CN112620857A

CN112620857A - High-efficient accurate robot weldment work station

Info

Publication number: CN112620857A
Application number: CN202011414056.3A
Authority: CN
Inventors: 张建立; 卢群会; 宋立云; 侯汪洋
Original assignee: Hebei Chuanglian Machinery Manufacturing Co ltd
Current assignee: Hebei Chuanglian Machinery Manufacturing Co ltd
Priority date: 2020-12-04
Filing date: 2020-12-04
Publication date: 2021-04-09

Abstract

The invention relates to the technical field of mechanical welding equipment, in particular to a robot welding workstation. The device comprises a welding device, a first positioner arranged on one side of the welding device and a second positioner arranged on the other side of the welding device; the welding device comprises a horizontal displacement mechanism, a rotating mechanism, a vertical displacement mechanism and a welding robot; the rotating mechanism is arranged on the horizontal displacement mechanism, the vertical displacement mechanism is arranged on the rotating mechanism, and the welding robot is arranged on the vertical displacement mechanism; the horizontal displacement mechanism comprises a base and a sliding table; the base is characterized in that a rack is arranged on one side of the base, a first sliding rail is arranged at the top of the base, the sliding table slides on the first sliding rail, a first servo motor is fixed on one side of the sliding table, a first gear is arranged on the first servo motor, the first gear is meshed with the rack, a protective plate is fixed above the base, and the protective plate passes through the sliding table.

Description

High-efficient accurate robot weldment work station

Technical Field

The invention relates to the technical field of mechanical welding equipment, in particular to an efficient and accurate robot welding workstation.

Background

With the progress of society and the development of science and technology, the industry tends to be more and more automated; in mechanical welding, the robot welding workstation is put into use, so that the working efficiency is improved, the labor amount of welding personnel is greatly reduced, the welding quality is high, but the traditional welding workstation only fixes a welding robot on a base, welding is carried out by depending on the flexibility of the welding robot, welding points of various angles of parts to be welded cannot be met, the flexibility is too low, and when a workpiece is too large or too high, the welding robot cannot weld; and some welding robots that can realize the displacement can't reach sufficient precision after using for a long time, make welded quality and efficiency obviously descend, perhaps the cleanness on the unable effectual protection slide rail of work makes the welding slag fall on welding robot's removal track to influence the normal removal of slide rail, cause serious bad consequence.

Disclosure of Invention

The invention aims to solve the technical problem and provides an efficient and accurate robot welding workstation aiming at the technical defects, wherein a first servo motor is adopted to drive a sliding table to move horizontally.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the device comprises a welding device, a first positioner arranged on one side of the welding device and a second positioner arranged on the other side of the welding device;

the welding device comprises a horizontal displacement mechanism, a rotating mechanism, a vertical displacement mechanism and a welding robot; the rotating mechanism is arranged on the horizontal displacement mechanism, the vertical displacement mechanism is arranged on the rotating mechanism, and the welding robot is arranged on the vertical displacement mechanism;

the horizontal displacement mechanism comprises a base and a sliding table; a rack is arranged on one side of the base, a first sliding rail is arranged at the top of the base, the sliding table slides on the first sliding rail, a first servo motor is fixed on one side of the sliding table, a first gear is arranged on the first servo motor, the first gear is meshed with the rack, a guard plate is fixed above the base, and the guard plate is conveyed to the sliding table;

the rotating mechanism comprises a rotary support, a rotary column, a second servo motor and a second gear; the rotary support is fixed on the sliding table, the rotary column is arranged on the rotary support, a balance seat is arranged on the rotary column, the balance seat is opposite to the vertical displacement mechanism, the second servo motor is fixed on the sliding table, and the second gear is arranged on the second servo motor;

the vertical displacement mechanism comprises a mounting rack, a second slide rail, a screw rod, a third servo motor, a lifting platform and a cantilever beam; the mounting bracket is fixed on the rotary column, the second slide rail is fixed on the mounting bracket, and the lead screw is arranged on the mounting bracket and positioned in the middle of the second slide rail. The third servo motor is arranged at the top of the mounting frame and fixedly connected with the lead screw, the lifting platform is arranged on the second slide rail, and the cantilever beam is fixed on the lifting platform.

Furthermore, a fastener is arranged on one side of the first sliding rail and located between the first sliding rail and the base.

Furthermore, an adjusting plate is arranged between the first servo motor and the sliding table, an elliptical hole is formed in the adjusting plate, an adjusting bolt is arranged on the sliding table, and the adjusting bolt is opposite to the adjusting plate.

Furthermore, a first drag chain is arranged on one side of the sliding table, and one end of the first drag chain is fixedly connected with the sliding table.

Furthermore, a second drag chain is arranged on the rotary column, one end of the second drag chain is fixed on the rotary column, and the other end of the second drag chain is fixed on the cantilever beam.

Furthermore, protective covers are arranged on the second sliding rail and the screw rod, one end of each protective cover is fixedly connected with the lifting platform, and the other end of each protective cover is fixedly connected with the mounting frame.

Furthermore, a cable support is arranged on the sliding table and is opposite to the first drag chain.

Furthermore, a limit switch is arranged on the sliding table and located beside the rotary column.

Furthermore, a zero hole is formed in one side of the base, and a zero plate is arranged on the sliding table.

Further, the same adjusting plate 109 and adjusting bolt 111 are provided between the second servo motor 203 and the slide table 102.

Compared with the prior art, the invention has the following advantages:

1. the horizontal displacement mechanism and the vertical displacement mechanism are matched, so that the welding robot can perform displacement in the horizontal direction and the vertical direction, and one welding robot can act on two position changing machines through the arrangement of the rotating mechanism, so that the welding robot can adapt to workpieces with various lengths and heights, and the time can be saved for replacing the next workpiece when the workpiece on the other side is welded after the welding of one workpiece is finished; on the basis of improving the working efficiency, the practicability and flexibility of the robot welding workstation are greatly improved;

2. the design of the zero hole and the zero plate can eliminate the inaccurate condition caused by long-time movement of the welding robot in the horizontal direction, and effectively improve the welding accuracy and the welding quality;

3. the protective plate can protect the first slide rail and prevent welding slag from falling between the first slide rail and the sliding table during welding, the protective cover can protect the second slide rail and the lead screw and prevent the welding slag from entering between the lifting table and the second slide rail, the first slide rail, the second slide rail and the lead screw are effectively protected, the normal operation of the sliding table and the lifting table is ensured, and the maintenance frequency is reduced;

4. the tightness degree between the first gear and the rack and between the second gear and the rotary support can be adjusted by matching the elliptical hole on the adjusting plate with the adjusting bolt, so that too large gaps or too tight fastening cannot be generated between the first gear and the rack and between the second gear and the rotary support, the installation is simple and convenient, repeated disassembly and adjustment are not needed, and the running stability is improved;

5. a welding wire barrel can be placed on the balance seat on the rotating column, so that the distance for conveying welding wires can be shortened, the welding wire barrel can be replaced more conveniently and rapidly, and the working efficiency is improved; and the balance seat sets up with vertical displacement mechanism and welding robot is relative, can make the weight of column spinner both sides approach to equal to make the column spinner can keep vertical state on the gyration is supported, can not make the excessive extrusion gyration of column spinner one side support, place the long-term back of using, the column spinner takes place the condition that the slope warp.

Drawings

Fig. 1 is an overall schematic diagram of an efficient and accurate robotic welding station.

Fig. 2 is a schematic diagram of a welding device of a high-efficiency and accurate robot welding workstation.

Fig. 3 is a schematic view of a horizontal displacement mechanism of an efficient and accurate robotic welding station.

FIG. 4 is an enlarged view of the first and second servo motors of an efficient and accurate robotic welding station.

Fig. 5 is an oblique view of a horizontal displacement mechanism of an efficient and accurate robotic welding station.

Fig. 6 is a partial enlarged view of the first gear, the second gear and the first slide rail of the efficient and accurate robot welding station.

FIG. 7 is an oblique view of an efficient and accurate robotic welding station horizontal displacement mechanism for removal of the shields.

FIG. 8 is a close-up view of a fastener between a first rail and a base of an efficient and accurate robotic welding station.

FIG. 9 is a side view of an efficient and accurate robotic welding station horizontal displacement mechanism.

FIG. 10 is a close-up view of a null hole in the base of an efficient and accurate robotic welding station.

FIG. 11 is a close-up view of a zero plate on the slide table of an efficient and accurate robotic welding station.

Fig. 12 is a schematic diagram of an efficient and accurate lifting mechanism of a robotic welding station.

Fig. 13 is a partially enlarged view of a second slide rail and a lead screw of an efficient and precise robot welding station.

In the figure: a. a welding device; b. a first positioner; c. a second positioner; 1. a horizontal displacement mechanism; 2. A rotation mechanism; 3. a vertical displacement mechanism; 4. a welding robot; 101. a base; 102. a sliding table; 103. A rack; 104. a first slide rail; 105. a first servo motor; 106. a first gear; 107. a guard plate; 108. A fastener; 109. an adjustment plate; 110. an elliptical hole; 111. adjusting the bolt; 112. a first tow chain; 113. A cable holder; 114. a limit switch; 115. a zero position hole; 116. a zero plate; 201. a rotary support; 202. A spin column; 203. a second servo motor; 204. a second gear; 205. a balance seat; 206. a second tow chain; 301. a mounting frame; 302. a second slide rail; 303. a lead screw; 304. a third servo motor; 305. a lifting platform; 306. a cantilever beam; 307. a shield.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

As shown in fig. 1-13, comprises a welding device a, a first positioner b arranged at one side of the welding device a and a second positioner c arranged at the other side of the welding device a;

the welding device a comprises a horizontal displacement mechanism 1, a rotating mechanism 2, a vertical displacement mechanism 3 and a welding robot 4; the rotating mechanism 2 is arranged on the horizontal displacement mechanism 1, the vertical displacement mechanism 3 is arranged on the rotating mechanism 2, and the welding robot 4 is arranged on the vertical displacement mechanism 3;

the horizontal displacement mechanism 1 comprises a base 101 and a sliding table 102; a rack 103 is arranged on one side of the base 101, a first slide rail 104 is arranged on the top of the base 101, the sliding table 102 slides on the first slide rail 104, a first servo motor 105 is fixed on one side of the sliding table 102, a first gear 106 is arranged on the first servo motor 105, the first gear 106 is meshed with the rack 103, a guard plate 107 is fixed above the base 101, and the guard plate 107 passes through the sliding table 102;

the rotating mechanism 2 comprises a rotary support 201, a rotary column 202, a second servo motor 203 and a second gear 204; the rotary support 201 is fixed on the sliding table 102, the rotary column 202 is arranged on the rotary support 201, a balance seat 205 is arranged on the rotary column 202, the balance seat 205 is opposite to the vertical displacement mechanism 3, the second servo motor 203 is fixed on the sliding table 102, and the second gear 204 is arranged on the second servo motor 203;

the vertical displacement mechanism 3 comprises a mounting rack 301, a second slide rail 302, a lead screw 303, a third servo motor 304, a lifting platform 305 and a cantilever beam 306; the mounting bracket 301 is fixed on the rotary column 202, the second slide rail 302 is fixed on the mounting bracket 301, the lead screw 303 is arranged on the mounting bracket 301 and is positioned in the middle of the second slide rail 302, the third servo motor 304 is arranged at the top of the mounting bracket 301, the third servo motor 304 is fixedly connected with the lead screw 303, the lifting platform 305 is arranged on the second slide rail 302, and the cantilever beam 306 is fixed on the lifting platform 305.

A fastener 108 is arranged on one side of the first slide rail 104, and the fastener 108 is located between the first slide rail 104 and the base 101.

An adjusting plate 109 is arranged between the first servo motor 105 and the sliding table 102, an elliptical hole 110 is formed in the adjusting plate 109, an adjusting bolt 111 is arranged on the sliding table 102, and the adjusting bolt 111 is opposite to the adjusting plate 109.

A first drag chain 112 is arranged on one side of the sliding table 102, and one end of the first drag chain 112 is fixedly connected with the sliding table 102.

The rotating column 202 is provided with a second drag chain 206, one end of the second drag chain 206 is fixed on the rotating column 202, and the other end is fixed on the cantilever beam 306.

And protective covers 307 are arranged on the second slide rail 302 and the lead screw 303, one end of each protective cover 307 is fixedly connected with the lifting platform 305, and the other end of each protective cover 307 is fixedly connected with the mounting frame 301.

The sliding table 102 is provided with a cable support 113, and the cable support 113 is opposite to the first drag chain 112.

The slide 102 is provided with a limit switch 114, and the limit switch 114 is located beside the rotary column 202.

A zero hole 115 is formed in one side of the base 101, and a zero plate 116 is arranged on the sliding table 102.

The same adjusting plate 109 and adjusting bolt 111 are provided between the second servo motor 203 and the slide table 102.

The first gear is driven to rotate by a first servo, the first gear is meshed with the rack, power is provided for the sliding table to move in the horizontal direction, the sliding table can slide in the horizontal direction along the first sliding rail, and the rotating mechanism, the lifting mechanism and the welding robot are all displaced in the horizontal direction due to the fact that the rotating mechanism is arranged on the sliding table, the lifting mechanism is arranged on the rotating mechanism, and the welding robot is arranged on the lifting mechanism, so that the welding robot can weld workpieces of various lengths; the fastener arranged between the base and the first sliding rail on one side can ensure that the first sliding rail keeps linear without bending, ensure the displacement accuracy and stability of the sliding table, ensure the accuracy of a welding point of the welding robot and improve the welding quality; the zero position hole on the base is matched with the zero position plate on the sliding table for use, when the sliding table is used for a long time to generate errors, the zero position plate is aligned with the zero position hole, the sliding table can be reset, and the existing errors are eliminated, so that the welding is accurate, and the welding quality is improved; the first drag chain has the function of guiding the electric line and the gas line to be protected, the cable support has the function of converting the direction of the lines such as the electric line, the lines penetrate through the first drag chain, the first servo motor, the second servo motor and the welding machine fixed on the sliding table are firstly connected, the welding machine is fixed on the sliding table at the front end of the rotary column, the rest lines bypass the rotary support, are transmitted upwards through the cable support, enter the rotary column through the opening in the rotary column and upwards penetrate out of the opening in the upper part of the rotary column, enter the second drag chain and are transmitted into the cantilever beam through the second drag chain to be connected with a welding robot, and the cable support can enable the lines not to be disordered after rotating along with the rotary column, so that the safety when in use is improved; the backplate that sets up on the base runs through the sliding stand, and when the sliding stand slided through first slide rail promptly, the backplate did not exert an influence to the sliding stand, and welding slag and other debris can not fall on the backplate can protecting first slide rail, when guaranteeing that first slide rail does not receive destruction, also make the slip that the sliding stand can be accurate stable.

The second gear is driven to rotate by the second servo motor, power is provided for rotation of a rotary column arranged on the slewing bearing, the rotary column is enabled to rotate, so that the welding robot can weld workpieces on the first positioner and the second positioner, after the welding of the workpieces on the first positioner is completed, the workpieces do not need to be waited for to be replaced, the rotary column rotates through the slewing bearing, the welding robot rotates to the direction of the second positioner to weld the workpieces on the second positioner, and the workpieces welded on the first positioner can be replaced at the moment, so that the welding efficiency is greatly improved, and the time wasted in replacing the workpieces is reduced; the balance seat arranged on the rotary column is opposite to the lifting mechanism, plays a role of placing a welding wire barrel, and can balance the front and back weights of the rotary column at the same time, so that the weights on two sides of the rotary column tend to be balanced, the phenomenon that the rotary column tilts to lose accuracy due to the fact that one side of a welding robot is too heavy for a long time is avoided, the normal use of the rotary column is effectively protected, and the welding accuracy is improved;

the lifting platform is in threaded fit with the lead screw, and is in sliding fit with the second sliding rail, so that the lead screw rotates to drive the lifting platform to move in the vertical direction, and the cantilever beam arm and the welding robot lift along with the lifting platform, so that the welding robot can weld workpieces with various heights, and the height interval of the workpieces welded in the vertical direction is expanded; the protective covers which are connected with the lifting platform up and down can ensure that welding slag cannot be splashed on the second slide rail and the screw rod, and the normal operation of the lifting platform is ensured; the effect of cantilever beam arm is installation welding robot, and the cantilever beam arm has certain length, can make welding robot self not be restricted when carrying out angle of adjustment to make and have the certain distance between machine of shifting and the welding set, guaranteed the security of during operation.

The first servo motor, the second servo motor and the third servo motor are respectively provided with a corresponding speed reducer; one side of the second slide rail is also provided with a fastener for ensuring the second slide rail to be vertical, so that the lifting platform can stably slide and keep an accurate displacement distance. The degree of tightness of meshing between adjusting plate and the adjusting bolt can be adjusted first gear and rack, second gear and the slewing bearing, not only makes the installation simple, does not need excessive accurate installation, can prevent too much wearing and tearing or too loose appearance that produces the phenomenon of rocking that the meshing too tightly produced moreover.

The control mode of the invention is automatically controlled by the controller, the control circuit of the controller can be realized by simple programming of a person skilled in the art, the invention belongs to the common knowledge in the field, and the invention is mainly used for protecting the mechanical arrangement, so the control mode and the circuit connection are not explained in detail in the invention.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims

1. The utility model provides a high-efficient accurate welding workstation of robot which characterized in that: the device comprises a welding device (a), a first positioner (b) arranged on one side of the welding device (a) and a second positioner (c) arranged on the other side of the welding device (a);

the welding device (a) comprises a horizontal displacement mechanism (1), a rotating mechanism (2), a vertical displacement mechanism (3) and a welding robot (4); the rotating mechanism (2) is arranged on the horizontal displacement mechanism (1), the vertical displacement mechanism (3) is arranged on the rotating mechanism (2), and the welding robot (4) is arranged on the vertical displacement mechanism (3);

the horizontal displacement mechanism (1) comprises a base (101) and a sliding table (102); a rack (103) is arranged on one side of the base (101), a first sliding rail (104) is arranged at the top of the base (101), the sliding table (102) slides on the first sliding rail (104), a first servo motor (105) is fixed on one side of the sliding table (102), a first gear (106) is arranged on the first servo motor (105), the first gear (106) is meshed with the rack (103), a guard plate (107) is fixed above the base (101), and the guard plate (107) is conveyed through the sliding table (102);

the rotating mechanism (2) comprises a rotary support (201), a rotating column (202), a second servo motor (203) and a second gear (204); the rotary support (201) is fixed on the sliding table (102), the rotary column (202) is arranged on the rotary support (201), a balance seat (205) is arranged on the rotary column (202), the balance seat (205) is opposite to the vertical displacement mechanism (3), the second servo motor (203) is fixed on the sliding table (102), and the second gear (204) is arranged on the second servo motor (203);

the vertical displacement mechanism (3) comprises a mounting rack (301), a second slide rail (302), a lead screw (303), a third servo motor (304), a lifting platform (305) and a cantilever beam (306); mounting bracket (301) are fixed in on column spinner (202), second slide rail (302) are fixed in on mounting bracket (301), lead screw (303) set up on mounting bracket (301), are located in the middle of second slide rail (302), third servo motor (304) set up in mounting bracket (301) top, third servo motor (304) and lead screw (303) fixed connection, elevating platform (305) set up on second slide rail (302), cantilever beam (306) are fixed in on elevating platform (305).

2. An efficient and accurate robotic welding station as defined in claim 1, wherein: a fastener (108) is arranged on one side of the first sliding rail (104), and the fastener (108) is located between the first sliding rail (104) and the base (101).

3. An efficient and accurate robotic welding station as defined in claim 1, wherein: an adjusting plate (109) is arranged between the first servo motor (105) and the sliding table (102), an elliptical hole (110) is formed in the adjusting plate (109), an adjusting bolt (111) is arranged on the sliding table (102), and the adjusting bolt (111) is opposite to the adjusting plate (109).

4. An efficient and accurate robotic welding station as defined in claim 1, wherein: one side of the sliding table (102) is provided with a first drag chain (112), and one end of the first drag chain (112) is fixedly connected with the sliding table (102).

5. An efficient and accurate robotic welding station as defined in claim 1, wherein: and a second drag chain (206) is arranged on the rotating column (202), one end of the second drag chain (206) is fixed on the rotating column (202), and the other end is fixed on the cantilever beam (306).

6. An efficient and accurate robotic welding station as defined in claim 1, wherein: be provided with protection casing (307) on second slide rail (302) and lead screw (303), protection casing (307) one end and elevating platform (305) fixed connection, the other end and mounting bracket (301) fixed connection.

7. An efficient and accurate robotic welding station as defined in claim 1, wherein: the sliding table (102) is provided with a cable support (113), and the cable support (113) is opposite to the first drag chain (112).

8. An efficient and accurate robotic welding station as defined in claim 1, wherein: and a limit switch (114) is arranged on the sliding table (102), and the limit switch (114) is positioned beside the rotary column (202).

9. An efficient and accurate robotic welding station as defined in claim 1, wherein: a zero hole (115) is formed in one side of the base (101), and a zero plate (116) is arranged on the sliding table (102).

10. An efficient and accurate robotic welding station as defined in claim 3 wherein: the same adjusting plate (109) and adjusting bolt (111) are arranged between the second servo motor (203) and the sliding table (102).