CN113814728A - Automatic change equipment welded workpiece equipment - Google Patents

Automatic change equipment welded workpiece equipment Download PDF

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Publication number
CN113814728A
CN113814728A CN202111081761.0A CN202111081761A CN113814728A CN 113814728 A CN113814728 A CN 113814728A CN 202111081761 A CN202111081761 A CN 202111081761A CN 113814728 A CN113814728 A CN 113814728A
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CN
China
Prior art keywords
work piece
positioning
workpiece
robot
base
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111081761.0A
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Chinese (zh)
Inventor
林炳强
李绪钦
刘镜钊
霍锦添
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong LXD Robotics Co Ltd
Original Assignee
Guangdong LXD Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong LXD Robotics Co Ltd filed Critical Guangdong LXD Robotics Co Ltd
Priority to CN202111081761.0A priority Critical patent/CN113814728A/en
Publication of CN113814728A publication Critical patent/CN113814728A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04Sorting according to size
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34Sorting according to other particular properties
    • B07C5/342Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras

Abstract

The utility model provides an automatic change equipment welding work piece equipment, which comprises a workbench, a machine support, table surface is last to be equipped with the first transfer chain of placing first work piece, and the second transfer chain of placing the second work piece, table surface is last still to be equipped with to press from both sides the first robot of getting first work piece, and press from both sides the mechanism of carrying of getting the second work piece, table surface is last still to be equipped with the second robot, be equipped with welder on the second robot, and the detector of detecting second work piece and check condition, the detector, welder is connected with the cooperation of second robot part respectively, table surface is last still to be equipped with grinding machanism, be equipped with laser marking mechanism in the frame, and detect the vision camera mechanism of first work piece and check condition. The automatic workpiece assembling and welding equipment has multiple working procedure functions through the equipment, integrates the processes of detection, assembly, welding, polishing, laser marking and the like, and has high integration level and high space utilization rate.

Description

Automatic change equipment welded workpiece equipment
Technical Field
The invention relates to a welding workpiece device, in particular to an automatic assembly welding workpiece device.
Background
In recent years, domestic automatic conveying welding equipment is developed rapidly, but is limited by cost and technology, most equipment is simple fixed welding equipment, products with low assignment do not require strict combination welding precision, and the requirement on production is sufficient in performance.
Other manufacturers, such as the welding equipment provided by the applicant, have advantages in performance because the welding equipment includes weld tracking, but the assembly deviation caused by the dimensional deviation of the supplied materials is difficult to correct, so that the equipment is still difficult to meet the requirements of high-precision assembly welding, and therefore, the applicant is also actively developing assembly welding technology equipment for meeting the requirements of high-precision assembly welding.
Research and development personnel of the applicant mainly adopt manual spot welding in the process of assembly welding (such as golf head welding) of metal products requiring high precision at present, so that the labor intensity of workers is high, the welding precision is low, and the yield is low. Therefore, new equipment technology is urgently needed to improve the production efficiency. Because the product material is mostly die casting and forging, the supplied materials have certain deformation and dimensional deviation.
Disclosure of Invention
The invention aims to provide automatic workpiece assembling and welding equipment which has multiple working procedure functions, integrates the processes of detection, assembly, welding, polishing, laser marking and the like, and has high integration level and high space utilization rate so as to overcome the defects in the prior art.
The automatic workpiece assembling and welding equipment designed according to the purpose comprises a working table surface and a frame, wherein a first conveying line for placing a first workpiece and a second conveying line for placing a second workpiece are arranged on the working table surface, a first robot for clamping the first workpiece and a transfer mechanism for clamping the second workpiece are also arranged on the working table surface, a second robot is also arranged on the working table surface, a welding gun and a detector for detecting the condition of the second workpiece and the condition of the grid are arranged on the second robot, the detector and the welding gun are respectively matched and connected with the second robot, a polishing mechanism is also arranged on the working table surface, a laser marking mechanism and a visual photographing mechanism for detecting the condition of the first workpiece and the condition of the grid are arranged on the frame, through the aforesaid set up equipment and have the multiple operation function concurrently, collect and detect, the equipment, welding and polish, radium-shine technique such as beating is as an organic whole, and the integrated level is high, and space utilization is high.
The second robot is provided with a connecting seat which is connected with the welding gun and the detector in a matched mode, the bottom of the connecting seat is provided with a connecting plate, the detector is partially fixed on the connecting plate, the bottom of the connecting plate is provided with a circuit box for arranging circuits of the welding gun and the detector, the bottom of the circuit box is provided with a fixed base, the welding gun is connected with the fixed base in a matched mode, and a blowing fixed base is arranged between the welding gun and the fixed base. The second robot drives and moves to the second transfer chain through the detector on, then whether the detector detects the second work piece and passes, if pass move the mechanism and just snatch the second work piece, effectively improve the welding precision of equipment between the work piece, can realize between the work piece after the assembly welding, product size error is within 0.1 mm.
The grinding mechanism comprises a supporting base provided with a rotating shaft, and a grinding wheel is arranged on the rotating shaft; the supporting base is provided with a rotating shaft fixing seat, a bearing is arranged on the rotating shaft fixing seat, the rotating shaft penetrates through the rotating shaft fixing seat and is inserted into the bearing, a dustproof check ring is arranged at an opening of the rotating shaft fixing seat, a fixing groove for installing an oil seal is formed in the dustproof check ring, a shaft sleeve, a front check ring and a rear check ring are arranged on the rotating shaft, the shaft sleeve, the front check ring, the rear check ring and the oil seal are all sleeved on the rotating shaft, a grinding wheel is located between the front check ring and the rear check ring, and the rear check ring is in contact with the shaft sleeve.
The transfer mechanism comprises a support column, a bearing plate arranged on the support column, and a transverse motion platform arranged on the bearing plate, and further comprises a lifting platform and a grabbing part in matched connection with the lifting platform, wherein a clamping groove is formed in the grabbing part, a transverse motion structure is arranged between the lifting platform and the transverse motion platform, and the grabbing part on the lifting platform reciprocates along the transverse motion platform through the transverse motion structure; the lifting platform is provided with a lifting structure connected with the grabbing part, and the grabbing part moves up and down along the lifting platform through the lifting structure; an elastic telescopic movable structure is arranged between the grabbing part and the lifting structure part, and the transfer mechanism grabs the second workpiece through the lifting platform, the transverse moving platform and the grabbing part.
The first conveying line comprises a first support body for supporting a first conveying platform, the first support body is arranged on a workbench surface through a sliding block and a sliding rail in a reciprocating mode, a plurality of positioning bases are arranged on the first conveying platform, the positioning bases are provided with positioning supporting columns matched with the positioning bases for placing first workpieces, clamping structures for clamping the first workpieces are arranged on the positioning bases, valves for controlling the clamping structures to start are further arranged on the positioning bases, and accommodating cavities for placing assembled welding workpieces are formed in one sides of the positioning bases.
Two-layer setting about first transfer chain, second transfer chain are, are equipped with the blend stop on the holding chamber outside, and the second transfer chain is including the second support body that supports the second and carry the platform, and the second support body passes through slider, slide rail reciprocating motion and sets up on table surface, and the second is carried the bench and is equipped with the storage tank that the second work piece was placed to a plurality of.
The working table surface is also provided with a secondary positioning mechanism for carrying out secondary positioning on the first workpiece; the secondary positioning mechanism comprises a first supporting seat and a fixing plate fixedly connected with the first supporting seat, a first positioning column and an elastically telescopic insertion shaft are arranged on the fixing plate, a hole site matched with the insertion shaft is arranged on the first workpiece, the secondary positioning mechanism further comprises a swing air cylinder, and a cylinder body of the swing air cylinder is movably connected with the part of the fixing plate; a swing plate is arranged between the piston rod of the swing cylinder and the other part of the fixed plate, a second positioning column is arranged on the swing plate, and the swing plate part is connected with the piston rod of the swing cylinder in a matching way; the other part of the swinging plate is movably connected with the other part of the fixed plate, a piston rod of the swinging cylinder drives a second positioning column of the swinging plate to be far away from or close to the first positioning column, and the second positioning column is close to the first positioning column to form a first fixing area for fixing a first workpiece; or the secondary positioning mechanism comprises a second supporting base and a positioning plate elastically and telescopically arranged on the second supporting base, an L-shaped first positioning block and a second positioning block are arranged on the positioning plate, a positioning inclined plane is arranged on the second positioning block, and a second fixing area for fixing the first workpiece is formed between the positioning inclined plane of the second positioning block and the L-shaped first positioning block.
The working table is provided with a discharge groove for placing the failed work pieces, the bottom of the working table is provided with a working table base for placing electrical elements, gas circuits and circuit line pipes, and the working table base is provided with a failed work piece accommodating cavity corresponding to the discharge groove. The first robot grabs a first workpiece and moves to the visual photographing mechanism, the visual photographing mechanism identifies whether the surface of the first workpiece is qualified or not and transmits information to the control system on the equipment, the control system compares data input by the welding process with the information transmitted by the visual photographing mechanism, the control system judges whether the first workpiece is qualified or not, and if the first workpiece is qualified, the first robot grabs the first workpiece to the assembly welding position; if the first workpiece is not in the acceptable range, the first robot grabs the first workpiece to the discharge groove.
The automatic assembly welding workpiece equipment also comprises a laser welding machine matched with a second robot welding gun, wherein an electromagnetic valve group matched with an electrical element is arranged on the working table surface, a protective cover is arranged on the periphery of the electromagnetic valve group, the protective cover plays a protective role, and a heat dissipation notch is formed in the protective cover; a wiring section bar is arranged between the laser welding machine and the workbench base, and a wiring groove is arranged on the wiring section bar.
An inner supporting clamp structure for clamping a first workpiece is arranged on the first robot; the auxiliary mechanism is arranged in the blanking direction of the workbench corresponding to the assembly welding workpiece and comprises an auxiliary mechanism supporting seat, a loosening cylinder and a loosening positioning block are arranged on the auxiliary mechanism supporting seat, a loosening clamping block is arranged at one end of a loosening cylinder piston rod and is connected with the loosening cylinder piston rod in a matched mode, and the loosening cylinder piston rod drives the loosening clamping block to be close to or far away from the loosening positioning block.
The invention has the following beneficial effects:
be equipped with the vision camera mechanism of surveying first work piece and check condition in the frame, vision camera mechanism is the 3D camera, be equipped with the detector that detects second work piece and check condition on the second robot, the detector possesses the range finding, detect second work piece thickness and calculate the function of second work piece radian, so this equipment has the characteristics that utilize ccd vision detector and high accuracy sensor to measure product precision and positional information, equipment has the multiple operation function concurrently, the collection detects, the equipment, welding and polishing, radium-shine mark technology of beating etc. is as an organic whole, the integrated level is high, space utilization is high, still utilize the accurate equipment product of vision guide robot, use the accurate equipment of 3D vision and robot communication and welding product.
The detection is firstly carried out before the first workpiece and the second workpiece are welded and assembled, the workpieces which fail to meet the requirements are eliminated, and the product size error is within 0.1mm after the workpieces are assembled and welded.
The equipment can be compatible with products of various models and products of different materials (titanium alloy and stainless steel).
The design principle of the equipment can be applied to the fields of automatic equipment for carrying, assembling, detecting, welding and the like of golf heads of the same type or metal products.
In conclusion, the equipment is multifunctional intelligent assembling and welding equipment with high integration level, can meet the process requirements and application of product assembling and welding, and reduces the cost relatively.
Drawings
Fig. 1 is a schematic perspective view of an apparatus for automatically assembling and welding workpieces according to an embodiment of the present invention.
FIG. 2 is a schematic view of another orientation structure of an apparatus for automatically assembling and welding workpieces according to an embodiment of the present invention.
FIG. 3 is a schematic structural diagram of a hidden dust cover of an apparatus for automatically assembling and welding workpieces according to an embodiment of the present invention.
Fig. 4 is a schematic perspective view of a work table according to an embodiment of the present invention.
Fig. 5 is a schematic perspective view of a first robot according to an embodiment of the present invention.
Fig. 6 is a schematic perspective view of a second robot according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a welding gun and a detector on a second robot according to an embodiment of the invention.
Fig. 8 is a schematic structural view of a polishing mechanism according to an embodiment of the present invention.
Fig. 9 is a schematic cross-sectional structure view of a polishing mechanism according to an embodiment of the invention.
Fig. 10 is a schematic structural diagram of one scheme of a secondary positioning mechanism according to an embodiment of the present invention.
Fig. 11 is a schematic structural diagram of an auxiliary mechanism according to an embodiment of the present invention.
Fig. 12 is a schematic structural view of another embodiment of a secondary positioning mechanism according to an embodiment of the present invention.
Fig. 13 is another schematic view of an orientation structure of another aspect of the secondary positioning mechanism according to an embodiment of the present invention.
Fig. 14 is a schematic structural diagram of a transfer mechanism according to an embodiment of the present invention.
Fig. 15 is a schematic structural view illustrating the transferring mechanism grabbing the workpiece for welding according to an embodiment of the present invention.
Fig. 16 is a schematic structural diagram of a laser marking mechanism according to an embodiment of the present invention.
Fig. 17 is a schematic structural diagram of a visual camera mechanism according to an embodiment of the invention.
Fig. 18 is a schematic structural diagram of a first conveying line part according to an embodiment of the invention.
Fig. 19 is a schematic structural diagram of a second conveying line part according to an embodiment of the invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
Referring to fig. 1-3, an automatic assembly welding workpiece device comprises a working table 1 and a frame 2, wherein a first conveyor line 3 for placing a first workpiece and a second conveyor line 4 for placing a second workpiece are arranged on the working table 1, a first robot 5 for clamping the first workpiece and a transfer mechanism 6 for clamping the second workpiece are further arranged on the working table 1, a second robot 7 is further arranged on the working table 1, a welding gun and a detector 8 for detecting the condition of the second workpiece and the condition of the second workpiece are arranged on the second robot 7, the detector 8 and the welding gun are respectively matched and connected with the second robot 7, a polishing mechanism 9 is further arranged on the working table 1, and a laser marking mechanism 10 and a vision photographing mechanism 11 for detecting the condition of the first workpiece and the condition of the first workpiece are arranged on the frame 2.
In this embodiment, the frame 2 is provided with a plurality of plate bodies forming a dust cover, a hinge is provided between a part of the plate bodies and the frame 2, and a part of the plate bodies is opened and closed and disposed on the frame 2. Part of the plate body is transparent; or, a part of the plate body is provided with an observation window.
In this embodiment, the first workpiece is a golf club head provided with an insertion hole or a golf club head shaft without an insertion hole, and the second workpiece is a cover assembled with the first workpiece.
In this embodiment, the laser marking mechanism 10 includes a laser marking head, the laser marking mechanism 10 is fixed on the frame 2 by a first mounting plate, the vision photographing mechanism 11 is a 3D camera, and the vision photographing mechanism 11 is fixed on the frame 2 by a second mounting plate.
Referring to fig. 6 and 7, a connecting seat 36 for connecting the welding gun and the detector 8 in a matching manner is arranged on the second robot 7, a connecting plate 37 is arranged at the bottom of the connecting seat 36, the detector 8 is partially fixed on the connecting plate 37, a circuit box 38 for arranging circuits of the welding gun and the detector 8 is arranged at the bottom of the connecting plate 37, a fixing base 39 is arranged at the bottom of the circuit box 38, the welding gun is connected with the fixing base 39 in a matching manner, and a blowing fixing base is arranged between the welding gun and the fixing base 39. The second robot 7 is partially connected to the connecting socket 36.
Referring to fig. 8 and 9, the grinding mechanism 9 includes a supporting base 41 provided with a rotating shaft 40, and a grinding wheel 42 is provided on the rotating shaft 40; the supporting base 41 is provided with a rotating shaft fixing seat 43, the rotating shaft fixing seat 43 is provided with a bearing, the rotating shaft 40 penetrates through the rotating shaft fixing seat 43 and is inserted into the bearing, the opening of the rotating shaft fixing seat 43 is provided with a dustproof check ring 44, the dustproof check ring 44 is provided with a fixing groove for installing an oil seal 45, the rotating shaft 40 is provided with a shaft sleeve, a front check ring and a rear check ring, the shaft sleeve, the front check ring, the rear check ring and the oil seal 45 are all sleeved on the rotating shaft 40, the grinding wheel 42 is located between the front check ring and the rear check ring, and the rear check ring is in contact with the shaft sleeve.
Referring to fig. 14 and 15, the transfer mechanism 6 includes a support column 30, a support plate 31 disposed on the support column 30, and a transverse moving platform 32 disposed on the support plate 31, the transfer mechanism 6 further includes a lifting platform 33, and a grabbing portion 34 connected to the lifting platform 33 in a matching manner, the grabbing portion 34 is provided with a clamping groove 35, a transverse moving structure is disposed between the lifting platform 33 and the transverse moving platform 32, and the grabbing portion 34 on the lifting platform 33 reciprocates along the transverse moving platform 32 through the transverse moving structure; the lifting platform 33 is provided with a lifting structure connected with the grabbing part 34, and the grabbing part 34 moves up and down along the lifting platform 33 through the lifting structure; an elastic telescopic moving structure is arranged between the grabbing part 34 and the lifting structure part.
In this embodiment, the transverse movement structure and the lifting structure can adopt a motor, a screw rod and a nut movable block matched with the screw rod in the prior art.
With reference to fig. 1-3, see fig. 18, the first conveying line 3 and the second conveying line 4 are arranged in two layers, the two layers of the first conveying line 3 include a first frame body for supporting the first conveying table 46, the first frame body passes through a sliding block, the sliding rail is arranged on the working table 1 in a reciprocating manner, the first conveying table 46 is provided with a plurality of positioning bases 47, the positioning bases 47 are provided with positioning pillars 49 for placing first workpieces in a matching manner, the positioning bases 47 are provided with clamping structures for clamping the first workpieces, the positioning bases 47 are further provided with valves 48 for controlling the starting of the clamping structures, and one side of each positioning base 47 is provided with a containing cavity 50 for placing assembled welding workpieces.
Referring to fig. 18, a barrier strip 51 is disposed on the outer side of the accommodating cavity 50.
Referring to fig. 19, the upper layer and the lower layer of the second conveying line 4 both include second frame bodies supporting the second conveying table 52, the second frame bodies are arranged on the working table 1 through the sliding blocks and the sliding rails in a reciprocating manner, and the second conveying table 52 is provided with a plurality of accommodating grooves 53 for accommodating second workpieces.
Referring to fig. 1-3, the working table 1 is further provided with a secondary positioning mechanism 12 for performing secondary positioning on the first workpiece, and because the position of the first workpiece is approximate but not accurate when the robot takes the material from the feeding table, the secondary positioning mechanism 12 performs secondary positioning.
Referring to fig. 12 and 13, the secondary positioning mechanism 12 includes a first supporting seat 18 and a fixing plate 19 fixedly connected with the first supporting seat 18, the fixing plate 19 is provided with a first positioning column 20 and an elastically telescopic insertion shaft 21, the first workpiece is provided with a hole site matched with the insertion shaft 21, the secondary positioning mechanism 12 further includes a swing cylinder 22, and a cylinder body of the swing cylinder 22 is movably connected with a part of the fixing plate 19; a swing plate 23 is arranged between the piston rod of the swing cylinder 22 and the other part of the fixed plate 19, a second positioning column 24 is arranged on the swing plate 23, and the swing plate 23 is matched and connected with the piston rod of the swing cylinder 22; the other part of the swing plate 23 is movably connected with the other part of the fixed plate 19, the piston rod of the swing cylinder 22 drives the second positioning column 24 of the swing plate 23 to be far away from or close to the first positioning column 20, and the second positioning column 24 is close to the first positioning column 20 to form a first fixing area for fixing a first workpiece.
In this embodiment, the first workpiece may be a golf head with a jack, after the first workpiece (golf head) is taken out from the feeding table by the first robot 5, the first workpiece (golf head) is placed on the inserting shaft 21, the first robot 5 loosens the clamp, the swing cylinder 22 drives the swing plate 23 and the second positioning column 24 to rotate to a fixed position (the second positioning column 24 is close to the first positioning column 20), a first fixed area of the golf head is formed between the second positioning column 24 and the first positioning column 20, so that the position of the irregular golf head is fixed, and the positioning is more accurate.
In this embodiment, an insertion shaft base is disposed between the fixing plate 19 and the insertion shaft 21, a slot for placing a compression spring is disposed on the fixing plate 19, a guide portion is disposed at the bottom of the insertion shaft base, and the compression spring is sleeved on the guide portion to elastically extend and retract the insertion shaft 21.
Referring to fig. 10, alternatively, the secondary positioning mechanism 12 includes a second supporting base 25 and a positioning plate 26 elastically and telescopically disposed on the second supporting base 25, the positioning plate 26 is provided with an L-shaped first positioning block 27 and a second positioning block 28, the second positioning block 28 is provided with a positioning inclined surface 29, and a second fixing area for fixing the first workpiece is formed between the positioning inclined surface 29 of the second positioning block 28 and the L-shaped first positioning block 27.
In this embodiment, the first workpiece may be a golf club shaft without a socket, the first robot 5 takes a golf club shaft without a socket from the loading table and puts it on the second fixing area, the first robot 5 releases the jig, and the golf club shaft without a socket is positioned according to the positioning slope 29, so that the position of the irregular golf club shaft is fixed.
In this embodiment, a pad assembly is disposed between the second support base 25 and the positioning plate 26, the pad assembly includes a first pad and a second pad, a spring base for fixing the spring is disposed between the first pad and the second pad, the first pad is fixedly connected to the second support base 25, and the second pad is fixedly connected to the positioning plate 26.
Referring to fig. 4 in combination with fig. 1-3, a material discharge groove 13 for placing the defective work pieces is arranged on the working table 1, a working table base 14 for placing electrical components, gas circuits and circuit line pipes is arranged at the bottom of the working table 1, and the working table base 14 is provided with a defective work piece accommodating cavity corresponding to the material discharge groove 13.
In this embodiment, the holding chamber diapire is the inclined plane setting, and the work piece of being convenient for glides to the bin outlet.
With reference to fig. 1-3 and fig. 4, the automatic assembly welding equipment further includes a laser welding machine 15 cooperating with a welding gun of the second robot 7, an electromagnetic valve set cooperating with electrical components is disposed on the working table 1, a protective cover 16 is disposed on the periphery of the electromagnetic valve set, and a heat dissipation notch is disposed on the protective cover 16; a wiring section bar 17 is arranged between the laser welding machine 15 and the workbench base 14, and a wiring groove is arranged on the wiring section bar 17.
Referring to fig. 5, the first robot 5 is provided with an inner supporting clamp structure 58 for clamping a first workpiece; the inner support clamp structure 58 is disclosed in chinese patent No. CN110757333A, and its golf club head polishing device, and will not be described in detail here.
Referring to fig. 11, an auxiliary mechanism 54 is arranged on the working table 1 in the blanking direction corresponding to the assembly welding workpiece, the auxiliary mechanism 54 includes an auxiliary mechanism support seat 55, a loosening cylinder 56 and a loosening positioning block 57 are arranged on the auxiliary mechanism support seat 55, a loosening clamping block is arranged at one end of a piston rod of the loosening cylinder 56, the loosening clamping block is connected with the piston rod of the loosening cylinder 56 in a matched manner, and the piston rod of the loosening cylinder 56 drives the loosening clamping block to be close to or far away from the loosening positioning block 57.
The specific working process is as follows:
manually placing first workpieces in the upper layer and the lower layer of the first conveying line 3, manually placing second workpieces in the upper layer and the lower layer of the second conveying line 4, conveying the first workpieces to a specified position by the first conveying line 3, conveying the second workpieces to the specified position by the second conveying line 4, grabbing the first workpieces of the first conveying line 3 by the first robot 5, moving the first workpieces to the secondary positioning mechanism 12 for secondary positioning, then moving the first workpieces to the visual photographing mechanism 11 by the first robot 5, identifying whether the surfaces of the first workpieces are qualified or not by the visual photographing mechanism 11, transmitting information to a control system on the equipment, comparing the data recorded by the control system according to the welding process with the information transmitted by the visual photographing mechanism 11, judging whether the first workpieces are qualified or not by the control system, and grabbing the first workpieces to an assembly welding position by the first robot 5 if the first workpieces are qualified; if not, the first robot 5 grabs the first workpiece onto the discharge chute 13.
When the first robot 5 works, the second robot 7 drives the detector 8 to detect a second workpiece, similarly, the detector 8 transmits information to a control system on the equipment, the control system compares the data recorded by the welding process with the information transmitted by the detector 8, the control system judges whether the second workpiece is qualified or not, if the second workpiece is qualified, the transfer mechanism 6 grabs the second workpiece, then the first robot 5 drives the first workpiece to move to the second workpiece of the transfer mechanism 6, the first robot 5 assembles the first workpiece with the second workpiece, the second robot 7 drives the welding gun to weld the first workpiece and the second workpiece, after the welding is finished, the first robot 5 drives the assembled welding workpiece to move to the polishing mechanism 9 to polish, then the first robot 5 drives the assembled welding workpiece to move to the laser marking mechanism 10 to perform laser marking, and after the laser marking is finished, the first robot 5 drives the assembly welding workpiece to move to the accommodating cavity 50 of the first conveying line 3.
If the clamping degree of the first robot 5 for clamping the workpiece is large and the workpiece is not easy to loosen, the workpiece can be clamped and loosened through the loosening cylinder 56, so that the workpiece can be loosened conveniently.
The foregoing is a preferred embodiment of the present invention, and the basic principles, principal features and advantages of the invention are shown and described. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and the invention is intended to be protected by the following claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. The utility model provides an automatic change equipment welding workpiece equipment, includes table surface (1), frame (2), its characterized in that: be equipped with on table surface (1) and place first transfer chain (3) of first work piece, and place second transfer chain (4) of second work piece, still be equipped with on table surface (1) and press from both sides first robot (5) of getting first work piece, and press from both sides the year mechanism (6) of moving of getting the second work piece, still be equipped with second robot (7) on table surface (1), be equipped with welder on second robot (7), and detect detector (8) of second work piece and check condition, detector (8), welder is connected with second robot (7) part cooperation respectively, still be equipped with grinding machanism (9) on table surface (1), be equipped with laser marking mechanism (10) on frame (2), and detect vision camera mechanism (11) of first work piece and check condition.
2. The automated assembly welding workpiece apparatus of claim 1, wherein: the second robot (7) is provided with a connecting seat (36) which is connected with a welding gun and a detector (8) in a matched mode, a connecting plate (37) is arranged at the bottom of the connecting seat (36), the detector (8) is partially fixed on the connecting plate (37), a circuit box (38) for arranging circuits of the welding gun and the detector (8) is arranged at the bottom of the connecting plate (37), a fixed base (39) is arranged at the bottom of the circuit box (38), the welding gun is connected with the fixed base (39) in a matched mode, and a blowing fixed base is arranged between the welding gun and the fixed base (39).
3. The automated assembly welding workpiece apparatus of claim 1, wherein: the grinding mechanism (9) comprises a supporting base (41) provided with a rotating shaft (40), and a grinding wheel (42) is arranged on the rotating shaft (40); support pedestal (41) are equipped with pivot fixing base (43), be equipped with the bearing on pivot fixing base (43), pivot (40) run through pivot fixing base (43) and insert the bearing, be equipped with dustproof retaining ring (44) on the opening part of pivot fixing base (43), be equipped with the fixed recess of installation oil blanket (45) on dustproof retaining ring (44), be equipped with the axle sleeve on pivot (40), preceding retaining ring, back retaining ring, the axle sleeve, preceding retaining ring, back retaining ring, oil blanket (45) are all established on pivot (40), and emery wheel (42) are located preceding retaining ring, between the back retaining ring, back retaining ring and axle sleeve contact.
4. The automated assembly welding workpiece apparatus of claim 1, wherein: the transfer mechanism (6) comprises a support column (30), a bearing plate (31) arranged on the support column (30) and a transverse motion platform (32) arranged on the bearing plate (31), the transfer mechanism (6) further comprises a lifting platform (33) and a grabbing part (34) connected with the lifting platform (33) in a matched mode, a clamping groove (35) is formed in the grabbing part (34), a transverse motion structure is arranged between the lifting platform (33) and the transverse motion platform (32), and the grabbing part (34) on the lifting platform (33) reciprocates along the transverse motion platform (32) through the transverse motion structure; the lifting platform (33) is provided with a lifting structure connected with the grabbing part (34), and the grabbing part (34) moves up and down along the lifting platform (33) through the lifting structure; an elastic flexible structure is arranged between the grabbing part (34) and the lifting structure part.
5. The automated assembly welding workpiece apparatus of claim 1, wherein: first transfer chain (3) are including the first support body that supports first transport platform (46), first support body passes through the slider, slide rail reciprocating motion sets up on table surface (1), be equipped with a plurality of location base (47) on first transport platform (46), location base (47), be equipped with location pillar (49) that the first work piece was placed in the cooperation on location base (47), be equipped with the tight structure of clamp of the first work piece of clamping on location base (47), still be equipped with valve (48) that the tight structure of control clamp started on location base (47), location base (47) one side is equipped with holding chamber (50) of placing equipment welding work piece.
6. The automated assembly welding workpiece apparatus of claim 1 or 5, wherein: first transfer chain (3), second transfer chain (4) are two-layer setting from top to bottom, are equipped with blend stop (51) on holding chamber (50) outside, and second transfer chain (4) carry the second support body of platform (52) including supporting the second, and the second support body passes through slider, slide rail reciprocating motion and sets up on table surface (1), and the second is carried and is equipped with storage tank (53) that the second work piece was placed to a plurality of on platform (52).
7. The automated assembly welding workpiece apparatus of claim 1, wherein: the working table top (1) is also provided with a secondary positioning mechanism (12) for carrying out secondary positioning on the first workpiece; the secondary positioning mechanism (12) comprises a first supporting seat (18) and a fixing plate (19) fixedly connected with the first supporting seat (18), a first positioning column (20) and an elastically telescopic inserting shaft (21) are arranged on the fixing plate (19), a hole site matched with the inserting shaft (21) is arranged on a first workpiece, the secondary positioning mechanism (12) further comprises a swing cylinder (22), and a cylinder body of the swing cylinder (22) is movably connected with the fixing plate (19); a swing plate (23) is arranged between the piston rod of the swing cylinder (22) and the other part of the fixed plate (19), a second positioning column (24) is arranged on the swing plate (23), and the swing plate (23) is matched and connected with the piston rod of the swing cylinder (22); the other part of the swinging plate (23) is movably connected with the other part of the fixing plate (19), a piston rod of the swinging cylinder (22) drives a second positioning column (24) of the swinging plate (23) to be far away from or close to the first positioning column (20), and the second positioning column (24) is close to the first positioning column (20) to form a first fixing area for fixing a first workpiece; or the secondary positioning mechanism (12) comprises a second supporting base (25) and a positioning plate (26) elastically and telescopically arranged on the second supporting base (25), an L-shaped first positioning block (27) and a second positioning block (28) are arranged on the positioning plate (26), a positioning inclined plane (29) is arranged on the second positioning block (28), and a second fixing area for fixing the first workpiece is formed between the positioning inclined plane (29) of the second positioning block (28) and the L-shaped first positioning block (27).
8. The automated assembly welding workpiece apparatus of claim 1, wherein: be equipped with on table surface (1) and place row material groove (13) of failing to check work piece, table surface (1) bottom is equipped with workstation base (14) of placing electrical components, gas circuit and circuit spool, and workstation base (14) correspond row material groove (13) and are equipped with failing to check work piece holding chamber.
9. The automated assembly welding workpiece apparatus of claim 8, wherein: the laser welding machine (15) is matched with a welding gun of the second robot (7), an electromagnetic valve group matched with an electrical element is arranged on the working table top (1), a protective cover (16) is arranged on the periphery of the electromagnetic valve group, and a heat dissipation notch is formed in the protective cover (16); a wiring section bar (17) is arranged between the laser welding machine (15) and the workbench base (14), and a wiring groove is arranged on the wiring section bar (17).
10. The automated assembly welding workpiece apparatus of claim 1, wherein: an inner supporting clamp structure (58) for clamping a first workpiece is arranged on the first robot (5); the blanking direction of the corresponding assembly welding workpiece of the working table top (1) is provided with an auxiliary mechanism (54), the auxiliary mechanism (54) comprises an auxiliary mechanism supporting seat (55), a loosening cylinder (56) and a loosening positioning block (57) are arranged on the auxiliary mechanism supporting seat (55), one end of a piston rod of the loosening cylinder (56) is provided with a loosening clamping block, the loosening clamping block is matched and connected with a piston rod of the loosening cylinder (56), and the piston rod of the loosening cylinder (56) drives the loosening clamping block to be close to or far away from the loosening positioning block (57).
CN202111081761.0A 2021-09-15 2021-09-15 Automatic change equipment welded workpiece equipment Pending CN113814728A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111081761.0A CN113814728A (en) 2021-09-15 2021-09-15 Automatic change equipment welded workpiece equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111081761.0A CN113814728A (en) 2021-09-15 2021-09-15 Automatic change equipment welded workpiece equipment

Publications (1)

Publication Number Publication Date
CN113814728A true CN113814728A (en) 2021-12-21

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111081761.0A Pending CN113814728A (en) 2021-09-15 2021-09-15 Automatic change equipment welded workpiece equipment

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Country Link
CN (1) CN113814728A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114346847A (en) * 2022-03-18 2022-04-15 南通第二机床有限公司 Numerical control grinding machine for machining high-precision metal parts
CN116532985A (en) * 2023-07-05 2023-08-04 中建材(合肥)钢构科技有限公司 Steel pipe end part and conical head connection pairing device with conical head marking function

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114346847A (en) * 2022-03-18 2022-04-15 南通第二机床有限公司 Numerical control grinding machine for machining high-precision metal parts
CN116532985A (en) * 2023-07-05 2023-08-04 中建材(合肥)钢构科技有限公司 Steel pipe end part and conical head connection pairing device with conical head marking function
CN116532985B (en) * 2023-07-05 2023-09-12 中建材(合肥)钢构科技有限公司 Steel pipe end part and conical head connection pairing device with conical head marking function

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