CN113510414A

CN113510414A - Double-station welding robot capable of quickly and automatically feeding materials and using method thereof

Info

Publication number: CN113510414A
Application number: CN202110820382.2A
Authority: CN
Inventors: 杨青; 孔蕾锦; 陈律希
Original assignee: Nanjing Hanmingzhi Intelligent Technology Co Ltd
Current assignee: Nanjing Hanmingzhi Intelligent Technology Co Ltd
Priority date: 2021-07-20
Filing date: 2021-07-20
Publication date: 2021-10-19

Abstract

The invention discloses a double-station welding robot capable of quickly and automatically feeding materials and a using method thereof, and the double-station welding robot comprises a machine body, wherein supporting legs are arranged at the bottom end of the machine body, a controller is arranged on the front surface of the machine body, an installation cavity is formed in the top end of the machine body, a conveying belt is arranged in the installation cavity, two ends of the conveying belt are movably connected with the top end of the machine body through a transmission roller, and two ends of the interior of the transmission roller are respectively provided with an adjusting mechanism; the conveying belt is provided with a connecting groove, and connecting components are arranged at two ends inside the connecting groove; organism top both sides all are provided with supporting platform, and two supporting platform tops are provided with centering centre gripping robot and welding robot respectively. Has the advantages that: can be under centering centre gripping robot and welding robot's mating reaction, can carry out the centre gripping and weld under welding robot's mating reaction with the bracing piece on the conveyer belt through centering centre gripping robot, break away from the manual work and carried out the problem of assembling.

Description

Double-station welding robot capable of quickly and automatically feeding materials and using method thereof

Technical Field

The invention belongs to the technical field of welding robots, and particularly relates to a double-station welding robot capable of quickly and automatically feeding materials and a using method thereof.

Background

The welding robot is an industrial robot that engages in welding, including cutting and painting. An industrial robot is a versatile, reprogrammable, automatically controlled Manipulator (Manipulator) with three or more programmable axes for use in the field of industrial automation, according to the international organization for standardization (ISO) which is a definition of standard welding robots. To accommodate different applications, the mechanical interface of the last axis of the robot, usually a connecting flange, may be used to attach different tools or end effectors. The welding robot is that a welding clamp or a welding (cutting) gun is arranged on a tail shaft flange of an industrial robot, so that the welding robot can carry out welding, cutting or thermal spraying.

The gyro wheel can see everywhere in daily life, like the small handcart in the supermarket, perambulator among the daily life etc, the existence of gyro wheel makes these removal tools more convenient use, but the gyro wheel and the welding process between the supporting leg in, adopt the manual work to support usually, then the manual work uses welder to spot weld or weld, the eye injury to the human body in the spot welding process is huge, consequently, the robot has appeared and has replaced artificial idea, but the robot often is not mature enough among the prior art, the robot is gone on simultaneously with the assembly of gyro wheel and supporting leg and spot welding to simple welding can't carry out, finally still can not get rid of the manual work and carry out the problem of assembling at the spot welding process of gyro wheel and supporting leg, thereby the puzzlement in the during operation has been caused.

An effective solution to the problems in the related art has not been proposed yet.

Disclosure of Invention

The purpose of the invention is as follows: the double-station welding robot capable of quickly and automatically feeding materials and the using method thereof are provided to overcome the technical problems in the prior related art.

The technical scheme is as follows: a double-station welding robot capable of quickly and automatically feeding comprises a machine body, wherein supporting legs are arranged at the bottom end of the machine body, a controller is arranged on the front face of the machine body, an installation cavity is formed in the top end of the machine body, a conveying belt is arranged in the installation cavity, two ends of the conveying belt are movably connected with the top end of the machine body through a transmission roller, and two ends of the interior of the transmission roller are respectively provided with an adjusting mechanism; the conveying belt is provided with a connecting groove, and connecting components are arranged at two ends inside the connecting groove; organism top both sides all are provided with supporting platform, and two supporting platform tops are provided with centering centre gripping robot and welding robot respectively.

In a further embodiment, the adjusting mechanism comprises a shell arranged in the transmission roller, a fixed seat is arranged on the back of the shell, a first motor is arranged at the top end of the fixed seat, one side of the first motor is fixedly connected with the inner wall of the transmission roller, an output shaft of the first motor penetrates through the shell and extends to the front of the shell to be fixedly connected with a first gear, a second gear which is meshed with the first gear is arranged on one side of the first gear, and the middle part of the second gear is movably connected with the shell through a rotating shaft; evenly seted up a plurality of recesses in the casing, be provided with the slide bar in the recess, the slide bar bottom is provided with the protruding piece with recess matched with, the slide bar top is provided with the dog, thereby make adjustment mechanism, can also adjust the elasticity degree of conveyer belt, make the conveyer belt can be better transport, thereby stability among the welding process has been guaranteed, under adjustment mechanism's effect, through controller control motor two, under motor two's output shaft effect, thereby drive gear one and rotate, thereby drive the gear two rotations of mediating mutually, thereby under the mating reaction of through-hole and protruding piece, it slides to drive the slide bar, thereby make the conveyer belt possess the tensile force under curved dog effect, thereby conveyer belt operation in-process's stability has been guaranteed.

In a further embodiment, a plurality of through holes are formed in the two surfaces of the gear, and the through holes are matched with the convex blocks, so that the through holes are matched with the convex blocks, and the convex blocks can move better in the through holes.

In a further embodiment, coupling assembling is including setting up the left chain ring at the spread groove, left side chain ring one side is provided with matched with right chain ring, left side chain ring and right chain ring inside are provided with elasticity cylindric lock, thereby make the elasticity cylindric lock have elasticity, make its assembly simpler, it is more convenient to dismantle simultaneously, can also guarantee the stability of conveyer belt joining process, it is inseparable to make to connect between the conveyer belt at the joint position coupling assembling, and squeeze into the elasticity cylindric lock from the pinhole that combines the terminal surface, make coupling assembling more firm.

In a further embodiment, the top end of the left chain ring is provided with a plurality of rectangular tooth sockets I, the rectangular tooth sockets I are matched with the top end of the right chain ring, the opening I is formed inside the left chain ring, the top end and the bottom end of the opening I are respectively provided with a semicircular latch groove I and a plurality of rectangular tooth sockets II, the semicircular latch groove I is matched with the top end of the elastic cylindrical pin, and the rectangular tooth sockets II are matched with the bottom end of the right chain ring, so that the elastic cylindrical pin has elasticity, the assembly is simpler, and the disassembly is more convenient.

In a further embodiment, the bottom end of the right chain ring is provided with a plurality of rectangular tooth sockets III, the rectangular tooth sockets III are matched with the top ends of the rectangular tooth sockets II, the inside of the right chain ring is provided with an opening II, the top ends and the bottom ends of the opening II are respectively provided with a plurality of rectangular tooth sockets IV and a semicircular latch groove II, the semicircular latch groove II is matched with the bottom end of the elastic cylindrical pin, and the rectangular tooth sockets IV are matched with the top ends of the rectangular tooth sockets II; the elastic cylindrical pin comprises an elastic cylindrical tube I and an elastic cylindrical tube II wrapped outside the elastic cylindrical tube I, a pin shaft is arranged inside the elastic cylindrical tube I, and the elastic cylindrical tube II is matched with the semicircular pin groove I and the semicircular pin groove II respectively, so that the elastic cylindrical pin has elasticity, the assembly is simpler, and the disassembly is more convenient.

In a further embodiment, the centering and clamping robot comprises a first mechanical arm arranged at the top end of the front supporting platform, a first rotating mechanical arm is arranged on one side of the top end of the first mechanical arm, a first oscillator is arranged at one end of the first rotating mechanical arm, which is far away from the first mechanical arm, and a clamping assembly is arranged at one end of the first oscillator, which is far away from the first oscillator; the clamping assembly comprises an electric telescopic rod at one end of the oscillator, a connecting sleeve is sleeved outside the electric telescopic rod, a plurality of groups of fixing seats are uniformly arranged outside the connecting sleeve, and clamping jaws matched with the electric telescopic rod are arranged in the fixing seats, so that the centering and clamping robot can rotate through the rotary mechanical arm and can better fixedly clamp the supporting rod through the matching between the oscillator I and the clamping assembly; the controller is controlled centering centre gripping robot, centering centre gripping robot's robotic arm carries out the rotation of horizontal direction one, and drive a motion robotic arm downstream and through the centre gripping subassembly under the electric telescopic handle's of centre gripping subassembly effect through rotatory robotic arm and oscillator, under the dentate claw cooperation effect on screw thread and the clamping jaw, drive circular centre gripping and carry out the centre gripping to the bracing piece, and move to gyro wheel one side with centering centre gripping robot goes up the bracing piece of centre gripping through the controller, and weld through welding robot.

In a further embodiment, one side of the electric telescopic rod is provided with a thread; the clamping jaw includes dentate claw, and dentate claw top is provided with the arc pole, and arc pole top is provided with circular clamping face, and cooperatees between dentate claw and the screw thread to make between dentate claw and the screw thread under the mating reaction, guaranteed the stability among the circular clamping face clamping process, thereby do the foreshadowing for welding on next step.

In a further embodiment, the welding robot comprises a second mechanical arm, a second oscillator is arranged at the top end of the second mechanical arm, and a welding gun is arranged at one end, far away from the second mechanical arm, of the second oscillator; the second oscillator comprises a side plate arranged at one end of the second mechanical arm, a first fixing plate and a second fixing plate are arranged on the front side of the side plate, an output shaft of a second motor arranged on one side, close to the second mechanical arm, of the first fixing plate penetrates through the fixing plates and extends to one side of the fixing plates, a frame is arranged on one side, away from the first fixing plate, of the frame, a rotating ring is arranged on one side, the top end and the bottom end of the rotating ring are movably connected with the frame through connecting blocks, a connecting rod is arranged at one end, away from the frame, of the rotating ring, and the connecting rod is fixedly connected with a welding gun; the top end of the second fixed plate is provided with a third motor, the output shaft of the third motor penetrates through the second fixed plate and extends to the bottom end of the second fixed plate to be provided with a first rotating block, the bottom end of the first rotating block is provided with a second rotating block matched with the first rotating block through a bolt, and the other end of the second rotating block is movably connected with the connecting rod, so that a welding robot can weld the roller and the supporting rod in all directions, the welded finished product quality is better, the effect is better, and higher benefit is brought to enterprises, during welding, the second motor of the second oscillator is controlled through the controller, the frame is driven to rotate in the vertical direction under the action of the output shaft of the second motor, the rotating ring is driven to rotate under the action of the connecting block, the connecting rod is driven to rotate in the vertical direction, the welding gun is driven to rotate in the vertical direction, the third motor is started at the same time, the first rotating block is driven to rotate in the horizontal direction under the action of the output shaft of the third motor, thereby drive turning block two under the effect of bolt and carry out the rotation of horizontal direction to under the mating reaction of motor two and motor three, make welder carry out the omnidirectional welding between gyro wheel and the bracing piece.

According to another aspect of the invention, a use method of a rapid automatic feeding double-station welding robot is provided, and the use method comprises the following steps:

the method comprises the following steps: when the support rods are welded on the rollers, the rollers and the support rods are respectively arranged in the placing grooves of the conveyor belt, welding parameters are arranged in the control box, then the centering clamping robot and the welding robot are controlled by the controller,

step two: the conveying belt is opened, the controller controls the centering and clamping robot, a first mechanical arm of the centering and clamping robot rotates in the horizontal direction, a rotary mechanical arm and a first swing device drive the first mechanical arm to move downwards, under the action of an electric telescopic rod of the clamping assembly, a circular clamping surface is driven to clamp the supporting rod under the matching action of threads and the toothed claw on the clamping jaw, the supporting rod clamped on the centering and clamping robot is moved to one side of the roller through the controller, and a second swing device is driven to rotate through a second mechanical arm of the welding robot;

step three: during the welding, motor two through controller control oscillator two, it carries out the rotation of vertical direction to drive the frame under motor two's output shaft effect, thereby it rotates to drive the swivel becket under the effect of connecting block, thereby it carries out the rotation of vertical direction to actuate the connecting rod, thereby it carries out the rotation of vertical direction to drive welder, start motor three simultaneously, it carries out the rotation of horizontal direction to drive swivel becket one under motor three's output shaft effect, thereby it carries out the rotation of horizontal direction to drive swivel becket two under the effect of bolt, thereby under motor two and motor three's mating reaction, make welder carry out the omnidirectional welding between gyro wheel and the bracing piece.

Has the advantages that:

1. through the scheme of the invention, the supporting rod on the conveying belt can be clamped by the centering clamping robot and welded under the cooperation of the centering clamping robot and the welding robot, so that the problem of manual assembly is solved, and the automatic welding effect of the completely centering clamping robot and the welding robot is better.

2. Through coupling assembling's setting, through connecting the both ends of conveyer belt fixedly, not only can guarantee the stability of connecting, can also be more convenient change conveyer belt to the realization carries out the centre gripping to the part on the conveyer belt of difference, wherein be provided with circular recess and rectangular channel on the conveyer belt respectively, correspond gyro wheel and bracing piece respectively, the protruding degree of circular recess and rectangular channel is lower, the centre gripping of convenient centering centre gripping robot, when the state of lax appears in the conveyer belt simultaneously.

3. The adjusting mechanism is used, the tightness degree of the conveying belt can be adjusted, the conveying belt can be better conveyed, and the stability in the welding process is guaranteed.

4. Under centering centre gripping robot's effect, centering centre gripping robot can rotate through rotatory arm and through the cooperation between oscillator one and the centre gripping subassembly, can be better carry out fixed centre gripping with the bracing piece, simultaneously under welding robot's effect, welding robot can carry out the omnidirectional welding to gyro wheel and bracing piece to make welded finished product quality better, the effect is better, thereby bring higher benefit for the enterprise.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is one of the schematic perspective views according to an embodiment of the invention;

FIG. 2 is a second schematic perspective view according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a centering and clamping robot according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a clamping assembly according to an embodiment of the present invention;

FIG. 5 is a cross-sectional view of a clamping assembly according to an embodiment of the present invention;

FIG. 6 is a schematic view of a jaw configuration according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a welding robot according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a second exemplary embodiment of a wobbler;

FIG. 9 is a second schematic structural diagram of a second oscillator according to the second embodiment of the present invention;

FIG. 10 is a schematic view of the mechanism of the linkage assembly in an embodiment in accordance with the invention;

FIG. 11 is a schematic view of the construction of the left chainring in accordance with an embodiment of the present invention;

FIG. 12 is a schematic diagram of the structure of a right bracelet in an embodiment in accordance with the invention;

FIG. 13 is a schematic diagram of a resilient cylindrical pin according to an embodiment of the present invention;

FIG. 14 is one of the schematic structural views of an adjustment mechanism according to an embodiment of the invention;

FIG. 15 is a second schematic structural view of an adjustment mechanism according to an embodiment of the present invention;

FIG. 16 is a schematic structural view of a housing according to an embodiment of the present invention;

FIG. 17 is a schematic view of the structure of a slide bar according to an embodiment of the present invention;

fig. 18 is a schematic structural diagram according to another embodiment of the present invention.

In the figure:

1. a body; 2. supporting legs; 3. a controller; 4. a mounting cavity; 5. a conveyor belt; 6. a driving roller; 7. an adjustment mechanism; 701. a housing; 702. a fixed seat; 703. a first motor; 704. a first gear; 705. a second gear; 70501. a through hole; 706. a rotating shaft; 707. a groove; 708. a slide bar; 709. a raised block; 710. a stopper; 8. connecting grooves; 9. a connecting assembly; 901. a left chain link; 90101. a first rectangular tooth groove; 90102. a first opening; 90103. a semicircular pin slot I; 90104. a second rectangular tooth groove; 902. a right chain link; 90201. a third rectangular tooth socket; 90202. a second opening; 90203. a rectangular tooth socket IV; 90204. a semicircular pin groove II; 903. an elastic cylindrical pin; 90301. a first elastic cylindrical barrel; 90302. a second elastic cylindrical barrel; 90303. a pin shaft; 10. a support platform; 11. centering and clamping the robot; 1101. a first mechanical arm; 1102. rotating the mechanical arm; 1103. a first oscillator; 1104. a clamping assembly; 110401, an electric telescopic rod; 110402, connecting sleeves; 110403, fixing base; 110404, a clamping jaw; 1104041, toothed claws; 1104042, an arc-shaped rod; 1104043, a circular clamping surface; 110405, threads; 12. a welding robot; 1201. a second mechanical arm; 1202. a second oscillator; 120201, side plates; 120202, a first fixing plate; 120203, a second fixing plate; 120204, a second motor; 120205, a frame; 120206, rotating ring; 120207, a connecting block; 120208, a connecting rod; 120209, motor three; 120210, a first rotating block; 120211, a second rotating block; 1203. and (4) welding the welding gun.

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.

According to the embodiment of the invention, the double-station welding robot capable of quickly and automatically feeding materials and the use method thereof are provided.

As shown in fig. 1-17, the double-station welding robot capable of fast and automatically feeding materials according to the embodiment of the invention comprises a machine body 1, wherein a supporting leg 2 is arranged at the bottom end of the machine body 1, a controller 3 is arranged on the front surface of the machine body 1, an installation cavity 4 is arranged at the top end in the machine body 1, a conveyor belt 5 is arranged in the installation cavity 4, two ends of the conveyor belt 5 are movably connected with the top end in the machine body 1 through a transmission roller 6, and two ends in the transmission roller 6 are respectively provided with an adjusting mechanism 7; the conveyor belt 5 is provided with a connecting groove 8, and two ends inside the connecting groove 8 are provided with connecting components 9; supporting platforms 10 are arranged on two sides of the top of the machine body 1, and a centering clamping robot 11 and a welding robot 12 are arranged on the top ends of the two supporting platforms 10 respectively.

By means of the technical scheme, under the matching action of the centering clamping robot 11 and the welding robot 12, the supporting rods on the conveying belt 5 can be clamped by the centering clamping robot 11 and welded under the matching action of the welding robot 12, the problem of manual assembly is solved, meanwhile, the fully-automatic welding effect is better, the connecting assembly 9 is arranged, the two ends of the conveying belt 5 are fixedly connected, the connecting stability can be ensured, the conveying belt 5 can be more conveniently replaced, so that parts on different conveying belts 5 can be clamped, the conveying belt 5 is respectively provided with the circular groove and the rectangular groove which respectively correspond to the roller and the supporting rods, the protruding degree of the circular groove and the rectangular groove is lower, the clamping of the centering clamping robot 11 is convenient, and when the conveying belt is in a loose state, the tightness degree of the conveyor belt 5 can be adjusted through the adjusting mechanism 7, so that the conveyor belt 5 can be better transported, and the stability in the welding process is ensured;

wherein, when in specific application, a processor, a data acquisition module, a motion control module, a deviation identification module and a welding control module are arranged in the controller 3, the demonstration test of the simulated roller and the supporting rod can be carried out on the centering clamping robot 11 and the welding robot 12 under the action of the controller 3, so that a data acquisition module in the centering clamping robot 11 acquires data, according to the movement of the roller on the transmission belt, the clamping period is recorded and set by the movement control module, meanwhile, the deviation identification module records the pattern of the supporting rod to be clamped, the welding robot 12 controls the welding control module and starts the welding gun 1203, the supporting rods clamped on the centering clamping robot 11 are welded through a motion control module and a deviation identification module, the welding robot 12 is controlled to operate to complete the automatic identification and automatic tracking of the welding seam in the welding process.

In one embodiment, for the adjusting mechanism 7, the adjusting mechanism 7 includes a housing 701 disposed in the driving roller 6, a fixing seat 702 is disposed on the back surface of the housing 701, a first motor 703 is disposed on the top end of the fixing seat 702, one side of the first motor 703 is fixedly connected to the inner wall of the driving roller 6, an output shaft of the first motor 703 penetrates through the housing 701 and extends to the front surface of the housing 701 to be fixedly connected to a first gear 704, a second gear 705 engaged with the first gear 704 is disposed on one side of the first gear 704, and the middle portion of the second gear 705 is movably connected to the housing 701 through a rotating shaft 706; a plurality of grooves 707 are uniformly formed in the housing 701, a sliding rod 708 is arranged in each groove 707, a protruding block 709 matched with each groove 707 is arranged at the bottom end of each sliding rod 708, and a stop block 710 is arranged at the top end of each sliding rod 708, so that the adjusting mechanism 7 can adjust the tightness of the conveyor belt 5, the conveyor belt 5 can be better transported, the stability in the welding process is ensured, and the welding efficiency is indirectly improved;

wherein, when specifically using, adjustment mechanism 7's theory of operation is as follows: under the effect of adjustment mechanism 7, through controller 3 control motor 703, under the output shaft effect of motor 703 to drive gear 704 and rotate, thereby drive the gear 705 rotation of kneading mutually, thereby under the mating reaction of through-hole 70501 with protruding piece 709, drive slide bar 708 and slide, thereby make the conveyer belt possess the tensile force under curved dog 710 effect, thereby guaranteed the stability of conveyer belt operation in-process.

In one embodiment, for the second gear 705, the plurality of through holes 70501 are formed in the surface of the second gear 705, and the plurality of through holes 70501 are matched with the protruding blocks 709, so that the protruding blocks 709 can better move in the through holes 70501 under the matching action of the through holes 70501 and the protruding blocks 709.

In an embodiment, for the above-mentioned coupling assembling 9, coupling assembling 9 includes left chain ring 901 that sets up at connecting groove 8, left chain ring 901 one side is provided with matched with right chain ring 902, left chain ring 901 is provided with elasticity cylindric lock 903 with right chain ring 902 middle part, thereby make elasticity cylindric lock 903 have elasticity, make its assembly simpler, it is more convenient to dismantle simultaneously, can also guarantee the stability of conveyer belt joining process, it is inseparable to make the connection between the conveyer belt at joint position coupling assembling 9, and squeeze into the elasticity cylindric lock from the pinhole that combines the terminal surface, make coupling assembling 9 more firm, thereby the stable effect of conveyer belt has been guaranteed, make it possess stronger stability and connection effect.

The working principle of the connecting assembly 9 is as follows: the elastic cylindrical pin 903 is inserted into the middle of the right chain ring 902 and the left chain ring 901, so that the whole connecting assembly 9 has strong stability, and the stability of the connection of the conveyor belt 5 is ensured.

In an embodiment, for the left link 901, the top end of the left link 901 is provided with a plurality of rectangular first tooth sockets 90101, the plurality of rectangular first tooth sockets 90101 are matched with the top end of the right link 902, the left link 901 is internally provided with an opening first 90102, the top end and the bottom end of the opening first 90102 are respectively provided with a semicircular first pin socket 90103 and a plurality of rectangular second tooth sockets 90104, the semicircular first pin socket 90103 is matched with the top end of the elastic cylindrical pin 903, and the plurality of rectangular second tooth sockets 90104 are matched with the bottom end of the right link 902, so that the elastic cylindrical pin 903 has elasticity, the assembly is simpler, and the disassembly is more convenient.

In one embodiment, for the right link 902, the bottom end of the right link 902 is provided with a plurality of rectangular tooth spaces three 90201, the plurality of rectangular tooth spaces three 90201 are matched with the top end of the rectangular tooth space two 90104, an opening two 90202 is formed in the right link 902, the top end and the bottom end of the opening two 90202 are respectively provided with a plurality of rectangular tooth spaces four 90203 and a semicircular pin slot two 90204, the semicircular pin slot two 90204 is matched with the bottom end of the elastic cylindrical pin 903, and the plurality of rectangular tooth spaces four 90203 are matched with the top end of the rectangular tooth space two 90104; the elastic cylindrical pin 903 is composed of a first elastic cylindrical barrel 90301 and a second elastic cylindrical barrel 90302 wrapping the outer side of the first elastic cylindrical barrel 90301, a pin shaft 90303 is arranged inside the first elastic cylindrical barrel 90301, and the second elastic cylindrical barrel 90302 is matched with a first semicircular pin groove 90103 and a second semicircular pin groove 90204 respectively, so that the elastic cylindrical pin 903 has elasticity, the assembly is simpler, and the disassembly is more convenient.

In an embodiment, for the centering and clamping robot 11, the centering and clamping robot 11 includes a first robot arm 1101 disposed at a top end of the front support platform 10, a rotating robot arm 1102 is disposed at a top end side of the first robot arm 1101, a first oscillator 1103 is disposed at an end of the rotating robot arm 1102 away from the first robot arm 1101, and a clamping assembly 1104 is disposed at an end of the first oscillator 1103 away from the first oscillator 1103; the clamping component 1104 comprises an electric telescopic rod 110401 at one end of a first oscillator 1103, a connecting sleeve 110402 is sleeved outside the electric telescopic rod 110401, a plurality of groups of fixed seats 110403 are uniformly arranged outside the connecting sleeve 110402, and clamping jaws 110404 matched with the electric telescopic rod 110401 are arranged in the fixed seats 110403, so that the centering and clamping robot 11 can rotate through a rotating mechanical arm 1102 and can better fix and clamp a supporting rod through the matching between the first oscillator 1103 and the clamping component 1104, the stability of the supporting rod is guaranteed, the supporting rod can be matched with a roller, and welding is performed under the action of a welding gun of the welding robot 12;

wherein, when specifically using, the centre gripping robot 11 theory of operation is as follows: the controller 3 is controlled centering clamping robot 11, a mechanical arm 1101 of centering clamping robot 11 rotates in the horizontal direction, and drives the mechanical arm 1101 to move downwards through a rotating mechanical arm 1102 and a oscillator 1103 and under the action of an electric telescopic rod 110401 of a clamping assembly 1104, a circular clamping surface 1104043 is driven to clamp the supporting rod under the matching action of a thread 110405 and a toothed claw 1104041 on a clamping jaw 110404, the supporting rod clamped on the centering clamping robot 11 is moved to one side of a roller through the controller 3, and welding is performed through the welding robot 12.

In one embodiment, for the above-mentioned electric telescopic pole 110401, a thread 110405 is provided on one side of the electric telescopic pole 110401; the clamping jaw 110404 comprises a toothed claw 1104041, an arc rod 1104042 is arranged at the top end of the toothed claw 1104041, a circular clamping surface 1104043 is arranged at the top end of the arc rod 1104042, and the toothed claw 1104041 and a thread 110405 are matched with each other, so that under the matching action between the toothed claw 1104041 and the thread 110405, the stability of the circular clamping surface 1104043 in the clamping process is guaranteed, and the bedding is made for the next welding.

In one embodiment, for the welding robot 12, the welding robot 12 includes a second robot arm 1201, a second oscillator 1202 is disposed at a top end of the second robot arm 1201, and a welding gun 1203 is disposed at an end of the second oscillator 1202 far away from the second robot arm 1201; the second oscillator 1202 comprises a side plate 120201 arranged at one end of the second robot 1201, the front surface of the side plate 120201 is provided with a first fixing plate 120202 and a second fixing plate 120203, an output shaft of a second motor 120204 arranged at one side of the first fixing plate 120202 close to the second robot 1201 penetrates through the first fixing plate 120202 and extends to one side of the first fixing plate 120202 to be provided with a frame 120205, one side of the frame 120205 far away from the first fixing plate 120202 is provided with a rotating ring 120206, the top end and the bottom end of the rotating ring 120206 are movably connected with the frame 120205 through a connecting block 120207, one end of the rotating ring 120206 far away from the frame 120205 is provided with a connecting rod 120208, and the connecting rod 120208 is fixedly connected with the welding gun 1203; the top end of the second fixing plate 120203 is provided with a third motor 120209, the output shaft of the third motor 120209 penetrates through the second fixing plate 120203 and extends to the bottom end of the second fixing plate 120203 to be provided with a first rotating block 120210, the bottom end of the first rotating block 120210 is provided with a second rotating block 120211 matched with the first rotating block 120210 through a bolt, and the other end of the second rotating block 120211 is movably connected with the connecting rod 120208, so that the welding robot 12 can weld the roller and the supporting rod in all directions, the welded finished product has better quality and better effect, and higher benefits are brought to enterprises;

wherein, when concrete welding, welding robot's theory of operation as follows: two 120204 of motor through two 1202 of controller 3 control pendulums, it carries out the rotation of vertical direction to drive frame 120205 under the output shaft effect of two 120204 of motor, thereby drive swivel ring 120206 and rotate under the effect of connecting block 120207, thereby it carries out the rotation of vertical direction to actuate connecting rod 120208, thereby it carries out the rotation of vertical direction to drive welder 1203, three 120209 of motor start simultaneously, it carries out the rotation of horizontal direction to drive a 120210 under the output shaft effect of three 120209 of motor, thereby it carries out the rotation of horizontal direction to drive two 120211 of swivel block under the effect of bolt, thereby under the mating reaction of two 120204 of motor and three 120209, make welder 1203 carry out the omnidirectional welding between gyro wheel and the bracing piece.

In another embodiment, as shown in fig. 18, the circular grooves and the rectangular grooves for fixing the parts on the conveyor belt 5 can be selected to have other shapes, such as triangular grooves and square grooves, which correspond to the triangular parts and the square parts, respectively, so as to ensure the stability of different parts during the conveying process.

According to the embodiment of the invention, the use method of the double-station welding robot capable of fast and automatically feeding materials is further provided, and the use method comprises the following steps:

the method comprises the following steps: when the support rods are welded on the rollers, the rollers and the support rods are respectively arranged in the placing grooves of the conveyor belt 5, welding parameters are set in the controller 3, then the controller 3 controls the centering clamping robot 11 and the welding robot 12,

step two: the conveying belt 5 is opened, firstly, the controller 3 controls the centering and clamping robot 11, a first mechanical arm 1101 of the centering and clamping robot 11 rotates in the horizontal direction, the first mechanical arm 1101 is driven to move downwards by the rotary mechanical arm 1102 and the first oscillator 1103 and is driven to clamp the supporting rod by a circular clamping surface 1104043 under the action of the matching of a thread 110405 and a toothed claw 1104041 on a clamping jaw 110404 under the action of an electric telescopic rod 110401 of a clamping assembly 1104, the supporting rod clamped on the centering and clamping robot 11 is moved to one side of a roller by the controller 3, and a second oscillator 1202 is driven to rotate by a second mechanical arm 1201 of the welding robot 12;

step three: during welding, the second motor 120204 of the second oscillator 1202 is controlled by the controller 3, the frame 120205 is driven to rotate in the vertical direction under the action of the output shaft of the second motor 120204, the rotating ring 120206 is driven to rotate under the action of the connecting block 120207, the connecting rod 120208 is driven to rotate in the vertical direction, the welding gun 1203 is driven to rotate in the vertical direction, the third motor 120209 is started simultaneously, the first rotating block 120210 is driven to rotate in the horizontal direction under the action of the output shaft of the third motor 120209, the second rotating block 120211 is driven to rotate in the horizontal direction under the action of the bolt, the second motor 120204 and the third motor 120209 are matched, and the welding gun 1203 is welded between the roller and the supporting rod in an omnibearing mode.

For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.

In summary, with the above technical solution of the present invention, through the above solution of the present invention, under the cooperation action of the centering clamping robot 11 and the welding robot 12, the supporting rod on the conveyor belt 5 can be clamped by the centering clamping robot 11 and welded under the cooperation action of the welding robot 12, the problem of manual assembly is solved, and meanwhile, the fully automatic welding effect is better, the connecting assembly 9 is provided, by connecting and fixing the two ends of the conveyor belt 5, not only the stability of connection can be ensured, but also the conveyor belt 5 can be more conveniently replaced, thereby clamping different parts on the conveyor belt 5 is realized, wherein the conveyor belt 5 is respectively provided with a circular groove and a rectangular groove corresponding to the roller and the supporting rod, respectively, the protruding degree of the circular groove and the rectangular groove is lower, and the clamping of the centering clamping robot 11 is convenient, meanwhile, when the conveyor belt is in a loose state, the tightness degree of the conveyor belt 5 can be adjusted through the adjusting mechanism 7, so that the conveyor belt 5 can be better transported, and the stability in the welding process is ensured.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides a can quick automatic feed's duplex position welding robot, includes organism (1), this organism (1) bottom is provided with supporting leg (2), and this organism (1) openly is provided with controller (3), its characterized in that:

an installation cavity (4) is formed in the top end of the machine body (1), a conveyor belt (5) is arranged in the installation cavity (4), two ends of the conveyor belt (5) are movably connected with the top end of the machine body (1) through a transmission roller (6), and two ends of the interior of the transmission roller (6) are respectively provided with an adjusting mechanism (7);

the conveying belt (5) is provided with a connecting groove (8), and two ends inside the connecting groove (8) are provided with connecting components (9);

organism (1) top both sides all are provided with supporting platform (10), two supporting platform (10) top is provided with centering centre gripping robot (11) and welding robot (12) respectively.

2. The double-station welding robot capable of realizing rapid automatic feeding according to claim 1, wherein the adjusting mechanism (7) comprises a shell (701) arranged in the transmission roller (6), a fixed seat (702) is arranged on the back surface of the shell (701), a first motor (703) is arranged at the top end of the fixed seat (702), one side of the first motor (703) is fixedly connected with the inner wall of the transmission roller (6), an output shaft of the first motor (703) penetrates through the shell (701) and extends to the front surface of the shell (701) to be fixedly connected with a first gear (704), a second gear (705) meshed with the first gear (704) is arranged on one side of the first gear (704), and the middle part of the second gear (705) is movably connected with the shell (701) through a rotating shaft (706);

a plurality of grooves (707) are uniformly formed in the shell (701), sliding rods (708) are arranged in the grooves (707), protruding blocks (709) matched with the grooves (707) are arranged at the bottom ends of the sliding rods (708), and stop blocks (710) are arranged at the top ends of the sliding rods (708).

3. The robot for welding with two stations capable of feeding automatically and rapidly according to claim 2, characterized in that a plurality of through holes (70501) are formed on the surface of the second gear (705), and the plurality of through holes (70501) are matched with the bumps (709).

4. The robot for welding with two stations capable of feeding automatically and rapidly according to claim 1, characterized in that said connecting assembly (9) comprises a left chain ring (901) arranged on said connecting groove (8), a right chain ring (902) matched with said left chain ring (901) is arranged on one side of said left chain ring (901), and an elastic cylindrical pin (903) is arranged between said left chain ring (901) and said right chain ring (902).

5. The double-station welding robot capable of achieving quick and automatic feeding according to claim 4, characterized in that a plurality of rectangular tooth sockets I (90101) are arranged at the top end of the left chain ring (901), the rectangular tooth sockets I (90101) are matched with the top end of the right chain ring (9020), an opening I (90102) is formed in the left chain ring (901), a semicircular pin slot I (90103) and a plurality of rectangular tooth sockets II (90104) are respectively arranged at the top end and the bottom end of the opening I (90102), the semicircular pin slot I (90103) is matched with the top end of the elastic cylindrical pin (903), and the rectangular tooth sockets II (90104) are matched with the bottom end of the right chain ring (902).

6. The double-station welding robot capable of realizing rapid automatic feeding according to claim 5, wherein a plurality of rectangular tooth sockets III (90201) are arranged at the bottom end of the right chain ring (902), the plurality of rectangular tooth sockets III (90201) are matched with the top end of the rectangular tooth socket II (90104), an opening II (90202) is formed in the right chain ring (902), a plurality of rectangular tooth sockets IV (90203) and a semicircular pin socket II (90204) are respectively arranged at the top end and the bottom end of the opening II (90202), the semicircular pin socket II (90204) is matched with the bottom end of the elastic cylindrical pin (903), and the plurality of rectangular tooth sockets IV (90203) are matched with the top end of the rectangular tooth socket II (90104);

the elastic cylindrical pin (903) is composed of a first elastic cylindrical barrel (90301) and a second elastic cylindrical barrel (90302) wrapped on the outer side of the first elastic cylindrical barrel (90301), a pin shaft (90303) is arranged inside the first elastic cylindrical barrel (90301), and the second elastic cylindrical barrel (90302) is matched with the first semicircular pin groove (90103) and the second semicircular pin groove (90204) respectively.

7. The double-station welding robot capable of realizing rapid automatic feeding according to claim 1, characterized in that the centering and clamping robot (11) comprises a first mechanical arm (1101) arranged at the top end of the front supporting platform (10), a rotating mechanical arm (1102) is arranged on one side of the top end of the first mechanical arm (1101), a first oscillator (1103) is arranged at one end, away from the first mechanical arm (1101), of the rotating mechanical arm (1102), and a clamping assembly (1104) is arranged at one end, away from the first oscillator (1103), of the first oscillator (1103);

the clamping assembly (1104) comprises an electric telescopic rod (110401) at one end of a first oscillator (1103), a connecting sleeve (110402) is sleeved outside the electric telescopic rod (110401), a plurality of groups of fixing seats (110403) are uniformly arranged on the outer side of the connecting sleeve (110402), and clamping jaws (110404) matched with the electric telescopic rod (110401) are arranged in the fixing seats (110403).

8. The robot for welding with two stations capable of feeding automatically and rapidly according to claim 1, characterized in that the electric telescopic rod (110401) is provided with a thread (110405) on one side;

the clamping jaw (110404) comprises a toothed claw (1104041), an arc-shaped rod (1104042) is arranged at the top end of the toothed claw (1104041), a circular clamping surface (1104043) is arranged at the top end of the arc-shaped rod (1104042), and the toothed claw (1104041) is matched with the thread (110405).

9. The rapid automatic feeding double-station welding robot according to claim 1, characterized in that the welding robot (12) comprises a second mechanical arm (1201), a second oscillator (1202) is arranged at the top end of the second mechanical arm (1201), and a welding gun (1203) is arranged at one end, away from the second mechanical arm (1201), of the second oscillator (1202);

the second oscillator (1202) comprises a side plate (120201) arranged at one end of the second robot arm (1201), a first fixing plate (120202) and a second fixing plate (120203) are arranged on the front surface of the side plate (120201), an output shaft of a second motor (120204) is arranged on one side, close to the second robot arm (1201), of the first fixing plate (120202) and penetrates through the first fixing plate (120202) and extends to one side of the first fixing plate (120202), a frame (120205) is arranged on one side, far away from the first fixing plate (120202), of the frame (120205) and is provided with a rotating ring (120206), the top end and the bottom end of the rotating ring (120206) are movably connected with the frame (120205) through a connecting block (120207), a connecting rod (120208) is arranged at one end, far away from the frame (120205), and the connecting rod (120208) is fixedly connected with the welding gun (1203);

the top end of the second fixing plate (120203) is provided with a third motor (120209), an output shaft of the third motor (120209) penetrates through the second fixing plate (120203) and extends to the bottom end of the second fixing plate (120203) to be provided with a first rotating block (1202110), the bottom end of the first rotating block (1202110) is provided with a second rotating block (1202111) matched with the first rotating block through bolts, and the other end of the second rotating block (1202111) is movably connected with the connecting rod (120208).

10. Use of a rapid automatic feeding double-station welding robot for the use of a rapid automatic feeding double-station welding robot according to claims 1-9, characterized in that it comprises the following steps:

the method comprises the following steps: when the support rods are welded on the rollers, the rollers and the support rods are respectively arranged in the placing grooves of the conveying belt (5), welding parameters are arranged in the control box (5), and then the centering clamping robot (11) and the welding robot (12) are controlled by the controller (3);

step two: opening the conveyor belt (5), firstly, controlling the centering and clamping robot (11) by the controller (3), rotating a mechanical arm I (1101) of the centering and clamping robot (11) in the horizontal direction, driving the mechanical arm I (1101) to move downwards by a rotating mechanical arm (1102) and a oscillator I (1103) and driving a circular clamping surface (1104043) to clamp the supporting rod under the action of an electric telescopic rod (110401) of a clamping assembly (1104) through a thread (110405) and a toothed claw (1104041) on a clamping jaw (110404) in a matching manner, moving the supporting rod clamped on the centering and clamping robot (11) to one side of a roller 1201 through the controller (3), and driving a oscillator II (1202) to rotate through a mechanical arm II (12) of a welding robot (12);

step three: during welding, a second motor (120204) of the second oscillator (1202) is controlled through the controller (3), the frame (120205) is driven to rotate in the vertical direction under the action of an output shaft of the second motor (120204), the rotating ring (120206) is driven to rotate under the action of the connecting block (120207), the connecting rod (120208) is driven to rotate in the vertical direction, the welding gun (1203) is driven to rotate in the vertical direction, the third motor (120209) is started simultaneously, the first rotating block (120210) is driven to rotate in the horizontal direction under the action of the output shaft of the third motor (120209), the second rotating block (120211) is driven to rotate in the horizontal direction under the action of the bolt, and the welding gun (1203) conducts omnibearing welding between the roller and the supporting rod under the cooperation effect of the second motor (120204) and the third motor (120209).