 63 are arranged on two clamping hands of the clamping cylinder 62, clamping notches 64 are formed in opposite surfaces of the two auxiliary clamping blocks 63, and the clamping notches are used for clamping shaft parts of a welding assembly, so that the clamping assembly is matched with the tool cylindrical table 71 to clamp the welding assembly, and the clamping is firmer when the welding assembly is welded.
When the welding manipulator is used, the welding manipulator firstly comprises a feeding process and a tool clamping process:
the welding assemblies firstly enter from a feeding channel of the continuous feeding bin 1 in an arrayed mode, and one welding assembly 2 is supplied to reach the position of the material blocking block 14 each time through the limitation of the material limiting part 13; then, the traverse module 30 moves to make one of the transfer clamping cylinders 314 of the traverse module 31 face the position above the material blocking block 14, then the traverse module 31 moves to make the transfer clamping cylinder 314 move downwards to clamp the welding assembly to be welded, when the transfer clamping cylinder 314 clamps the welding assembly, the two side sides of the sheet metal bending part of the clamping welding assembly are clamped, then the traverse module 31 rises to reset, the traverse cylinder 301 extends forwards to move the welding assembly to the position above the tooling fixture part 7, the traverse module 31 moves downwards again to place the welding assembly on the platform plate 70 and the clamping cylinder 62, and the tooling cylinder table 71 and the auxiliary clamping block 63 clamp the welding assembly.
After the welding assembly is placed, the following welding process and blanking process are carried out:
after the welding assembly is in place, a welding gun is aligned to the welding position of the welding assembly, the driving motor 60 drives the rotary table 61 to rotate, the shaft part and the sheet metal bending part are welded together after the rotation of 360 degrees, a complete welding assembly 2 is formed, finally, the transverse moving module and the longitudinal moving module are started in a matched mode again, one of the transfer clamping cylinders 314 places a new welding assembly to be welded on the tool clamp part 7, the other transfer clamping cylinder 314 clamps the welded welding assembly and loses the welded welding assembly from the discharge port 50, the blanking is completed, the operation is repeated, and the working process of continuous feeding, welding and blanking is completed.
The welding manipulator provided by the invention is described in detail above. The description of the embodiments is only for the purpose of helping understanding the method of the present invention and the core idea thereof, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.
Claims (10)
1. Welding machines hand, including continuous feeding storehouse and welder, the continuous feeding storehouse on arrange the welding subassembly that has the combination together in proper order, its characterized in that: the continuous feeding bin, the part transferring mechanism and the rotary fixture platform are arranged on the tool platform, a working line is formed on the tool platform by the tool fixture component for conveying and welding a welding assembly, the welding gun support mechanism is arranged on the tool platform in a direction perpendicular to the working line, a welding gun is erected on the welding gun support mechanism, and the gun head of the welding gun is right opposite to the position of the tool fixture component;
the part transferring mechanism comprises a transverse moving module, a longitudinal moving module and a module stand, wherein the module stand is arranged between the continuous feeding bin and the rotary fixture table, the transverse moving module is fixed on the module stand, the longitudinal moving module is arranged on the transverse moving module and moves horizontally along with the transverse moving module, and the longitudinal moving module moves longitudinally towards the rotary fixture table;
the welding gun support mechanism comprises a support inclined frame, a movable adjusting frame, an adjusting handle and a swinging connecting rod, wherein one end of the support inclined frame is hinged to one end of the movable adjusting frame, the other end of the support inclined frame is movably connected to the other end of the movable adjusting frame through the swinging connecting rod, the end, provided with the swinging connecting rod, of the support inclined frame is higher than the other end of the support inclined frame, the adjusting handle is arranged on the movable adjusting frame close to one side of the swinging connecting rod, and the adjusting handle is used for adjusting the support angle of the swinging connecting rod;
the rotary fixture platform comprises a driving motor, a rotary table and a clamping cylinder, wherein the driving motor is fixed on the lower bottom surface of the tool platform, a motor shaft of the driving motor penetrates through the tool platform and extends to the upper portion of the tool platform, the rotary table is arranged above the tool platform and is installed on the motor shaft of the driving motor, the clamping cylinder is installed on the rotary table, a tool fixture part covers the clamping cylinder, one end of a welding assembly of the tool fixture part is buckled on the tool fixture part, and the other end of the welding assembly of the tool fixture part is clamped and fixed by the clamping cylinder.
2. Welding manipulator according to claim 1, characterized in that: the transverse moving module comprises a transverse moving frame and a transverse moving cylinder, the transverse moving frame is fixed on the module vertical frame, the transverse moving cylinder is horizontally arranged on the transverse moving frame, and the longitudinal moving module is fixed at the front end of a cylinder shaft of the transverse moving cylinder.
3. Welding manipulator according to claim 2, characterized in that: the longitudinal moving module comprises a longitudinal moving frame, a longitudinal moving cylinder, a connecting sliding block, a connecting rod and two transferring clamping cylinders, wherein the longitudinal moving frame is L-shaped, a vertical part of the longitudinal moving frame is fixed at the front end of a cylinder shaft of the transverse moving cylinder, the longitudinal moving cylinder is fixed on a horizontal part of the longitudinal moving frame, the cylinder shaft of the longitudinal moving cylinder stretches downwards, the connecting sliding block is fixed on the cylinder shaft of the longitudinal moving cylinder, the connecting rod horizontally penetrates through the connecting sliding block, and the transferring clamping cylinders are fixed at two ends of the connecting rod.
4. The welding robot of claim 3, wherein: the transverse moving module and the longitudinal moving module respectively comprise reinforced sliding rods and sliding rod seats, the sliding rod seats are respectively fixed on the horizontal parts of the transverse moving frame and the longitudinal moving frame, the reinforced sliding rods of the transverse moving module penetrate through the sliding rod seats to be parallel to the transverse moving cylinder, the vertical parts of the longitudinal moving frame are fixed at one end of the reinforced sliding rods of the transverse moving module, and one end of the reinforced sliding rods of the longitudinal moving module penetrates through the sliding rod seats to be fixed on the connecting sliding block.
5. The welding robot of claim 4, wherein: the spacing distance between the two transfer clamping cylinders is equal to the spacing distance between the discharge port of the continuous feeding bin and the clamping position of the rotary clamp table.
6. Welding manipulator according to claim 1, characterized in that: remove the alignment jig including adjusting slide bar, track lead screw, track slider, support grudging post, adjust slide bar and track lead screw and be parallel to each other, its both ends fixed connection who adjusts the slide bar is between two support grudging posts, the wherein one end or both ends of track lead screw are fixed on supporting the grudging post through the shaft coupling, track slider cover is on adjusting slide bar and track lead screw, and wherein the middle hole of track slider cover on the track lead screw takes the internal thread, and in addition, the track slider cover still has inlayed supplementary slider in the limit hole on adjusting the slide bar, and track slider is on supplementary slider through rigid connection's mode cover.
7. Welding manipulator according to claim 6, characterized in that: the support sloping frame comprises a welding gun adjusting vertical frame, a bidirectional cylinder and a sloping bottom plate, wherein one end of the sloping bottom plate is hinged to the support vertical frame close to one side of the rotary fixture table, the other end of the sloping bottom plate is hinged to the upper end of a swinging connecting rod, the lower end of the swinging connecting rod is hinged to a rail sliding block, a cylinder body of the bidirectional cylinder is fixed to the sloping bottom plate, the welding gun adjusting vertical frame comprises two head and tail shaft ends which are respectively installed on the bidirectional cylinder, and the welding gun is adjustably installed on the two welding gun adjusting vertical frames.
8. The welding robot of claim 7, wherein: the welding gun adjusting vertical frame comprises a vertical frame base part and an adjusting locking part, the vertical frame base part and the adjusting locking part are adjustably fixed through bolts, semicircular notches are arranged on the vertical frame base part and the adjusting locking part, and the two semicircular notches are combined into a circular welding gun hole after the two semicircular notches are in butt joint.
9. Welding manipulator according to claim 1, characterized in that: the fixture part comprises a platform plate covered on the clamping cylinder, a fixture cylindrical table is arranged on the platform plate, and the fixture cylindrical table is used for clamping and connecting the welding assembly.
10. Welding manipulator according to claim 9, characterized in that: two clamping arms of the clamping cylinder are provided with two auxiliary clamping blocks, and the opposite surfaces of the two auxiliary clamping blocks are provided with clamping notches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010865148.7A CN111975267A (en) | 2020-08-25 | 2020-08-25 | Welding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010865148.7A CN111975267A (en) | 2020-08-25 | 2020-08-25 | Welding manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN111975267A true CN111975267A (en) | 2020-11-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010865148.7A Pending CN111975267A (en) | 2020-08-25 | 2020-08-25 | Welding manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN111975267A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676725A (en) * | 2020-12-23 | 2021-04-20 | 宁波中和汽配有限公司 | Automatic welding device for welding rolling needles |
| CN113571987A (en) * | 2021-07-09 | 2021-10-29 | 中国铁建电气化局集团有限公司 | Robot for welding connection wire |
| CN113857738A (en) * | 2021-09-26 | 2021-12-31 | 蒙阴县鹏程万里车辆有限公司 | Semitrailer middle shaft assembly welding positioning device |
-
2020
- 2020-08-25 CN CN202010865148.7A patent/CN111975267A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676725A (en) * | 2020-12-23 | 2021-04-20 | 宁波中和汽配有限公司 | Automatic welding device for welding rolling needles |
| CN113571987A (en) * | 2021-07-09 | 2021-10-29 | 中国铁建电气化局集团有限公司 | Robot for welding connection wire |
| CN113571987B (en) * | 2021-07-09 | 2024-04-12 | 中国铁建电气化局集团有限公司 | Robot for wire bonding |
| CN113857738A (en) * | 2021-09-26 | 2021-12-31 | 蒙阴县鹏程万里车辆有限公司 | Semitrailer middle shaft assembly welding positioning device |
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