CN113458683A - Industrial robot-based welding system and welding method thereof - Google Patents
Industrial robot-based welding system and welding method thereof Download PDFInfo
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- CN113458683A CN113458683A CN202110648626.3A CN202110648626A CN113458683A CN 113458683 A CN113458683 A CN 113458683A CN 202110648626 A CN202110648626 A CN 202110648626A CN 113458683 A CN113458683 A CN 113458683A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- 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
-
- 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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- Butt Welding And Welding Of Specific Article (AREA)
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Abstract
The invention relates to a welding system based on an industrial robot and a welding method thereof, and the welding system comprises a clamping assembly, a moving assembly and a lifting assembly, wherein a first power module in the clamping assembly drives a sliding mechanism to move so as to drive a clamping piece and the moving assembly which are connected to the sliding mechanism to move; a second power module in the lifting assembly drives a second rotating piece to rotate, and then drives a first rotating piece to rotate and move up and down, so that a chassis connected with the first rotating piece is driven to rotate and move up and down simultaneously, rotation and up and down movement of a workpiece are achieved, and arc welding of a welding machine is achieved. The design greatly saves the cost and further improves the welding quality and efficiency.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a welding system based on an industrial robot and a welding method thereof.
Background
In the welding technology, the conventional common welding machine can only realize the welding of a workpiece fixing surface and cannot realize the arc or annular welding, so that the conventional welding machine cannot be used for welding arc-shaped workpieces, and the conventional manual welding is often used, but the operation mode easily causes the problems of low welding precision and poor quality; of course, a mechanical arm is also used for welding, but the problems of poor welding flexibility and high purchase cost exist.
Accordingly, there is a need for a welding system that provides cost savings and improved weld quality and efficiency to address the problems presented.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a welding system based on an industrial robot and further provides a welding method based on the welding system, so as to solve the problems in the prior art.
The technical scheme is as follows: the welding system based on the industrial robot comprises a clamping assembly, a moving assembly and a lifting assembly.
The clamping assembly comprises a first power module, a sliding mechanism fixedly connected with the first power module, and a clamping piece connected with the sliding mechanism and used for clamping a workpiece;
the moving assembly is fixedly connected with the sliding mechanism, comprises a moving piece and a first rotating piece which is rotationally connected with the moving piece and drives the moving piece to move at the same distance;
the lifting assembly comprises a second power module and a lifting mechanism which is connected with the second power module and drives the workpiece to lift;
the first power module drives the sliding mechanism and the moving assembly to move towards the outer surface of the workpiece at the same distance, and is used for centering the workpiece.
In a further embodiment, the sliding mechanism comprises a moving plate and a moving block which is fixedly connected with the moving plate and drives the moving plate to move through the first power module, the first power module drives the moving block connected with the first power module to move, and then the moving plate fixedly connected with the moving block is driven to move, so that the clamping piece connected to the moving plate moves, and the workpiece is positioned.
In a further embodiment, the lifting mechanism comprises a base, the base is arranged on the first rotating member and fixedly connected with the lifting mechanism, a workpiece is arranged on the base, the first rotating member is arranged below the base, and the base is connected with the lifting assembly and used for supporting the workpiece and facilitating clamping and positioning of the workpiece, so that the welding quality is improved.
In a further embodiment, the lifting mechanism comprises a second rotating part, a first transmission part which is rotatably connected with the second rotating part and the base and can reciprocate up and down through rotation, the second rotating part drives the first transmission part to rotate, the lifting of the first transmission part is realized, the arc shape and irregular shapes of a workpiece are further welded, the utilization rate of a welding machine is improved, and the processing cost is saved.
In a further embodiment, the welding system further comprises a support, a sliding groove is formed in the support along the length direction, the moving plate moves along the sliding groove, when the first power module drives the moving block to move, the moving plate is driven to move at the same time, and the sliding groove is designed to further guide the movement of the moving plate, so that the moving track is more accurate, and the clamping precision and the positioning precision of the workpiece are further improved.
In a further embodiment, the welding system further comprises a guiding and limiting mechanism, the guiding and limiting mechanism is in rolling connection with the moving member, when the moving member moves to drive the first rotating member to rotate, a radial force is generated between the moving member and the first rotating member, so that the moving member can deviate from the rotating member, the clamping precision is easily reduced, the guiding and limiting mechanism is arranged on the outer side of the moving member and used for dispersing the radial force generated by the first rotating member during working, the radial force generated by the first rotating member in the moving process is reduced, and the moving member is prevented from deviating from the rotating member.
In a further embodiment, the lifting mechanism comprises a sleeve, the sleeve is rotatably connected with the first transmission member, and when the first power module drives the first transmission member to rotate and ascend or descend, the sleeve is used for supporting the workpiece to rotate and move up and down.
In a further embodiment, the lifting mechanism comprises a connecting piece, the connecting piece is arranged between the sleeve-joint piece and the first rotating piece and is tightly attached to the sleeve-joint piece, the first rotating piece cannot be driven to rotate when rotating, and the first rotating piece cannot be driven to move when rotating to ascend or descend, so that the positions of the first rotating piece and the sleeve-joint piece are limited, and the processing quality and the precision are further improved.
A welding method for an industrial robot based welding system, comprising the steps of:
s1, when a workpiece needing to be welded in a transmission line reaches a welding station, the first power module drives a moving block connected with the first power module to move, the moving block drives a moving plate connected with the moving block to move in a sliding groove in a support, a moving assembly is meshed with the first rotating member, the moving assembly arranged at one end of the moving plate drives the moving assembly at the other end to rotate through the rotation of the first rotating member, the limiting mechanism limits the moving assembly at the moment, the moving assembly drives clamping members arranged on the moving plate to move towards the workpiece at equal intervals, and the clamping members tightly clamp the workpiece to perform centering positioning;
s2, after the centering positioning is completed, the lifting mechanism drives the second rotating piece to rotate, the second rotating piece drives the first rotating piece to move up and down, the chassis connected to the transmission mechanism drives the workpiece to rotate and move up and down, at the moment, the sleeve-joint piece arranged on the first rotating piece limits the first rotating piece to rotate under the action of the connecting piece, then the welding machine performs welding work on the workpiece which rises in a rotating mode, the arc-shaped or curve welding of the workpiece is achieved, after the welding is completed, the lifting mechanism drives the workpiece to reset, the clamping assembly drives the moving assembly to move backwards, and the workpiece which is welded by the welding machine is conveyed to the next station;
and S3, repeating the operations from S1 to S2 until the system finishes the operation.
Has the advantages that: the invention relates to a welding system based on an industrial robot and a welding method thereof, and the welding system comprises a clamping assembly, a moving assembly and a lifting assembly, wherein a first power module in the clamping assembly drives a sliding mechanism to move so as to drive a clamping piece and the moving assembly which are connected to the sliding mechanism to move; a second power module in the lifting assembly drives a second rotating piece to rotate, and then drives a first rotating piece to rotate and move up and down, so that a chassis connected with the first rotating piece is driven to rotate and move up and down simultaneously, rotation and up and down movement of a workpiece are achieved, and arc welding of a welding machine is achieved. The design greatly saves the cost and further improves the welding quality and efficiency.
Drawings
FIG. 1 is a schematic view of the general structural assembly of the present invention;
FIG. 2 is a schematic cross-sectional view of the first rotating member and the socket member of the present invention;
FIG. 3 is a schematic top view of the first rotatable member and the socket member of the present invention;
FIG. 4 is a schematic view of a portion of the lift assembly of the present invention;
FIG. 5 is an enlarged view of the portion A of the limiting mechanism shown in FIG. 1;
FIG. 6 is an enlarged view of the moving plate of FIG. 1 in the sliding groove B of the bracket according to the present invention.
The figures are numbered: the device comprises a chassis 1, a workpiece 2, a first rotating part 3, a clamping part 4, a moving part 5, a moving plate 6, a cylinder 7, a motor 8, a screw rod 9, a screw rod 10, a support 11, a sliding groove 11a, a limiting mechanism 12, a roller 12a, a moving part 12b, a supporting plate 12c, a ball bearing 13 and a sleeve part 14.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
The applicant believes that when the traditional welding mode is used for welding circular arcs and other shapes, a common welding machine cannot weld and only can manually weld, the operation method is low in quality and poor in efficiency, and welding smoothness is poor and the price is very high due to the fact that a mechanical arm is used for welding.
Therefore, the applicant designs a welding system based on an industrial robot and a welding method thereof, and the welding system with automatic clamping and automatic rotation replaces a mechanical arm and manual welding, so that the problem of welding quality caused by manual operation is greatly reduced, the cost is further saved, and the production efficiency is improved.
The first embodiment is as follows:
in practical application, as shown in fig. 1 to 6, the welding system based on the industrial robot according to the present invention mainly includes three parts, namely a clamping assembly, a moving assembly and a lifting assembly, wherein the clamping assembly includes a first power module, a moving block fixedly connected with the first power module, a moving plate 6 fixedly connected with the moving block, and a clamping member 4 disposed on the moving plate 6, the moving assembly includes a moving member 5 and a first rotating member 3, one end of the moving member 5 is fixedly disposed on the moving plate 6, and the other end is engaged with the first rotating member 3, the lifting assembly includes a second power module, a second rotating member rotatably connected with the second power module, a first rotating member having one end connected with the second rotating member, and a base disposed at the other end of the first rotating member; in this embodiment, the first power module is an air cylinder 7, the moving plate 6 and the moving block are symmetrically arranged in 2 relative to the first rotating member 3, the moving members 5 of the moving assembly are also arranged in 2 relative to the first rotating member 3, the second power module is a motor 8, the second rotating member is a screw 9, and the first driving member is a lead screw 10.
When a workpiece 2 to be welded is welded, the cylinder 7 drives the moving block to move forwards, the moving block drives the moving plate 6 to move in the same direction, the moving component arranged on the moving plate 6 also moves, along with the movement of the moving plate 6, the moving part 5 on the moving component also moves forwards, and simultaneously drives the first rotating part 3 meshed with the moving part to start rotating, the rotating part rotates to drive the other moving part 5 connected with the rotating part to start moving to the first rotating part 3, so as to drive the moving block connected with the other moving part 5 and the moving plate 6 to move to the first rotating part 3, further the two moving parts 5 move to drive the clamping parts 4 arranged on the two moving plates 6 to simultaneously move to the first rotating part 3 through the gear meshing rotation on the first rotating part 3, and at the moment, the workpiece 2 is on the chassis 1 on the first rotating part 3, the centering positioning is realized under the action of the two clamping pieces 4, the motion assembly adopted by the embodiment can realize synchronous bidirectional motion of the two clamping pieces 4 only by one power source, the centering positioning is realized, the cost is saved, the clamping precision is improved, after the workpiece 2 is clamped and centered, because the screw rod connected with the motor is meshed with the screw rod, the screw rod is driven to rotate forward and backward by the forward rotation and the backward rotation of the motor, the screw rod meshed with the screw rod is driven to reciprocate up and down by the forward rotation and the backward rotation of the screw rod, the screw rod 9 connected with the motor is driven to rotate by the motor 8 in the embodiment, the screw rod 10 meshed with the screw rod 9 is driven to move up and down by the rotation of the screw rod 9, the base connected with the screw rod 10 is driven to be separated from the first rotating piece 3 to rotate and rise, the workpiece 2 is driven to rotate and rise, and the arc or spiral welding can be realized when the workpiece 2 rotates and rises by the welding machine fixed on one side of the workpiece 2, or the welding work of other curves, after the welding, the work piece 2 on the lifting unit drive chassis 1 resets, and the work piece 2 that welds conveys along with the conveyer to next station, and the problem that welding quality caused that manual operation brought is further reduced to this embodiment, and the cost is saved further simultaneously, improves welding quality.
Preferably, in order to improve the precision of the motion track of the moving plate 6 and increase the positioning precision of the clamping piece 4 on the workpiece 2, sliding grooves 11a are respectively formed in two sides of a support 11 of the welding system, the moving plate 6 on the clamping assembly is in clearance fit with the sliding grooves 11a in the two sides, the moving plate 6 moves in the track of the sliding grooves 11a, the precision of the motion track is guaranteed, and meanwhile, limiting blocks are arranged on two sides of a support column of the moving plate 6 to limit the moving distance of the moving plate 6 driven by the moving block, so that the risk that the clamping piece 4 collides with the workpiece 2 is prevented.
Preferably, in order to prevent the moving member 5 and the first rotating member 3 in the moving assembly from rotating, and to cause the radial force generated by the first rotating member 3 and the moving member 5 during the working process, so that the moving member 5 deviates from the first rotating member 3, which causes the clamping member 4 to be incapable of accurately clamping the workpiece 2, a guide limiting mechanism 12 is arranged in front of the moving member 5 and the first rotating member 3, wherein the guiding and limiting mechanism 12 comprises a supporting frame and a roller 12a which is arranged on the supporting frame and is rotationally connected with the supporting frame, an annular groove is arranged on the roller 12a to be matched with a convex block on the moving piece 5, when the moving block is engaged with the first rotating piece 3, the convex blocks on the upper surface of the moving part move in the annular grooves of the roller 12a, and the roller 12a is used for dispersing radial force generated by the moving part 5 during movement, so that the moving part more stably and accurately drives the clamping part 4 to clamp the workpiece 2 at equal intervals.
Preferably, in order to solve the problem that the lifting component can not drive the first rotating part 3 to move when driving the workpiece 2 to rotate and lift, the problem of the rotation and lift of the workpiece 2 can be realized, a sleeve part 14 is arranged on the screw rod 10 in a rotating mode, the inside of the sleeve part 14 is set to be in a spiral shape matched with the screw rod 10, a connecting part is arranged between the sleeve part 14 and the first rotating part 3, the connecting part is a ball bearing 13, the screw rod 9 is driven by the motor 8 to rotate, the screw rod 9 drives the screw rod 10 connected with the screw rod 9 to move up and down, the screw rod 10 rotates and lifts through the sleeve part 14, the ball bearing 13 prevents the position of the first rotating part from moving when the screw rod 10 rotates, the rotation and lift precision of the workpiece 2 is ensured, and the welding quality is improved.
On the basis of the welding system, the invention provides a welding method of the welding system based on the industrial robot, which comprises the following specific steps:
firstly, when a workpiece 2 to be welded in a conveying line reaches a welding station, a first power module drives a moving block connected with the first power module to move, the moving block drives a moving plate 6 connected with the moving block to move in a chute 11a on a support 11, a moving component is meshed with a first rotating component 3, the moving component arranged at one end of the moving plate 6 rotates through the first rotating component 3 and simultaneously drives the moving component at the other end to rotate, a limiting mechanism 12 limits the moving component at the moment, the moving component drives clamping components 4 arranged on the moving plate 6 to move towards the workpiece 2 at equal intervals, and clamping tightly carries out centering positioning on the workpiece 2;
then, after the centering is completed, the lifting mechanism drives the second rotating part to rotate, the second rotating part drives the first rotating part to move up and down, the chassis 1 connected to the transmission mechanism drives the workpiece 2 to rotate and move up and down, at the moment, the sleeving part 14 arranged on the first rotating part limits the first rotating part 3 to rotate under the action of the connecting part, then the welding machine performs welding work on the workpiece 2 which is lifted up by rotation, the arc-shaped or curve welding of the workpiece 2 is realized, after the welding is completed, the lifting mechanism drives the workpiece 2 to reset, the clamping component drives the moving component to move backwards, the workpiece 2 which is welded by the welding machine is conveyed to the next station, and then the welding system continues to perform welding operation on the next workpiece conveyed by the conveying line;
finally, the operations of S1 to S2 are repeated until the system ends.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. Welding system based on industrial robot, characterized in that includes:
the clamping assembly comprises a first power module, a sliding mechanism fixedly connected with the first power module, and a clamping piece connected with the sliding mechanism and used for clamping a workpiece;
the moving assembly is fixedly connected with the sliding mechanism, comprises a moving piece and a first rotating piece which is rotationally connected with the moving piece and drives the moving piece to move at the same distance;
the lifting assembly comprises a second power module and a lifting mechanism which is connected with the second power module and drives the workpiece to lift;
the first power module drives the sliding mechanism and the moving assembly to move towards the outer surface of the workpiece at the same distance, and is used for centering the workpiece.
2. An industrial robot-based welding system according to claim 1, characterized in that: the sliding mechanism comprises a moving plate and a moving block which is arranged on the moving plate, is fixedly connected with the moving plate and drives the moving plate to move through the first power module.
3. An industrial robot-based welding system according to claim 1, characterized in that: the lifting mechanism comprises a base, and the base is arranged on the first rotating part, is fixedly connected with the lifting mechanism and is used for supporting the workpiece.
4. An industrial robot-based welding system according to claim 1, characterized in that: the lifting mechanism comprises a second rotating part, a first rotating part, a second rotating part and a base, wherein the first rotating part is rotatably connected with the second rotating part and the base and can realize vertical reciprocating movement through rotation, the second rotating part drives the first rotating part to rotate, the lifting of the first rotating part is realized, and the workpiece is driven to rotate and move up and down.
5. An industrial robot-based welding system according to claim 2, characterized in that: the welding system further comprises a support, a sliding groove is formed in the support in the length direction, and the moving plate moves along the sliding groove and is used for limiting the movement track of the moving plate.
6. An industrial robot-based welding system according to claim 1, characterized in that: the welding system further comprises a guide limiting mechanism, wherein the guide limiting mechanism is in rolling connection with the moving part and is used for reducing radial force generated by the first rotating part in the moving process and preventing the moving part from deviating from the rotating part.
7. An industrial robot-based welding system according to claim 4, characterized in that: the lifting mechanism comprises a sleeve-joint piece, and the sleeve-joint piece is rotatably connected with the first transmission piece and is used for supporting the first transmission piece to move.
8. An industrial robot-based welding system according to claim 7, wherein: the lifting mechanism comprises a connecting piece, the connecting piece is arranged between the sleeve joint piece and the first rotating piece and is tightly attached to the first rotating piece, and the connecting piece is used for limiting the positions of the first rotating piece and the sleeve joint piece.
9. A welding method of a welding system based on an industrial robot is characterized by comprising the following steps:
s1, the first power module drives the sliding mechanism and the moving assembly to move along the sliding groove, and the clamping piece performs centering positioning on the workpiece;
s2, the lifting mechanism drives the second rotating piece to rotate, the second rotating piece drives the first rotating piece to move up and down, the chassis connected to the transmission mechanism drives the workpiece to rotate and move up and down, and the welding machine performs welding work;
and S3, repeating the operations from S1 to S2 until the system finishes the operation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110648626.3A CN113458683A (en) | 2021-06-10 | 2021-06-10 | Industrial robot-based welding system and welding method thereof |
| PCT/CN2021/106749 WO2022257228A1 (en) | 2021-06-10 | 2021-07-16 | Welding system based on industrial robot, and welding method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110648626.3A CN113458683A (en) | 2021-06-10 | 2021-06-10 | Industrial robot-based welding system and welding method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113458683A true CN113458683A (en) | 2021-10-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110648626.3A Withdrawn CN113458683A (en) | 2021-06-10 | 2021-06-10 | Industrial robot-based welding system and welding method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113458683A (en) |
| WO (1) | WO2022257228A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117464270A (en) * | 2023-11-09 | 2024-01-30 | 合肥万众交通工程有限公司 | Upright post steel template forming device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB846925A (en) * | 1957-03-29 | 1960-09-07 | British Oxygen Co Ltd | Work supports for welding or other operations on a workpiece |
| JP2010253592A (en) * | 2009-04-23 | 2010-11-11 | Eiji Suga | Clamping device of workpiece rotating and supporting device |
| KR101599502B1 (en) * | 2014-09-25 | 2016-03-03 | 박선근 | fixing apparatus of cylindrical weldment |
| CN109807520B (en) * | 2019-04-07 | 2021-06-29 | 武汉市双新汽车零部件有限公司 | Automatic welding manipulator for automobile assembly |
| CN210549226U (en) * | 2019-10-12 | 2020-05-19 | 苏州马兰特精密机械有限公司 | Automobile door welding tool clamp |
| CN212761787U (en) * | 2020-07-06 | 2021-03-23 | 上海海综工业技术有限公司 | Open type pipe welding equipment |
| CN112589363B (en) * | 2020-12-08 | 2022-08-16 | 岳阳岳化机械有限责任公司 | Large-scale chemical industry container groove jar welding process frock clamp |
-
2021
- 2021-06-10 CN CN202110648626.3A patent/CN113458683A/en not_active Withdrawn
- 2021-07-16 WO PCT/CN2021/106749 patent/WO2022257228A1/en unknown
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|---|---|
| WO2022257228A1 (en) | 2022-12-15 |
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Application publication date: 20211001 |