CN112296548A - Robot welding workstation - Google Patents
Robot welding workstation Download PDFInfo
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- CN112296548A CN112296548A CN202011211624.XA CN202011211624A CN112296548A CN 112296548 A CN112296548 A CN 112296548A CN 202011211624 A CN202011211624 A CN 202011211624A CN 112296548 A CN112296548 A CN 112296548A
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- 238000003466 welding Methods 0.000 title claims abstract description 84
- 210000000078 claw Anatomy 0.000 claims description 30
- 230000003584 silencer Effects 0.000 claims description 25
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Classifications
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses a robot welding workstation, comprising: the welding fixture comprises an exhaust pipe welding fixture, a welding system, an automatic carrying robot, a guardrail and an electric appliance cabinet; when the robot welding workstation performs welding operation, the clamping jaw of the automatic handling robot is used for placing the welded exhaust pipe on the welding fixture, each material pressing component of the welding fixture positions and fixes a workpiece, and finally the welding robot drives the welding gun to complete the welding operation on the exhaust pipe, so that the automatic welding of the engine exhaust pipe is finally realized.
Description
Technical Field
The invention belongs to the field of welding equipment, and particularly relates to a robot welding workstation.
Background
The engine exhaust pipe air inlet section is complex in structure and irregular in shape, is not easy to fix and place, is difficult to use automatic welding equipment to carry out automatic welding, and has high technical requirements on workers and high defective rate if being welded manually. In view of the above problems, it is highly desirable to provide a robot welding station capable of automatically welding an exhaust pipe of an engine.
Disclosure of Invention
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a robotic welding workstation, comprising: blast pipe welding jig, welding system, automatic handling robot, guardrail and electric appliance cabinet.
The exhaust pipe welding fixture comprises a silencer welding station and an integral welding station; the muffler welding station comprises a positioning base, a positioning side plate and an upper positioning assembly; the positioning base is provided with a lower positioning ring used for being matched with an exhaust port of the silencer; the positioning side plate is vertically fixed on the positioning base and is provided with two positioning blocks with positioning clamping grooves, two support blocks for placing the silencer connecting rod and two material pressing assemblies I for pressing the silencer connecting rod to the support blocks; the material pressing assembly I comprises a mounting seat, a cylinder I fixed on the mounting seat, a pressing plate hinged to the outer end of a piston rod of the cylinder I and a connecting rod hinged between the mounting seat and the pressing plate; the upper positioning assembly comprises an air cylinder II fixed on the positioning base through a support and a positioning plug I fixed at the outer end of a piston rod of the air cylinder II through a connecting arm;
the integral welding station comprises a front positioning section, a silencer positioning section, a middle positioning section and a tail positioning section; the tail positioning section comprises a base I, the top surface of which is provided with an inclined slide rail, a middle base I in sliding fit with the base I through the inclined slide rail, and an exhaust pipe rear end positioning assembly arranged on the middle base I; the rear end positioning assembly of the exhaust pipe comprises an air cylinder III fixed on the middle seat, a positioning plug II pushed by the air cylinder III and a pressure pipe assembly used for pressing the rear end of the exhaust pipe from top to bottom;
the muffler positioning section comprises a bottom bracket for supporting the muffler and a pressing assembly III for pressing the muffler from top to bottom; the material pressing component III comprises a pressing plate matched with the top surface of the silencer, a pressing arm fixed with the pressing plate and an operating rod used for driving the pressing arm to swing and drive;
the middle positioning section comprises four supporting seats; two of the supporting seats are distributed at the front part of the silencer positioning section, and the other two supporting seats are distributed at the rear part of the silencer positioning section; the supporting seat comprises a supporting plate which is vertically and fixedly arranged and a U-shaped positioning groove which is fixed at the top of the supporting plate; the bottom and two sides of the U-shaped positioning groove are provided with adjustable positioning clips; one end of the positioning clip is in an arc shape matched with the outer wall of the exhaust pipe, and a waist-shaped hole for penetrating through the fastening screw is formed in the middle of the positioning clip;
the front positioning section comprises a base II, the top surface of which is provided with an inclined slide rail, a middle base II in sliding fit with the base II through the inclined slide rail, and an exhaust pipe rear end positioning assembly arranged on the middle base II; the front end positioning assembly of the exhaust pipe comprises an air cylinder IV fixed on a middle seat II, a sliding seat pushed by the air cylinder IV, a positioning plug III fixed on the sliding seat and a pressing assembly used for pressing the flange to the rear end of the exhaust pipe; the pressing assembly comprises an air cylinder V and a pressing arm driven by the air cylinder V, and the pressing arm is used for pressing the flange on one side of the sliding seat.
Further, the welding system comprises a welding robot and a reciprocating sliding device for bearing the welding robot to reciprocate along a straight line; the welding robot comprises a base, a rotating seat, a swinging arm, a connecting arm, a rotating arm, a welding gun mounting seat and a welding gun; the bottom of the rotating seat is provided with a motor I for driving the rotating seat to rotate relative to the base along a vertical axis; a motor II for driving the swing arm to swing relative to the rotating seat along a horizontal axis is arranged on the side part of the rotating seat; the rear end of the connecting arm is provided with a motor III for driving the connecting arm to rotate relative to the swing arm along a horizontal axis; the front end of the connecting arm is provided with a motor IV for driving the rotating arm to rotate around the axis of the rotating arm; and a motor V for driving the welding gun mounting seat to rotate is arranged at the outer end of the rotating arm.
Further, the reciprocating sliding device comprises a sliding seat assembly fixed on the ground, a sliding table assembly used for supporting the welding robot and a positioning assembly; the sliding seat assembly comprises a sliding seat, a linear guide rail and a driving rack, wherein the linear guide rail and the driving rack are arranged at the top of the sliding seat; the sliding table assembly comprises a sliding table, a sliding block and a walking driving motor, wherein the sliding block is arranged at the bottom of the sliding table and used for being matched with the linear guide rail, and the walking driving motor is fixed on the sliding table; a gear meshed with the driving rack is arranged on a rotating shaft of the walking driving motor; the positioning assembly comprises a positioning body fixed on the sliding seat, a positioning cylinder arranged on the sliding table and a proximity switch used for detecting the position of the sliding table; the positioning body is provided with a rectangular positioning hole; and a rectangular positioning pin matched with the positioning hole is fixed at the end part of the piston rod of the positioning cylinder.
Further, the automatic transfer robot comprises a crawler-type chassis and a transfer mechanical arm arranged on the crawler-type chassis; the carrying mechanical arm comprises a rotating base, a rear arm body, a front arm body, a connecting seat, a front arm connecting rod, a mechanical claw mounting seat, a mechanical claw and a mechanical claw mounting seat control connecting rod group; the rear arm body, the front arm connecting rod and the connecting seat are sequentially hinged to form a parallelogram connecting rod mechanism; two mounting side plates are arranged on the rotary base; the conveying driving motor I and the conveying driving motor II are respectively fixed on the two mounting side plates, and rotating shafts of the two driving motors are respectively fixed on the connecting seat and the rear arm body; the mechanical claw mounting seat control connecting rod group comprises a front pull rod, a rear railing and a triangular component; wherein the front arm body, the mechanical claw mounting seat, the front pull rod and the triangular member form a four-bar linkage together; the rear arm body, the triangular component, the rear pull rod and the mounting side plate form a four-bar linkage together.
Further, the gripper comprises a gripper rotating motor and a gripper body; the mechanical claw body comprises a claw clamping seat, two clamping jaws hinged to the claw clamping seat and a clamping driving assembly used for driving the two clamping jaws to finish clamping action; incomplete gears which are meshed with each other are integrally formed at the tail parts of the two clamping jaws; the clamping driving assembly comprises a clamping driving motor, a crank, a small connecting rod and an extension rod which is integrally formed at the tail part of one clamping jaw; the crank, the small connecting rod, the extension rod and the clamping jaw seat form a parallelogram connecting rod mechanism together; the clamping driving motor is used for driving the crank to rotate so as to complete the clamping action of the mechanical claw.
The invention has the beneficial effects that: when the robot welding workstation is used for welding operation, the clamping jaw of the automatic handling robot is used for placing the welded exhaust pipe on the welding fixture, each material pressing component of the welding fixture positions and fixes a workpiece, and finally the welding gun is driven by the welding robot to weld the exhaust pipe. The robot welding workstation can realize automatic welding of the engine exhaust pipe.
Drawings
The invention is further illustrated by the non-limiting examples given in the accompanying drawings;
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the welding fixture of the present invention clamping the exhaust pipe;
FIG. 3 is a schematic structural view of a welding jig according to the present invention;
FIG. 4 is a schematic structural view of a muffler welding station in accordance with the present invention;
FIG. 5 is a schematic structural view of a tail positioning section according to the present invention;
FIG. 6 is a schematic view of the muffler positioning section of the present invention;
FIG. 7 is a schematic view of the front positioning section of the present invention;
FIG. 8 is a schematic view of the welding robot of the present invention;
FIG. 9 is a schematic view showing the construction of the reciprocating slide apparatus according to the present invention;
fig. 10 is a schematic structural view i of the automatic transfer robot of the present invention;
FIG. 11 is a schematic view of the automatic transfer robot of the present invention;
FIG. 12 is a schematic structural view of a gripper according to the present invention;
fig. 13 is a schematic structural view ii of the gripper in the present invention.
Detailed Description
In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.
Fig. 1 is a schematic structural diagram of a robot welding workstation of the embodiment, including: the welding device comprises an exhaust pipe welding clamp 1, a welding system 2, an automatic carrying robot 3, a guardrail 4 and an electric appliance cabinet 5.
As shown in fig. 2 and 3, the exhaust pipe welding jig includes a muffler welding station and an integral welding station; as shown in fig. 4, the muffler welding station includes a positioning base 111, a positioning side plate 112, and an upper positioning assembly 115; a lower positioning ring matched with the exhaust port of the silencer is arranged on the positioning base 111; the positioning side plate 112 is vertically fixed on the positioning base 111 and is provided with two positioning blocks with positioning clamping grooves, two support blocks 114 for placing the silencer connecting rod and two material pressing assemblies I113 for pressing the silencer connecting rod to the support blocks 114; the positioning clamping groove is used for being matched with the outer edge of the silencer; the material pressing assembly I113 comprises a mounting seat, a cylinder I fixed on the mounting seat, a pressing plate hinged to the outer end of a piston rod of the cylinder I, and a connecting rod hinged between the mounting seat and the pressing plate; the upper positioning component 115 comprises an air cylinder II fixed on the positioning base 111 through a bracket and a positioning plug I fixed at the outer end of a piston rod of the air cylinder II through a connecting arm; the positioning plug I is used for being matched with an air inlet of the silencer.
The integral welding station comprises a front positioning section, a silencer positioning section, a middle positioning section and a tail positioning section; as shown in fig. 5, the tail positioning section includes a base i 121 having an inclined slide rail on a top surface thereof, a middle seat i 122 slidably engaged with the base i 121 via the inclined slide rail, and an exhaust pipe rear end positioning assembly disposed on the middle seat i 122; the middle seat I122 can adjust the height and the position of the positioning component at the rear end of the exhaust pipe through sliding relative to the base I121 so as to adapt to the exhaust pipes with different specifications, and the middle seat I122 can be locked through a fastening piece after the position is determined; the rear end positioning assembly of the exhaust pipe comprises an air cylinder III 123 fixed on the middle seat, a positioning plug II 125 pushed by the air cylinder III 123 and a pressure pipe assembly 124 used for pressing the rear end of the exhaust pipe from top to bottom; the positioning plug II 125 is fixed on an installation seat, and the bottom of the installation seat is in sliding fit with the top of the middle seat I122 through a sliding rail, so that the action precision of the positioning plug II 125 can be improved; the structure of the pressure pipe assembly 124 is the same as that of the pressing assembly I113, and a semicircular bayonet matched with the outer wall of the exhaust pipe is arranged on a pressing plate of the pressure pipe assembly 124, so that the structure of the pressure pipe assembly is not described any more.
As shown in fig. 6, the muffler positioning section includes a bottom bracket 131 for supporting the muffler and a swaging assembly iii for pressing the muffler from top to bottom; the pressing component III comprises a pressing plate 132 matched with the top surface of the silencer, a pressing arm fixed with the pressing plate and a lever 133 used for driving the pressing arm to swing and drive the lever. Of course, the pressing component iii may also adopt an automatic pressing structure, for example, it may adopt a structure of the pressing component i, so as to realize automatic pressing and positioning of the muffler.
The middle positioning section comprises four supporting seats; two of the supporting seats are distributed at the front part of the silencer positioning section, and the other two supporting seats are distributed at the rear part of the silencer positioning section; as shown in fig. 5, the supporting seat includes a supporting plate 143 vertically and fixedly disposed and a U-shaped positioning slot 141 fixed on the top of the supporting plate; the bottom and two sides of the U-shaped positioning groove 141 are provided with adjustable positioning clips 142; one end of the positioning clip 142 is in an arc shape fitting with the outer wall of the exhaust pipe, and a waist-shaped hole is formed in the middle of the positioning clip 142; screws can be adopted to penetrate through the waist-shaped holes to fix the waist-shaped holes on the U-shaped positioning grooves 141, and meanwhile, the positions can be adjusted, so that the exhaust pipes with different pipe diameters can be positioned and supported.
As shown in fig. 7, the front positioning section includes a base ii 151 having an inclined slide rail on a top surface thereof, a middle base ii 152 slidably engaged with the base ii 151 via the inclined slide rail, and an exhaust pipe rear end positioning assembly disposed on the middle base ii 152; the height and the position of the positioning component at the front end of the exhaust pipe can be adjusted by the middle base II 152 through sliding relative to the base II 151 so as to adapt to the exhaust pipes with different specifications, and the middle base II 152 can be locked by a fastening piece after the position is determined; the front end positioning assembly of the exhaust pipe comprises a cylinder IV 154 fixed on a middle seat II 152, a sliding seat pushed by the cylinder IV 154, a positioning plug III fixed on the sliding seat and a pressing assembly used for pressing the flange to the rear end of the exhaust pipe; the bottom of the sliding seat is in sliding fit with the top of the middle seat II 152 through a sliding rail, so that the action precision of the positioning plug III can be improved; the pressing assembly comprises an air cylinder V153 and a pressing arm driven by the air cylinder V153, and the pressing arm is used for pressing the flange on one side of the sliding seat.
The welding system comprises a welding robot and a reciprocating sliding device for bearing the welding robot to reciprocate along a straight line; as shown in fig. 8, the welding robot includes a base 211, a swivel base 212, a swing arm 214, a connecting arm 216, a rotating arm 218, a torch mount 219, and a torch 2111; the bottom of the rotating seat 212 is provided with a motor I213 for driving the rotating seat to rotate relative to the base 211 along a vertical axis; a motor II 2110 for driving the swing arm 214 to swing relative to the rotating base 212 along a horizontal axis is arranged on the side of the rotating base 212; the rear end of the connecting arm 216 is provided with a motor III 215 for driving the connecting arm to rotate relative to the swing arm 214 along a horizontal axis; the front end of the connecting arm 216 is provided with a motor IV 217 for driving the rotating arm 218 to rotate around the axis of the rotating arm; and a motor V2112 for driving the welding gun mounting seat 219 to rotate is arranged at the outer end of the rotating arm 218.
As shown in fig. 9, the reciprocating sliding apparatus includes a sliding base assembly fixed to the ground, a sliding table assembly for supporting a welding robot, and a positioning assembly; the sliding seat assembly comprises a sliding seat 222, a linear guide rail 221 arranged at the top of the sliding seat 222 and a driving rack 224; the sliding table assembly comprises a sliding table, a sliding block arranged at the bottom of the sliding table and used for being matched with the linear guide rail, and a walking driving motor 225 fixed on the sliding table; a gear meshed with the driving rack is arranged on a rotating shaft of the walking driving motor 225; the positioning assembly comprises a positioning body fixed on the sliding seat, a positioning cylinder 223 arranged on the sliding table and a proximity switch used for detecting the position of the sliding table; the positioning body is provided with a rectangular positioning hole; and a rectangular positioning pin matched with the positioning hole is fixed at the end part of the piston rod of the positioning cylinder 223.
As shown in fig. 10, the automatic transfer robot includes a crawler chassis 311 and a transfer robot arm provided on the crawler chassis 311; the carrying mechanical arm comprises a rotating base 312, a rear arm body 314, a front arm body 315, a connecting seat 3110, a front arm connecting rod 310, a mechanical claw mounting seat 316, a mechanical claw and a mechanical claw mounting seat control connecting rod group; the rear arm body 314, the front arm body 315, the front arm connecting rod 310 and the connecting seat 3110 are sequentially hinged to form a parallelogram connecting rod mechanism; the connecting seat 3110 is driven to rotate by the carrying driving motor I, so that the front arm body 315 is controlled to swing; the rear arm body 314 is driven to rotate by a carrying driving motor II; two mounting side plates 313 are arranged on the rotating base 312; the conveying driving motor I and the conveying driving motor II are respectively fixed on the two mounting side plates 313, and rotating shafts of the two driving motors are respectively fixed on the connecting seat 3110 and the rear arm body 314; the gripper mount control linkage includes a front pull bar 317, a rear rail 319, and a triangle member 318; the front arm body 315, the gripper mounting seat 316, the front pull rod 317 and the triangular member 318 form a four-bar linkage together; the rear arm body 314, the triangular member 318, the rear tie rod 319 and the mounting side plates together form a four-bar linkage; thus, the gripper mount control linkage is a compound four-bar linkage that is used to control the attitude of the gripper mount.
As shown in fig. 11, the gripper includes a gripper rotating motor 321 and a gripper body; the mechanical claw body comprises a claw seat 326, two clamping claws 325 hinged to the claw seat and a clamping driving component for driving the two clamping claws 325 to finish clamping action; incomplete gears which are meshed with each other are integrally formed at the tail parts of the two clamping jaws 325; the clamping driving assembly comprises a clamping driving motor 327, a crank 323, a small connecting rod 322 and an extension rod 324 which is integrally formed at the tail part of one clamping jaw 325; the crank 323, the small connecting rod 322, the extension rod 324 and the clamping jaw seat 326 form a parallelogram connecting rod mechanism together; the clamping driving motor 327 is used for driving the crank 323 to rotate so as to complete the clamping action of the mechanical claw.
The above description of specific embodiments is only intended to facilitate an understanding of the method of the invention and its core ideas. 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 those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (5)
1. A robotic welding workstation, comprising: the welding fixture comprises an exhaust pipe welding fixture, a welding system, an automatic carrying robot, a guardrail and an electric appliance cabinet;
the exhaust pipe welding fixture comprises a silencer welding station and an integral welding station; the muffler welding station comprises a positioning base, a positioning side plate and an upper positioning assembly; the positioning base is provided with a lower positioning ring used for being matched with an exhaust port of the silencer; the positioning side plate is vertically fixed on the positioning base and is provided with two positioning blocks with positioning clamping grooves, two support blocks for placing the silencer connecting rod and two material pressing assemblies I for pressing the silencer connecting rod to the support blocks; the material pressing assembly I comprises a mounting seat, a cylinder I fixed on the mounting seat, a pressing plate hinged to the outer end of a piston rod of the cylinder I and a connecting rod hinged between the mounting seat and the pressing plate; the upper positioning assembly comprises an air cylinder II fixed on the positioning base through a support and a positioning plug I fixed at the outer end of a piston rod of the air cylinder II through a connecting arm;
the integral welding station comprises a front positioning section, a silencer positioning section, a middle positioning section and a tail positioning section; the tail positioning section comprises a base I, the top surface of which is provided with an inclined slide rail, a middle base I in sliding fit with the base I through the inclined slide rail, and an exhaust pipe rear end positioning assembly arranged on the middle base I; the rear end positioning assembly of the exhaust pipe comprises an air cylinder III fixed on the middle seat, a positioning plug II pushed by the air cylinder III and a pressure pipe assembly used for pressing the rear end of the exhaust pipe from top to bottom;
the muffler positioning section comprises a bottom bracket for supporting the muffler and a pressing assembly III for pressing the muffler from top to bottom; the material pressing component III comprises a pressing plate matched with the top surface of the silencer, a pressing arm fixed with the pressing plate and an operating rod used for driving the pressing arm to swing and drive;
the middle positioning section comprises four supporting seats; two of the supporting seats are distributed at the front part of the silencer positioning section, and the other two supporting seats are distributed at the rear part of the silencer positioning section; the supporting seat comprises a supporting plate which is vertically and fixedly arranged and a U-shaped positioning groove which is fixed at the top of the supporting plate; the bottom and two sides of the U-shaped positioning groove are provided with adjustable positioning clips; one end of the positioning clip is in an arc shape matched with the outer wall of the exhaust pipe, and a waist-shaped hole for penetrating through the fastening screw is formed in the middle of the positioning clip;
the front positioning section comprises a base II, the top surface of which is provided with an inclined slide rail, a middle base II in sliding fit with the base II through the inclined slide rail, and an exhaust pipe rear end positioning assembly arranged on the middle base II; the front end positioning assembly of the exhaust pipe comprises an air cylinder IV fixed on a middle seat II, a sliding seat pushed by the air cylinder IV, a positioning plug III fixed on the sliding seat and a pressing assembly used for pressing the flange to the rear end of the exhaust pipe; the pressing assembly comprises an air cylinder V and a pressing arm driven by the air cylinder V, and the pressing arm is used for pressing the flange on one side of the sliding seat.
2. A robotic welding station as claimed in claim 1, wherein: the welding system comprises a welding robot and a reciprocating sliding device for bearing the welding robot to reciprocate along a straight line; the welding robot comprises a base, a rotating seat, a swinging arm, a connecting arm, a rotating arm, a welding gun mounting seat and a welding gun; the bottom of the rotating seat is provided with a motor I for driving the rotating seat to rotate relative to the base along a vertical axis; a motor II for driving the swing arm to swing relative to the rotating seat along a horizontal axis is arranged on the side part of the rotating seat; the rear end of the connecting arm is provided with a motor III for driving the connecting arm to rotate relative to the swing arm along a horizontal axis; the front end of the connecting arm is provided with a motor IV for driving the rotating arm to rotate around the axis of the rotating arm; and a motor V for driving the welding gun mounting seat to rotate is arranged at the outer end of the rotating arm.
3. A robotic welding station as claimed in claim 1, wherein: the reciprocating sliding device comprises a sliding seat assembly fixed on the ground, a sliding table assembly used for supporting the welding robot and a positioning assembly; the sliding seat assembly comprises a sliding seat, a linear guide rail and a driving rack, wherein the linear guide rail and the driving rack are arranged at the top of the sliding seat; the sliding table assembly comprises a sliding table, a sliding block and a walking driving motor, wherein the sliding block is arranged at the bottom of the sliding table and used for being matched with the linear guide rail, and the walking driving motor is fixed on the sliding table; a gear meshed with the driving rack is arranged on a rotating shaft of the walking driving motor; the positioning assembly comprises a positioning body fixed on the sliding seat, a positioning cylinder arranged on the sliding table and a proximity switch used for detecting the position of the sliding table; the positioning body is provided with a rectangular positioning hole; and a rectangular positioning pin matched with the positioning hole is fixed at the end part of the piston rod of the positioning cylinder.
4. A robotic welding station as claimed in claim 1, wherein: the automatic carrying robot comprises a crawler-type chassis and a carrying mechanical arm arranged on the crawler-type chassis; the carrying mechanical arm comprises a rotating base, a rear arm body, a front arm body, a connecting seat, a front arm connecting rod, a mechanical claw mounting seat, a mechanical claw and a mechanical claw mounting seat control connecting rod group; the rear arm body, the front arm connecting rod and the connecting seat are sequentially hinged to form a parallelogram connecting rod mechanism; two mounting side plates are arranged on the rotary base; the conveying driving motor I and the conveying driving motor II are respectively fixed on the two mounting side plates, and rotating shafts of the two driving motors are respectively fixed on the connecting seat and the rear arm body; the mechanical claw mounting seat control connecting rod group comprises a front pull rod, a rear railing and a triangular component; wherein the front arm body, the mechanical claw mounting seat, the front pull rod and the triangular member form a four-bar linkage together; the rear arm body, the triangular component, the rear pull rod and the mounting side plate form a four-bar linkage together.
5. A robotic welding station as claimed in claim 4, wherein: the mechanical claw comprises a mechanical claw rotating motor and a mechanical claw body; the mechanical claw body comprises a claw clamping seat, two clamping jaws hinged to the claw clamping seat and a clamping driving assembly used for driving the two clamping jaws to finish clamping action; incomplete gears which are meshed with each other are integrally formed at the tail parts of the two clamping jaws; the clamping driving assembly comprises a clamping driving motor, a crank, a small connecting rod and an extension rod which is integrally formed at the tail part of one clamping jaw; the crank, the small connecting rod, the extension rod and the clamping jaw seat form a parallelogram connecting rod mechanism together; the clamping driving motor is used for driving the crank to rotate so as to complete the clamping action of the mechanical claw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011211624.XA CN112296548A (en) | 2020-11-03 | 2020-11-03 | Robot welding workstation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011211624.XA CN112296548A (en) | 2020-11-03 | 2020-11-03 | Robot welding workstation |
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| CN112296548A true CN112296548A (en) | 2021-02-02 |
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| CN202011211624.XA Pending CN112296548A (en) | 2020-11-03 | 2020-11-03 | Robot welding workstation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116851995A (en) * | 2023-05-10 | 2023-10-10 | 惠州市迈吉自动化科技有限公司 | Automatic welding fixture device |
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|---|---|---|---|---|
| KR20020086124A (en) * | 2001-05-11 | 2002-11-18 | 백영만 | machine for welding muffler |
| CN203945048U (en) * | 2014-07-04 | 2014-11-19 | 重庆格一机械制造有限公司 | The weld jig assembly disappearing for automobile exhaust pipe |
| KR20160052913A (en) * | 2014-10-29 | 2016-05-13 | 세종공업 주식회사 | clamping device for holding material multi axis position |
| CN205129272U (en) * | 2015-11-20 | 2016-04-06 | 浙江达峰汽车技术有限公司 | Be used for blast pipe welded workstation |
| CN206065754U (en) * | 2016-08-29 | 2017-04-05 | 重庆针尖内燃机部件制造有限公司 | A kind of suppressor case molectron welding tooling |
| CN106425254A (en) * | 2016-08-31 | 2017-02-22 | 斯图加特航空自动化（青岛）有限公司 | Box robot welding system |
| CN206568159U (en) * | 2017-03-02 | 2017-10-20 | 成都信息工程大学 | Mechanical handing system |
| CN208067610U (en) * | 2018-04-02 | 2018-11-09 | 刘志军 | A kind of automobile exhaust pipe welding of acoustic pressure dual control and air tightness detection apparatus |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116851995A (en) * | 2023-05-10 | 2023-10-10 | 惠州市迈吉自动化科技有限公司 | Automatic welding fixture device |
| CN116851995B (en) * | 2023-05-10 | 2024-03-19 | 惠州市迈吉自动化科技有限公司 | Automatic welding fixture device |
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Application publication date: 20210202 |