CN113580079A - Turnover operation table for sheet metal welding six-axis manipulator - Google Patents
Turnover operation table for sheet metal welding six-axis manipulator Download PDFInfo
- Publication number
- CN113580079A CN113580079A CN202110942241.8A CN202110942241A CN113580079A CN 113580079 A CN113580079 A CN 113580079A CN 202110942241 A CN202110942241 A CN 202110942241A CN 113580079 A CN113580079 A CN 113580079A
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- Prior art keywords
- telescopic
- welding
- sheet metal
- rack
- clamping
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/02—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby of table type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0461—Welding tables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
Abstract
The invention discloses a sheet metal welding six-axis manipulator overturning operation table, and particularly relates to the field of sheet metal machining equipment. According to the invention, the clamping turnover mechanism is controlled to clamp a workpiece, the telescopic cylinder is controlled to be shortened, the rack moves leftwards, the gear rotates clockwise under the meshing action to drive the rotating shaft and the bottom block to rotate clockwise, the clamping turnover mechanism and the workpiece can rotate to any angle by taking the rotating shaft as a shaft under the matching of the gear and the rack, and the six-shaft welding manipulator can be matched to realize the function of multi-angle welding of the workpiece.
Description
Technical Field
The invention relates to the technical field of sheet metal machining equipment, in particular to a turnover operation table for a sheet metal welding six-axis manipulator.
Background
The sheet metal processing is a hinge technology which is required to be held by a sheet metal technical staff, and is also an important process for forming sheet metal products. The sheet metal processing includes traditional cutting, blanking, bending, welding and other methods and technological parameters, various cold stamping die structures and technological parameters, various equipment working principles and operation methods, and new stamping technology and new technology. The operation table for welding the metal plate is generally fixedly arranged in the metal plate area, and a positioning clamp is generally arranged on the operation table, so that a workpiece to be welded is conveniently clamped and positioned.
However, when the existing operation table for the sheet metal welding six-axis manipulator is actually used, more defects still exist, for example, the position of a positioning fixture on the operation table is fixed, and after a workpiece is clamped, the angle range of the welding of the workpiece by the six-axis welding manipulator is fixed, so that when one workpiece is welded in a plurality of ways, a worker is required to continuously clamp and disassemble the workpiece to adjust different angles, and the operation table is low in welding efficiency, inconvenient to use for workpieces with multiple welding spots and complex shapes.
Disclosure of Invention
In order to overcome the above defects in the prior art, an embodiment of the present invention provides a sheet metal welding six-axis manipulator overturning operation table, and the problems to be solved by the present invention are: the existing operation table cannot clamp a workpiece and drive the workpiece to turn over, so that the welding angle of the workpiece is small, and the practicability and the applicability are poor.
In order to achieve the purpose, the invention provides the following technical scheme: a turnover operation platform for a sheet metal welding six-axis manipulator comprises a workbench, wherein the six-axis welding manipulator is fixedly mounted at the top of one side of the workbench, a mounting frame is fixedly mounted at the top of the workbench, a telescopic cylinder is fixedly mounted at one side of the mounting frame, a rack is fixedly connected to the telescopic end part, away from the mounting frame, of the telescopic cylinder, two side plates are fixedly mounted at the top of the workbench, and a clamping turnover mechanism is arranged between the tops of the two side plates;
centre gripping tilting mechanism is including two bottom blocks, one side of bottom block is fixed to be inlayed and is equipped with the pivot, just the bottom block rotates through pivot and curb plate to be connected, two the top fixedly connected with roof of bottom block, the top of roof is provided with the flexible motor of biax, the equal fixedly connected with flexible mounting panel of two flexible ends of the flexible motor of biax, one side of flexible mounting panel is provided with the clamping bar, is close to the rack pivot one end fixedly connected with gear, the gear is connected with the rack toothing.
In a preferred embodiment, a stop block with an L-shaped structure is fixedly connected between the telescopic mounting plate and the clamping rod, and one end of the clamping rod, which is close to the telescopic mounting plate, is fixedly connected with the stop block.
By adopting the technical scheme, the two clamping rods form a closed area, so that the workpiece is convenient to position, and the workpiece is prevented from being deviated in the clamping and turning process to influence welding.
In a preferred embodiment, a lug is integrally formed on the inner side of the end part of the clamping rod far away from the stop block, and a non-slip mat is adhered to the inner side of the clamping rod.
By adopting the technical scheme, the two clamping rods form a closed area, so that the workpiece is convenient to position, the workpiece is prevented from deviating to influence welding in the clamping and turning process, and the workpieces with small volumes can be clamped through the two lugs, so that the clamping rods have the effect of clamping the workpieces with different sizes.
In a preferred embodiment, a limiting plate is fixedly mounted at the top of the workbench, a limiting chute is formed at the top of the limiting plate, and the rack is slidably arranged in the limiting chute.
Through adopting above-mentioned technical scheme, can provide the cantilever atress condition that the extension end that the holding power reduces telescopic cylinder to the rack, be favorable to prolonging telescopic cylinder's life, can also carry on spacingly to the motion of rack, guarantee its and gear complex degree of accuracy.
In a preferred embodiment, an annular chute is formed in the top of the top plate, a plurality of balls arranged in an annular array are fixedly mounted at the bottom of the double-shaft telescopic motor, and the balls are arranged in the annular chute in a rolling manner.
Through adopting above-mentioned technical scheme, centre gripping tilting mechanism can not only the centre gripping work piece and drive its upset, can also drive the work piece and rotate wantonly on the roof, has further enlarged the motion range of centre gripping tilting mechanism centre gripping work piece in the space, has improved greatly with six welding machines hand's cooperation effect.
The invention has the technical effects and advantages that:
1. according to the invention, the clamping turnover mechanism is controlled to clamp a workpiece, the telescopic cylinder is controlled to be shortened, so that the rack moves leftwards and moves leftwards, the gear rotates clockwise under the meshing action to drive the rotating shaft and the bottom block to rotate clockwise, the clamping turnover mechanism and the workpiece can rotate to any angle by taking the rotating shaft as a shaft under the matching of the gear and the rack, and the six-shaft welding manipulator can be matched to realize the function of welding the workpiece at multiple angles;
2. the two clamping rods form a closed area by arranging the stop blocks and the convex blocks, so that the workpiece is convenient to position, the workpiece is prevented from deviating to influence welding in the clamping and turning process, and a plurality of workpieces with smaller volumes can be clamped by the two convex blocks, so that the clamping rods have the function of clamping the workpieces with different sizes;
3. according to the invention, the limiting sliding groove is arranged, so that the limiting sliding groove can provide supporting force for the rack to reduce the stress condition of the cantilever at the extension end of the telescopic cylinder, the service life of the telescopic cylinder is prolonged, the movement of the rack can be limited, and the accuracy of matching the rack and the gear is ensured.
Drawings
FIG. 1 is a schematic perspective view of the overall structure of the present invention;
FIG. 2 is a schematic front view of the overall structure of the present invention;
FIG. 3 is a schematic structural diagram of the clamping and overturning mechanism of the present invention.
The reference signs are: the welding machine comprises a working table 1, a mounting frame 11, a side plate 12, a six-axis welding manipulator 2, a telescopic cylinder 3, a rack 31, a limiting plate 4, a limiting chute 41, a clamping turnover mechanism 5, a bottom block 51, a rotating shaft 511, a top plate 52, a double-axis telescopic motor 53, a telescopic mounting plate 54, a stop block 55, a clamping rod 56, a lug 561 and a gear 6.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The turnover operation platform for the sheet metal welding six-axis manipulator in the embodiment of the invention can comprise a workbench 1, wherein the top of one side of the workbench 1 is fixedly provided with a six-axis welding manipulator 2, the top of the workbench 1 is fixedly provided with an installation frame 11, one side of the installation frame 11 is fixedly provided with a telescopic cylinder 3, the telescopic end part of the telescopic cylinder 3 far away from the installation frame 11 is fixedly connected with a rack 31, the top of the workbench 1 is fixedly provided with two side plates 12, and a clamping turnover mechanism 5 is arranged between the tops of the two side plates 12.
Referring to the attached drawings 1-3 of the specification, the clamping and overturning mechanism 5 of the overturning operation platform for the sheet metal welding six-axis manipulator in the embodiment comprises two bottom blocks 51, a rotating shaft 511 is fixedly embedded in one side of each bottom block 51, the bottom blocks 51 are rotatably connected with side plates 12 through the rotating shafts 511, top plates 52 are fixedly connected to the tops of the two bottom blocks 51, a double-shaft telescopic motor 53 is arranged on the top of each top plate 52, telescopic mounting plates 54 are fixedly connected to both telescopic ends of each double-shaft telescopic motor 53, a clamping rod 56 is arranged on one side of each telescopic mounting plate 54, a gear 6 is fixedly connected to one end of each rotating shaft 511 close to a rack 31, and the gear 6 is meshed with the rack 31.
As shown in fig. 1 to 3, the implementation scenario specifically includes: in actual use, a part to be welded is placed on the workbench 1, and the workpiece is clamped and driven to turn over by controlling the clamping and turning mechanism 5 so as to be matched with the six-axis welding manipulator 2 for use, so that welding can be realized at any angle position of the workpiece; by arranging the clamping and turning mechanism 5, a workpiece is placed on the workbench 1, the biaxial stretching motor 53 is controlled to open firstly, the two stretching and mounting plates 54 drive the two clamping rods 56 to open to the two sides of the workpiece, then the biaxial stretching motor 53 is controlled to merge, the two clamping rods 56 move oppositely, thereby clamping the workpiece, controlling the telescopic cylinder 3 to shorten, further enabling the rack 31 to move leftwards, under the meshing action, the gear 6 rotates clockwise, drives the rotating shaft 511 and the bottom block 51 to rotate clockwise, namely, the clamping turnover mechanism 5 and the workpiece can be rotated to any angle by taking the rotating shaft 511 as a shaft under the matching of the gear 6 and the rack 31, so that the six-shaft welding manipulator 2 can conveniently realize the function of multi-angle welding, this embodiment has specifically solved the position that the operation panel that exists is not convenient for adjust the upset work piece among the prior art for the welding angle scope is little, the low problem of practicality.
As shown in fig. 1 and 3, a stopper 55 with an L-shaped structure is fixedly connected between the telescopic mounting plate 54 and the clamping bar 56, one end of the clamping bar 56 close to the telescopic mounting plate 54 is fixedly connected with the stopper 55, and when the two stoppers 55 move along with the telescopic mounting plate 54 and contact with each other, the two clamping bars 56 form a closed area, so that a workpiece is positioned conveniently, and the workpiece is prevented from being deviated in the clamping and turning process to affect welding.
As shown in fig. 1 and 3, a bump 561 is integrally formed on the inner side of the end of the clamping bar 56 away from the stopper 55, a non-slip pad is bonded on the inner side of the clamping bar 56, and the two bumps 561 facilitate forming a closed area between the two clamping bars 56, so as to facilitate clamping workpieces, and also enable some workpieces with smaller volume to be clamped through the two bumps 561, so that the clamping bar 56 has an effect of clamping workpieces with different sizes.
As shown in fig. 1 and 2, the top fixed mounting of workstation 1 has limiting plate 4, limiting chute 41 has been seted up at limiting plate 4's top, just in rack 31 slided and locates limiting chute 41, limiting chute 41 can provide the cantilever atress condition that the holding power reduces telescopic cylinder 3's extension end to rack 31, is favorable to prolonging telescopic cylinder 3's life, can also carry on spacingly to rack 31's motion, guarantees its and gear 6 complex degree of accuracy.
Annular spout has been seted up at the top of roof 52, the bottom fixed mounting of the flexible motor 53 of biax has a plurality of balls (not shown in the figure) that are the annular array setting, just in the ball rolls and locates annular spout, still can be at the bottom installation motor of roof 52, drives the flexible motor 53 of biax through the motor and rotates, makes centre gripping tilting mechanism 5 can not only the centre gripping work piece and drive its upset, can also drive the work piece and rotate wantonly on roof 52, has further enlarged the motion range of centre gripping tilting mechanism 5 centre gripping work piece 3 in the space, has improved the cooperation effect with six welding machines hand greatly.
In summary, the following steps: according to the invention, the clamping turnover mechanism 5 is controlled to clamp a workpiece, the telescopic cylinder 3 is controlled to be shortened, the rack 31 moves leftwards, the gear 6 rotates clockwise under the meshing action to drive the rotating shaft 511 and the bottom block 51 to rotate clockwise, the clamping turnover mechanism 5 and the workpiece can rotate to any angle by taking the rotating shaft 511 as a shaft under the matching of the gear 6 and the rack 31, and the six-shaft welding manipulator 2 can realize the function of multi-angle welding conveniently.
And finally: 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 are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (5)
1. The utility model provides a six for manipulator upset operation panel of panel beating welding, includes workstation (1), one side top fixed mounting of workstation (1) has six welding machines hand (2), its characterized in that: the top of the workbench (1) is fixedly provided with an installation frame (11), one side of the installation frame (11) is fixedly provided with a telescopic cylinder (3), the telescopic end part, far away from the installation frame (11), of the telescopic cylinder (3) is fixedly connected with a rack (31), the top of the workbench (1) is fixedly provided with two side plates (12), and a clamping and overturning mechanism (5) is arranged between the tops of the two side plates (12);
centre gripping tilting mechanism (5) is including two bottom blocks (51), one side of bottom block (51) is fixed to be inlayed and is equipped with pivot (511), just bottom block (51) rotates with curb plate (12) through pivot (511) and is connected, two the top fixedly connected with roof (52) of bottom block (51), the top of roof (52) is provided with biax telescopic motor (53), two equal fixedly connected with telescopic mounting panel (54) of the flexible end of biax telescopic motor (53), one side of telescopic mounting panel (54) is provided with clamping bar (56), is close to rack (31) pivot (511) one end fixedly connected with gear (6), gear (6) are connected with rack (31) meshing.
2. The sheet metal welding six-axis overturning operation table for manipulators as claimed in claim 1, is characterized in that: a stop block (55) with an L-shaped structure is fixedly connected between the telescopic mounting plate (54) and the clamping rod (56), and one end, close to the telescopic mounting plate (54), of the clamping rod (56) is fixedly connected with the stop block (55).
3. The sheet metal welding six-axis overturning operation table for manipulators as claimed in claim 2, is characterized in that: a convex block (561) is integrally formed on the inner side of the end portion, far away from the stop block (55), of the clamping rod (56), and a non-slip mat is bonded on the inner side of the clamping rod (56).
4. The sheet metal welding six-axis overturning operation table for manipulators as claimed in claim 1, is characterized in that: the top fixed mounting of workstation (1) has limiting plate (4), spacing spout (41) have been seted up at the top of limiting plate (4), just rack (31) slide and locate in spacing spout (41).
5. The sheet metal welding six-axis overturning operation table for manipulators as claimed in claim 1, is characterized in that: the top of roof (52) has seted up annular spout, the bottom fixed mounting of biax flexible motor (53) has a plurality of balls that are the annular array setting, just the ball rolls and locates in the annular spout.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110942241.8A CN113580079A (en) | 2021-08-17 | 2021-08-17 | Turnover operation table for sheet metal welding six-axis manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110942241.8A CN113580079A (en) | 2021-08-17 | 2021-08-17 | Turnover operation table for sheet metal welding six-axis manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113580079A true CN113580079A (en) | 2021-11-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110942241.8A Pending CN113580079A (en) | 2021-08-17 | 2021-08-17 | Turnover operation table for sheet metal welding six-axis manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228038A (en) * | 2019-07-08 | 2019-09-13 | 厦门攸信信息技术有限公司 | A kind of automatic blanking device |
| CN113909980A (en) * | 2021-11-16 | 2022-01-11 | 湖南耀岷专用汽车制造有限公司 | Car panel beating is with upset clamping device |
| CN114018943A (en) * | 2021-11-03 | 2022-02-08 | 美东汇成生命科技(昆山)有限公司 | Detection device for liquid transfer suction head |
| CN114538043A (en) * | 2022-03-31 | 2022-05-27 | 上海寅铠精密机械制造有限公司 | Turnover conveying mechanism |
| CN116372400A (en) * | 2023-03-10 | 2023-07-04 | 中机精密成形产业技术研究院（安徽）股份有限公司 | Manipulator assembly suitable for three-dimensional five-axis laser cutting equipment |
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| US6079703A (en) * | 1997-10-17 | 2000-06-27 | Chavez, Jr.; Alex Benjamin | Clamping/securing/connecting system |
| US20130283618A1 (en) * | 2010-09-28 | 2013-10-31 | William Robotics LLC | Automated apparatus for constructing assemblies of building components |
| CN106736217A (en) * | 2017-01-09 | 2017-05-31 | 邝耀燊 | A kind of plates of automobile welds six axis robot turning operation platform |
| DE202017107266U1 (en) * | 2017-11-29 | 2017-12-13 | Xianyang Yuan | Clamp mechanism of a mechanical processing device for bar materials |
| CN109079560A (en) * | 2018-09-04 | 2018-12-25 | 张子阳 | Simple type manipulator clamps turnover mechanism |
| DE102017123844B3 (en) * | 2017-08-24 | 2019-02-07 | Guangdong Lyric Robot Intelligent Automation Co., Ltd. | Rotatable mechanical gripper |
| CN213439518U (en) * | 2020-07-16 | 2021-06-15 | 威海市和铭祥机械科技有限公司 | Fixed-angle turnover mechanism for precision machining |
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2021
- 2021-08-17 CN CN202110942241.8A patent/CN113580079A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US6079703A (en) * | 1997-10-17 | 2000-06-27 | Chavez, Jr.; Alex Benjamin | Clamping/securing/connecting system |
| US20130283618A1 (en) * | 2010-09-28 | 2013-10-31 | William Robotics LLC | Automated apparatus for constructing assemblies of building components |
| CN106736217A (en) * | 2017-01-09 | 2017-05-31 | 邝耀燊 | A kind of plates of automobile welds six axis robot turning operation platform |
| DE102017123844B3 (en) * | 2017-08-24 | 2019-02-07 | Guangdong Lyric Robot Intelligent Automation Co., Ltd. | Rotatable mechanical gripper |
| DE202017107266U1 (en) * | 2017-11-29 | 2017-12-13 | Xianyang Yuan | Clamp mechanism of a mechanical processing device for bar materials |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228038A (en) * | 2019-07-08 | 2019-09-13 | 厦门攸信信息技术有限公司 | A kind of automatic blanking device |
| CN114018943A (en) * | 2021-11-03 | 2022-02-08 | 美东汇成生命科技(昆山)有限公司 | Detection device for liquid transfer suction head |
| CN113909980A (en) * | 2021-11-16 | 2022-01-11 | 湖南耀岷专用汽车制造有限公司 | Car panel beating is with upset clamping device |
| CN113909980B (en) * | 2021-11-16 | 2022-07-19 | 湖南耀岷专用汽车制造有限公司 | Car panel beating is with upset clamping device |
| CN114538043A (en) * | 2022-03-31 | 2022-05-27 | 上海寅铠精密机械制造有限公司 | Turnover conveying mechanism |
| CN116372400A (en) * | 2023-03-10 | 2023-07-04 | 中机精密成形产业技术研究院（安徽）股份有限公司 | Manipulator assembly suitable for three-dimensional five-axis laser cutting equipment |
| CN116372400B (en) * | 2023-03-10 | 2024-04-02 | 中机精密成形产业技术研究院（安徽）股份有限公司 | Manipulator assembly suitable for three-dimensional five-axis laser cutting equipment |
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