CN113634934A

CN113634934A - High-precision assembly welding device and assembly welding method

Info

Publication number: CN113634934A
Application number: CN202110996803.7A
Authority: CN
Inventors: 张玉飞; 张宇峰; 季闻捷; 丁绍峰
Original assignee: Zhangjiagang Yucheng Machine Co ltd
Current assignee: Zhangjiagang Yucheng Machine Co ltd
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2021-11-12

Abstract

The invention discloses a high-precision assembly welding device which comprises a support plate, a tool, at least two groups of clamping mechanical arms, a plurality of groups of spot welding mechanical arms and a welding mechanical arm, wherein the support plate can move in the feeding direction, the tool is arranged on the support plate and used for clamping fixed workpieces, the at least two groups of clamping mechanical arms are used for placing movable workpieces on the fixed workpieces in a one-to-one correspondence manner, the spot welding mechanical arms are used for performing at least preliminary spot welding on two adjacent workpieces with a welding relation in a one-to-one correspondence manner, and the welding mechanical arms are used for welding the fixed workpieces and the movable workpieces after spot welding is completed; the clamping mechanical arm is used for loosening the corresponding movable workpiece after the spot welding mechanical arm at least completes primary spot welding; and the spot welding mechanical arm is used for relatively fixing the movable workpiece and the fixed workpiece which are loosened by the clamping mechanical arm through primary spot welding. The high-precision assembly welding device is high in welding precision and welding efficiency.

Description

High-precision assembly welding device and assembly welding method

Technical Field

The invention relates to a high-precision assembly welding device and an assembly welding method.

Background

The existing multi-workpiece assembly welding is generally realized by two processing welding devices.

One is to weld movable workpieces on fixed workpieces and/or welded movable workpieces one by one through a clamping mechanical arm and a welding mechanical arm. When welding one by one, the movable workpiece welded at the initial stage is easy to incline, and the matching degree with the movable workpiece welded at the later stage is poor, so that the integral welding precision is low.

The other type is that a fixed workpiece and a plurality of movable workpieces are respectively clamped on the tool through a cylinder clamp through a detachable tool with a complex structure, and then the whole body is subjected to assembly welding. The welding precision is high, but the tool structure is complex, and the tool cost is high; and the work load of loading movable workpieces one by one before assembly welding and dismantling the tool after the assembly welding is finished is large, so that the assembly welding efficiency is low.

Disclosure of Invention

The invention aims to provide a high-precision assembly welding device and an assembly welding method, which have high welding precision and high welding efficiency.

In order to achieve the purpose, the invention adopts the technical scheme that:

a high-precision assembly welding device comprises a support plate, a tool, at least two groups of clamping mechanical arms, a plurality of groups of spot welding mechanical arms and a welding mechanical arm, wherein the support plate can move in the feeding direction, the tool is arranged on the support plate and used for clamping fixed workpieces, the clamping mechanical arms are used for placing movable workpieces on the fixed workpieces in a one-to-one correspondence mode, the spot welding mechanical arms are used for performing at least preliminary spot welding on two adjacent workpieces with welding relations simultaneously in a one-to-one correspondence mode, and the welding mechanical arms are used for welding the fixed workpieces and the movable workpieces after spot welding is completed;

the clamping mechanical arm is used for loosening the corresponding movable workpiece after the spot welding mechanical arm at least completes primary spot welding;

the spot welding mechanical arm is used for relatively fixing the movable workpiece and the fixed workpiece which are loosened by the clamping mechanical arm through preliminary spot welding.

Preferably, the welding mechanical arm comprises a cantilever assembly, a rotating block arranged on the cantilever assembly and having one end capable of rotating around a first axis, and a mechanical arm body arranged at the other end of the rotating block and capable of rotating around a second axis;

the first axis and the second axis are at an angle to each other;

the cantilever assembly is used for driving the mechanical arm body to linearly move along the horizontal direction and/or linearly move along the vertical direction and/or rotate in the vertical plane.

More preferably, the cantilever assembly comprises a supporting shaft extending along the vertical direction, a liftable mounting seat arranged on the supporting shaft, and a movable arm capable of moving along the length extending direction of the movable arm, wherein the movable arm can be rotatably connected to the mounting seat around a horizontal third axis, and the rotating block is arranged at one end of the movable arm.

Still further preferably, the cantilever assembly further comprises a guide slot rotatably connected to the mounting base about the third axis, and the movable arm is movably disposed in the guide slot along the extending direction of the length of the movable arm.

Still further preferably, the cantilever assembly further includes a nut connecting member disposed on the guide groove, a screw rod capable of rotating around the axis line direction of the cantilever assembly and disposed in the nut connecting member in a penetrating manner, and a first motor connected to the movable arm and used for driving the screw rod to rotate.

Preferably, the device further comprises a guide rail extending along the feeding direction, a rack arranged on the guide rail, and a second motor arranged on the carrier plate, wherein the carrier plate is movably arranged on the guide rail, and the second motor comprises a driving gear meshed with the rack.

Preferably, the device is still including being used for right the movable workpiece carries out the positioning mechanism who fixes a position, positioning mechanism includes the slope panel, a plurality of rolling protruding locates respectively bearing on the slope panel, the slope panel includes the board body, locates first apex angle, the protruding locating of the board body minimum point department spacing on two edges of first apex angle, two spacing mutually becomes the angle with the horizontal plane respectively.

Preferably, the spot welding mechanical arm is used for performing spot welding on two sides of a welding seam and/or two ends of the welding seam of two adjacent workpieces in a welding relation in a one-to-one correspondence manner.

Preferably, the clamping mechanical arm, the spot welding mechanical arm and the welding mechanical arm are arranged in sequence along a feeding direction.

A high-precision assembly welding method realized by any one of the high-precision assembly welding devices,

fixing a fixed workpiece on a tool, placing movable workpieces on the fixed workpiece in a one-to-one correspondence manner through at least two groups of clamping mechanical arms, performing at least preliminary spot welding on two adjacent workpieces with a welding relation through a plurality of groups of spot welding mechanical arms in a one-to-one correspondence manner, and finally welding the fixed workpiece and the movable workpieces after spot welding is completed through the welding mechanical arms;

after the spot welding mechanical arm at least completes initial spot welding, the clamping mechanical arm loosens the corresponding movable workpiece;

Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages: according to the high-precision assembly welding device and the assembly welding method, the tool is only used for clamping and fixing the workpiece, the structure is simple, and the cost is low; firstly, placing movable workpieces on fixed workpieces in a one-to-one correspondence manner through at least two groups of clamping mechanical arms, arranging the fixed workpieces and the movable workpieces in pairs according to forming positions, performing at least preliminary spot welding on two adjacent workpieces with welding relations simultaneously and in one-to-one correspondence manner through a plurality of groups of spot welding mechanical arms to relatively fix the movable workpieces and the fixed workpieces which are loosened by the clamping mechanical arms, and finally welding the fixed workpieces and the movable workpieces after the spot welding is completed through the welding mechanical arms, wherein the clamping mechanical arms and the spot welding mechanical arms are respectively far away from the workpieces when the welding mechanical arms are welded so as to avoid interference on the welding mechanical arms; because the workpieces are synchronously subjected to primary spot welding, the problem that the precision is lower due to the fact that the movable workpieces are subjected to spot welding one by one can be solved.

Drawings

FIG. 1 is a schematic structural diagram of an assembly welding apparatus according to an embodiment of the present invention;

FIG. 2 is an enlarged schematic view of A of FIG. 1;

FIG. 3 is an enlarged schematic view of B of FIG. 1;

fig. 4 is an enlarged schematic view of C in fig. 1.

Wherein: 1. a carrier plate; 2. clamping the mechanical arm; 3. spot welding mechanical arms; 4. welding a mechanical arm; 41. rotating the block; 42. a mechanical arm body; 43. a support shaft; 44. a mounting seat; 45. a movable arm; 46. a guide groove; 47. a screw rod; 48. a first motor; 5. a guide rail; 6. a rack; 7. a second motor; 8. a positioning mechanism; 81. an inclined panel; 82. a bearing; 83. and (5) a limiting strip.

Detailed Description

The technical solution of the present invention is further explained below with reference to the specific embodiments and the accompanying drawings.

Referring to fig. 1-4, the present embodiment provides a high-precision assembly welding apparatus, which includes two parallel guide rails 5 arranged at intervals, a carrier plate 1 arranged on the guide rails 5 and capable of sliding along a length direction of the guide rails 5, a tooling arranged on the carrier plate 1, and a welding robot arm 4 arranged between the two guide rails 5. The guide rail 5 is parallel to the feeding direction, and the welding robot 4 is located at the middle position of the guide rail 5 along the length direction thereof.

The fixture (not shown in the figure) is replaced according to fixed workpieces with different structures, and is fixed on the carrier plate 1 through a fixing piece. And the tool is provided with a cylinder clamp for clamping and fixing the workpiece.

Referring to fig. 1, four ends of two guide rails 5 are respectively provided with a plurality of gripping robots 2 (only one is shown), a plurality of spot welding robots 3 (only one is shown), and a positioning mechanism 8.

Referring to fig. 2, the positioning mechanism 8 is used for positioning a movable workpiece, and in the present embodiment, the positioning mechanism 8 includes an inclined panel 81 arranged in a rectangular shape, and a plurality of bearings 82 protruding from the inclined panel 81 and rolling on the inclined panel. The bearings 82 are bull's-eye bearings, and have the same height of projection on the upper surface of the inclined plate 81.

The inclined panel 81 comprises a panel body, a first vertex angle arranged at the lowest point of the panel body, and limiting strips 83 convexly arranged on two edges of the first vertex angle, wherein the angle formed by the two limiting strips 83 is the same as the angle of the first vertex angle and is 90 degrees, and the two limiting strips 83 form angles with the horizontal plane respectively.

Through the arrangement, after the movable workpiece rolls downwards on the inclined panel 81 to a proper position, two edges of the movable workpiece respectively abut against the two limiting strips 83, so that the movable workpiece is positioned. And then the movable workpiece is adsorbed and clamped to the set position on the fixed workpiece through the clamping mechanical arm 2.

Referring to fig. 3, the high-precision assembly welding device further includes a rack 6 disposed on the guide rail 5, and a second motor 7 disposed on the carrier plate 1. In the embodiment, the rack 6 is disposed inside the guide rail 5 in parallel, the main body of the second motor 7 is located above the carrier plate 1, the output shaft of the second motor 7 is located below the carrier plate 1, and the end of the output shaft of the second motor 7 is provided with a driving gear engaged with the rack 6. The carrier plate 1 is driven to reciprocate on the guide rails 5 by a second motor 7.

By this arrangement, the carrier plate 1 can be reciprocated between the end of the guide rail 5 and the middle of the guide rail 5 to effect spot welding and soldering of the work pieces. The feeding time of the four ends of the two guide rails 5 is staggered, so that the welding mechanical arm 4 is always in a working state, and the welding efficiency can be further improved.

Referring to fig. 4, the welding robot arm 4 includes a cantilever assembly, a rotating block 41 disposed on the cantilever assembly and having one end capable of rotating around a first axis, and a robot arm body 42 disposed on the other end of the rotating block 41 and capable of rotating around a second axis. The first axis and the second axis are at an angle to each other, and in fig. 4, the first axis is perpendicular to the left end surface of the rotating block 41, and the second axis is perpendicular to the right end surface of the rotating block 41.

Referring to fig. 4, the cantilever assembly includes a supporting shaft 43 extending in a vertical direction, a mounting base 44 disposed on the supporting shaft 43 and capable of being lifted, a guiding groove 46 rotatably connected to the mounting base 44 around a horizontal third axis, and a movable arm 45 movably disposed in the guiding groove 46 along a length extending direction thereof.

A nut connecting piece (not shown) is arranged in the guide groove 46, a first motor 48 is arranged at the other end of the movable arm 45, a screw rod 47 capable of rotating around the axis line direction of the nut connecting piece is arranged in the nut connecting piece, and the first motor 48 is used for driving the screw rod 47 to rotate so as to drive the movable arm 45 to reciprocate in the guide groove 46. The screw 47, the movable arm 45, and the guide groove 46 are parallel to each other.

The boom assembly is used to drive the robot arm body 42 to move linearly in the vertical direction, and to move linearly along the length of the movable arm 45, and to rotate in the vertical plane. Because the welding positions between the movable workpiece and the fixed workpiece and between every two movable workpieces are different, and the positions to be welded sent from the four ends of the two guide rails 5 are different, the welding mechanical arm 4 is arranged, so that a welding dead angle does not exist basically, and the workpieces can be welded efficiently.

Referring to fig. 1, the clamping robot 2, the spot welding robot 3, and the welding robot 4 are arranged at intervals in sequence along the feeding direction.

Taking one end of the guide rail 5 as an example:

the at least two groups of clamping mechanical arms 2 are used for sequentially and correspondingly placing the movable workpieces on the positioning mechanism 8 on the fixed workpieces one by one, and after the movable workpieces are placed, the fixed workpieces and the movable workpieces are arranged in pairs according to forming positions;

the multiple groups of spot welding mechanical arms 3 are used for carrying out at least preliminary spot welding on two adjacent workpieces with a welding relation simultaneously and in a one-to-one correspondence manner, wherein the two adjacent workpieces refer to a position between a fixed workpiece and a movable workpiece which are adjacent and have a welding relation and a position between a movable workpiece and a fixed workpiece which are adjacent and have a welding relation; the preliminary spot welding means that at least one welding spot is formed between two adjacent workpieces with a welding relation, and the workpieces are synchronously spot-welded pairwise, so that the problem of low precision caused by spot-welding movable workpieces one by one can be solved;

after spot welding is completed, the fixed workpiece and the movable workpiece are completely welded through the welding mechanical arm 4, and the workpiece is respectively kept away from the clamping mechanical arm 2 and the spot welding mechanical arm 3, so that interference on the welding mechanical arm 4 is avoided.

The spot welding robot arm 3 is configured to enable the movable workpiece and the fixed workpiece, which are released by the clamping robot arm 2, to be relatively fixed by the preliminary spot welding.

The spot welding mechanical arm 3 is used for performing spot welding on two sides of a welding seam and/or two ends of the welding seam of two adjacent workpieces with a welding relation in a one-to-one correspondence manner. The operation of spot-welding both sides of the weld and/or both ends of the weld, respectively, may also be included in the step of preliminary spot-welding. Through this point of welding step, can further guarantee by welding firm degree and stability of being connected between two liang of work pieces, can prevent welding deformation.

The following specifically explains the working process of this embodiment:

taking one end of the guide rail 5 as an example:

fixing a fixed workpiece on a tool, driving a carrier plate 1 to move to a position between a clamping mechanical arm 2 and a spot welding mechanical arm 3 along a feeding direction, and sequentially and correspondingly placing movable workpieces on the fixed workpiece one by one through at least two groups of clamping mechanical arms 2 so that the fixed workpiece and the movable workpieces are arranged in pairs according to forming positions;

then, at least performing primary spot welding on two adjacent workpieces with a welding relation by a plurality of groups of spot welding mechanical arms 3 in a one-to-one correspondence mode, and after the spot welding is completed, respectively keeping the clamping mechanical arm 2 and the spot welding mechanical arms 3 away from the carrier plate 1;

and driving the carrier plate 1 to move to a welding mechanical arm 4 along the feeding direction, and welding the fixed workpiece and the movable workpiece after spot welding is finished by the welding mechanical arm 4.

The above-mentioned embodiments are merely illustrative of the technical idea and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the scope of the present invention.

Claims

1. The utility model provides a high accuracy assembly welding device which characterized in that: the spot welding machine comprises a support plate, a tool, at least two groups of clamping mechanical arms, a plurality of groups of spot welding mechanical arms and a welding mechanical arm, wherein the support plate can move in the feeding direction, the tool is arranged on the support plate and used for clamping fixed workpieces, the clamping mechanical arms are used for placing movable workpieces on the fixed workpieces in a one-to-one correspondence manner, the spot welding mechanical arms are used for performing at least preliminary spot welding on two adjacent workpieces with welding relations simultaneously in a one-to-one correspondence manner, and the welding mechanical arms are used for welding the fixed workpieces and the movable workpieces after spot welding is completed;

2. A high-precision assembling and welding apparatus according to claim 1, characterized in that: the welding mechanical arm comprises a cantilever assembly, a rotating block and a mechanical arm body, wherein one end of the rotating block can rotate around a first axis and is arranged on the cantilever assembly, and the mechanical arm body can rotate around a second axis and is arranged at the other end of the rotating block;

the first axis and the second axis are at an angle to each other;

3. A high-precision assembling and welding apparatus according to claim 2, characterized in that: the cantilever assembly comprises a supporting shaft extending along the vertical direction, a liftable mounting seat arranged on the supporting shaft and a movable arm capable of moving along the length extending direction of the movable arm, the movable arm can be rotatably connected to the mounting seat around a third axis of the horizontal shaft, and the rotary block is arranged at one end of the movable arm.

4. A high-precision assembling and welding apparatus according to claim 3, characterized in that: the cantilever assembly further comprises a guide groove which can rotate around the third axis and is connected to the mounting seat, and the movable arm can be movably arranged in the guide groove along the length extending direction of the movable arm.

5. A high-precision assembly welding device according to claim 4, characterized in that: the cantilever assembly further comprises a nut connecting piece arranged on the guide groove, a screw rod arranged in the nut connecting piece in a penetrating mode and capable of rotating around the axis direction of the screw rod, and a first motor connected to the movable arm and used for driving the screw rod to rotate.

6. A high-precision assembling and welding apparatus according to claim 1, characterized in that: the device still includes along the guide rail that the pay-off direction extends, locates rack on the guide rail, locate second motor on the support plate, the support plate activity is located on the guide rail, the second motor include with rack toothing's driving gear.

7. A high-precision assembling and welding apparatus according to claim 1, characterized in that: the device is characterized by further comprising a positioning mechanism used for positioning the movable workpiece, wherein the positioning mechanism comprises an inclined panel and a plurality of convex bearings which are respectively arranged in a rolling mode, the inclined panel comprises a panel body, a first top angle at the lowest point of the panel body and a convex limiting strip arranged on two edges of the first top angle, and the limiting strips form angles with the horizontal plane respectively.

8. A high-precision assembling and welding apparatus according to claim 1, characterized in that: the spot welding mechanical arm is used for carrying out spot welding on two sides of a welding line and/or two ends of the welding line of two adjacent workpieces with a welding relation in a one-to-one correspondence mode.

9. A high-precision assembling and welding apparatus according to claim 1, characterized in that: the clamping mechanical arm, the spot welding mechanical arm and the welding mechanical arm are sequentially arranged along the feeding direction.

10. A high-precision assembly welding method achieved by the high-precision assembly welding device according to any one of claims 1 to 9, characterized in that: