CN114425680B - Positioning and clamping device and automatic welding equipment - Google Patents
Positioning and clamping device and automatic welding equipment Download PDFInfo
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- CN114425680B CN114425680B CN202210225206.9A CN202210225206A CN114425680B CN 114425680 B CN114425680 B CN 114425680B CN 202210225206 A CN202210225206 A CN 202210225206A CN 114425680 B CN114425680 B CN 114425680B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- Resistance Welding (AREA)
Abstract
The embodiment of the application provides a positioning and clamping device, including: the clamping mechanism comprises a first driving element, a bearing structure and two clamping structures which are oppositely arranged at intervals, wherein the first driving element drives the bearing structure to move so as to align with a workpiece, and drives the two clamping structures to relatively move so as to clamp the workpiece; the lifting mechanism is configured to drive the clamping mechanism to lift up and down so as to carry and connect the bearing structure and the workpiece; the positioning mechanism comprises a second driving element and a plurality of positioning pin pieces which are arranged at intervals in parallel, the extending direction of the positioning pin pieces is parallel to the plane where the bearing structure is located, and the second driving element drives the positioning pin pieces to move along the extending direction of the positioning pin pieces so as to perform splicing and positioning with workpieces clamped by the clamping mechanism.
Description
Technical Field
The application relates to the technical field of welding machinery, in particular to a positioning and clamping device and automatic welding equipment.
Background
Welding, also known as fusion welding, is a process and technique for joining metals or other thermoplastic materials, such as plastics, by means of heat, high temperature or high pressure. In the related art, the workpiece may be fed in the welding apparatus by a feeding mechanism or manually; in the process, the workpiece is not accurately positioned and clamped on the welding equipment all the time, and the workpiece cannot be ensured to be kept at the correct position in the welding process, so that the welding quality cannot be ensured.
Disclosure of Invention
The embodiment of the application provides a positioning and clamping device and automatic welding equipment, can carry out higher-precision positioning and clamping to the workpiece after the workpiece is fed, ensure that the workpiece is always kept at the correct position, thereby ensuring welding quality.
In one aspect, an embodiment of the present application provides a positioning and clamping device, including: the clamping mechanism comprises a first driving element, a bearing structure and two clamping structures which are oppositely arranged at intervals, wherein the first driving element drives the bearing structure to move so as to align with a workpiece, and drives the two clamping structures to relatively move so as to clamp the workpiece; the lifting mechanism is configured to drive the clamping mechanism to lift up and down so as to carry and connect the bearing structure and the workpiece; the positioning mechanism comprises a second driving element and a plurality of positioning pin pieces which are arranged at intervals in parallel, the extending direction of the positioning pin pieces is parallel to the plane where the bearing structure is located, and the second driving element drives the positioning pin pieces to move along the extending direction of the positioning pin pieces so as to perform splicing and positioning with workpieces clamped by the clamping mechanism.
In some embodiments, the clamping structure comprises a plurality of clamping pieces sequentially arranged at intervals along at least a first direction, wherein the first direction is parallel to a plane where the bearing structure is located and perpendicular to a relative movement direction of the two clamping structures; the clamping member has a universal ball structure.
In some embodiments, the positioning mechanism is disposed on the lifting mechanism; the positioning mechanism is connected with the clamping structures, and the positioning mechanism follows when the two clamping structures move relatively.
In some embodiments, the terminal end of the dowel member has a frustoconical or prismatic configuration having a cross-section that decreases in a direction approaching the workpiece.
In some embodiments, the extending direction of the dowel member is parallel to the relative moving direction of the two clamping structures.
In another aspect, an embodiment of the present application provides an automatic welding apparatus, including: the positioning and clamping device provided by any one of the embodiments above; and a welding device configured to perform a welding action on the workpiece.
In some embodiments, the automatic welding device further comprises a loading and unloading device, the loading and unloading device comprises a conveying mechanism and a material bearing plate arranged on the conveying mechanism, and the movement direction of the conveying mechanism is perpendicular to the relative movement direction of the two clamping structures.
In some embodiments, the positioning and clamping device includes a plurality of guide wheel sets, the plurality of guide wheel sets set are disposed on two opposite sides of the vertical direction of the motion direction of the material bearing plate, and the guide wheels of the same guide wheel set are disposed at intervals in sequence along the motion direction of the conveying mechanism, and the guide wheels are configured to perform rolling guide on the material bearing plate.
In some embodiments, the material bearing plate is provided with an avoidance concave portion formed by recessing along the perpendicular direction of the movement direction of the material bearing plate, and the bearing structure can be embedded in the avoidance concave portion when the two clamping structures are clamped in a relative movement manner.
In some embodiments, after the clamping mechanism clamps the workpiece, the lifting mechanism drives the clamping mechanism to lift so as to separate the workpiece from the loading plate.
In some embodiments, the material bearing plate is provided with a plurality of limiting pieces which are sequentially arranged at intervals along the outline of the workpiece; the lifting travel of the lifting mechanism is configured to maintain at least partial coincidence of an orthographic projection of the workpiece in a vertical plane and an orthographic projection of the limiting member in a vertical plane.
In some embodiments, the welding device comprises a first horizontal feeding mechanism, a second horizontal feeding mechanism and a vertical feeding mechanism which are vertically arranged in pairs, wherein the second horizontal feeding mechanism is arranged on the first horizontal feeding mechanism, the vertical feeding mechanism is arranged on the second horizontal feeding mechanism, and a welding working mechanism is arranged on the vertical feeding mechanism.
According to the embodiment of the application, the clamping mechanism, the lifting mechanism and the positioning mechanism are arranged, so that on one hand, the workpiece and the bearing structure are in bearing positioning connection through the arrangement of the clamping mechanism and the lifting mechanism, and the workpiece is in pin positioning connection through the plurality of positioning pin pieces, so that the positioning constraint on the workpiece is realized, and the workpiece occupies a correct position; on the other hand, the workpiece is clamped through the two clamping structures, so that the workpiece keeps the positioning position unchanged, and the clamping purpose is realized. Therefore, the workpiece can be positioned and clamped with higher precision after finishing feeding, so that the workpiece is always kept at the correct position, and the welding quality is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an isometric view of a positioning and clamping device provided in some embodiments of the present application;
FIG. 2 is a partial block diagram of a positioning and clamping device provided in some embodiments of the present application;
FIG. 3 is an isometric view of an automated welding apparatus provided in some embodiments of the present application;
FIG. 4 is an isometric view of a welding device of an automatic welding apparatus provided in some embodiments of the present application;
FIG. 5 is a partial block diagram of a welding device of an automatic welding apparatus provided in some embodiments of the present application;
fig. 6 is another partial block diagram of a welding device of an automatic welding apparatus provided in some embodiments of the present application.
Description of main reference numerals:
1-automatic welding equipment, 10-positioning clamping device, 101-clamping mechanism, 1011-first driving element, 1012-carrying structure, 1012 a-carrying connection, 1013-clamping structure, 1013 a-clamping member, 102-lifting mechanism, 1021-third driving element, 1022-lifting moving body, 103-positioning mechanism, 1031-second driving element, 1032-positioning pin, 104-guiding wheel set, 1041-guiding wheel, 20-welding device, 201-first horizontal feeding mechanism, 202-second horizontal feeding mechanism, 203-vertical feeding mechanism, 204-welding working mechanism, 2041-tin feeding breaking assembly, 20411-fourth driving element, 20412-tensioning wheel, 20413-traction wheel, 20413 a-flexible wheel part, 20413 b-first gear part, 20414-tin breaking wheel, 20414 a-working wheel part, 20414a' -tin breaking tooth part, 20414 b-second gear part, 20415-tensioning spring, 20416-fixing part, 20417-material quantity sensor, 2042-welding execution component, 20421-installation seat, 20422-welding head, 20423-tin inlet pipe, 2043-dust suction mechanism, 20431-dust suction pipe, 20431 a-dust suction opening, 30-feeding and discharging device, 301-conveying mechanism, 302-material bearing plate, 3021-avoiding concave part, 303-limiting part, 40-smoke purifier, 2-tin wire coil and 2 a-tin wire.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
"A and/or B" includes the following three combinations: only a, only B, and combinations of a and B.
The use of "adapted" or "configured to" in this application is meant to be open and inclusive language that does not exclude devices adapted or configured to perform additional tasks or steps. In addition, the use of "based on" is intended to be open and inclusive in that a process, step, calculation, or other action "based on" one or more of the stated conditions or values may be based on additional conditions or beyond the stated values in practice.
In this application, the term "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for purposes of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes have not been shown in detail to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.
As shown in fig. 1-2, the embodiment of the application provides a positioning and clamping device 10, where the positioning and clamping device 10 includes a clamping mechanism 101, a lifting mechanism 102 and a positioning mechanism 103, and can perform high-precision positioning and clamping on a workpiece after the workpiece is fed, so as to ensure that the workpiece is always kept at a correct position, thereby ensuring welding quality.
The clamping mechanism 101 comprises a first drive element 1011, a carrier structure 1012 and two clamping structures 1013 arranged opposite to each other at a distance, the carrier structure 1012 and the two clamping structures 1013 being driven by the first drive element 1011. On the one hand, the first driving element 1011 drives the carrying structure 1012 to move to align with the workpiece, so that the carrying structure 1012 can move to a position corresponding to the connecting part on the workpiece, and preparation for carrying and connecting the workpiece is made. In some examples, the carrier structure 1012 may be moved under the workpiece; in other examples, the side of the workpiece may be provided with attachment slots, and the carrier structure 1012 may be embedded within the attachment slots of the workpiece. On the other hand, the first driving element 1011 drives the two clamping structures 1013 to move relatively to clamp the workpiece, preventing the workpiece from translating in the direction of the relative movement of the two clamping structures 1013, providing a clamping force that keeps the workpiece in place. In some examples, a kinematic arrangement may be employed in which one clamping structure 1013 remains stationary while the other clamping structure 1013 is actively moving while the two clamping structures 1013 are relatively moving; in other examples, a motion arrangement may be used in which the two clamp structures 1013 are actively moved when the two clamp structures 1013 are moved relative to each other. Here, the carrier structure 1012 and the clamping structure 1013 can be moved synchronously under the drive of the first drive element 1011.
The number of the first driving elements 1011 may be determined according to practical needs, which is not limited in the embodiment of the present application. In some embodiments, the two clamping structures 1013 may be driven simultaneously for relative movement by one first drive element 1011; in other embodiments, two first drive elements 1011 may be provided, each first drive element 1011 driving a respective one of the clamping structures 1013 in active movement, thereby effecting relative movement between the two clamping structures 1013. The type of the first driving element 1011 may be determined according to actual needs, and may be, for example, a telescopic cylinder, an electric push rod, or the like, which is not limited in the embodiment of the present application.
The lifting mechanism 102 is configured to drive the clamping mechanism 101 up and down to load-connect the load-bearing structure 1012 to a workpiece. In this way, the workpiece may be brought into contact with the carrier structure 1012, with the three degrees of freedom of the workpiece constrained by the carrier structure 1012 to achieve a preliminary positioning. In some examples, after the first drive element 1011 drives the carrier structure 1012 to move below the workpiece and the two clamping structures 1013 clamp the workpiece, the lifting mechanism 102 drives the clamping mechanism 101 to lift up, moving the carrier structure 1012 upward into carrier connection with the workpiece. In other examples, a connecting groove may be formed on a side surface of the workpiece, and after the first driving element 1011 is driven to be embedded in the connecting groove of the workpiece and the two clamping structures 1013 clamp the workpiece, the lifting mechanism 102 drives the clamping mechanism 101 to lift, so that the bearing structure 1012 moves upwards to be in bearing connection with the top surface of the connecting groove of the workpiece.
The positioning mechanism 103 includes a second driving element 1031 and a plurality of positioning pin members 1032 arranged in parallel and spaced apart, and an extending direction of the positioning pin members 1032 is parallel to a plane of the carrying structure 1012. The second driving member 1031 drives the positioning pin member 1032 to move in the extending direction of the positioning pin member 1032 to perform insertion positioning with the workpiece clamped by the clamping mechanism 101. Here, the side surface of the work may be provided with a positioning hole, and a plurality of positioning pin members 1032 may be inserted into the positioning hole to form a pin positioning connection. The positioning constraint on the workpiece can be achieved by the load-bearing positioning connection of the load-bearing structure 1012 and the workpiece, and the pin positioning connection of the plurality of dowel members 1032 and the workpiece, so that the workpiece occupies the correct position. Here, the plurality of dowel members 1032 may be provided on the same side of the workpiece or may be provided on opposite sides of the workpiece, respectively. The number of the second driving elements 1031 may be determined according to practical needs, which is not limited in the embodiment of the present application. The type of the second driving element 1031 may be determined according to actual needs, and may be, for example, a telescopic cylinder, an electric push rod, or the like, which is not limited in the embodiment of the present application.
Compared with the related art, the positioning and clamping device 10 provided by the embodiment of the application makes the workpiece and the bearing structure 1012 carry out bearing positioning connection through the arrangement of the clamping mechanism 101 and the lifting mechanism 102, and makes the workpiece occupy the correct position through the positioning connection of the plurality of positioning pin pieces 1032 and the workpiece; on the other hand, the workpiece is clamped by the two clamping structures 1013, so that the workpiece keeps the positioning position unchanged, and the clamping purpose is realized. Therefore, the workpiece can be positioned and clamped with higher precision after finishing feeding, so that the workpiece is always kept at the correct position, and the welding quality is ensured. After the corresponding welding process is completed, the positioning mechanism 103, the clamping mechanism 101 and the lifting mechanism 102 are reset in sequence, so that the welded workpiece returns to the position during feeding so as to be fed.
The form of the bearing structure 1012 may be determined according to practical needs, which is not limited in the embodiments of the present application. In some embodiments, the carrier structure 1012 may include a carrier plate that is movable under the drive of the first drive element 1011. In some examples, the bearing plate may be provided with a bearing connection portion 1012a, and the bearing connection portion 1012a may have higher surface precision to perform higher-precision positioning connection with the workpiece; therefore, the area of the area with higher surface precision requirement can be reduced, and the processing and manufacturing difficulty and cost are reduced. Illustratively, the load bearing connection 1012a may have a face structure.
The form of the clamping structure 1013 may be determined according to practical needs, and the embodiment of the present application is not limited thereto. In some embodiments, the clamping structure 1013 may include a plurality of clamping members 1013a sequentially spaced apart in at least a first direction parallel to the plane of the carrier structure 1012 and perpendicular to the direction of relative movement of the two clamping structures 1013. In this way, the clamping members 1013a can apply a clamping force to the workpiece, respectively, to form a distributed clamping force to avoid stress concentration, and to ensure structural safety of the workpiece. In some examples, the plurality of clamping members 1013a may be sequentially spaced apart in only a first direction, forming a linear array arrangement; in other examples, the plurality of clamping members 1013a can be sequentially spaced apart along the first direction and in other directions than the first direction, respectively, to form an array arrangement of a plurality of rows and a plurality of columns.
The structure of the clamping member 1013a may be determined according to practical needs, and the embodiment of the present application is not limited thereto. In some examples, the clamp 1013a can have a universal ball structure that makes clamping contact with the workpiece surface. The universal ball structure has balls which roll flexibly on the support housing, and contact is made with the surface of the workpiece through the balls. The clamping piece 1013a adopts a universal ball structure, on the one hand, on the premise of ensuring enough clamping force required for clamping a workpiece, the friction force between the clamping piece 1013a and the surface of the workpiece can be reduced, the risk of abrasion damage on the surface of the workpiece and the resistance of the workpiece in the process of sliding and contacting the bearing structure 1012 are reduced, and the workpiece can be quickly connected with the bearing structure 1012 in a bearing way when the lifting mechanism 102 is driven in a lifting way; on the other hand, the clamping member 1013a and the workpiece have a point contact relationship, and a certain movable space exists between the clamping member 1013a and the workpiece, when the workpiece and the positioning pin member 1032 are inserted and positioned, the positioning pin member 1032 can drive the workpiece to movably adjust on the clamping member 1013a to occupy a correct position, so that the inserting and positioning difficulty of the positioning pin member 1032 and the workpiece is reduced.
The setting positions of the lifting mechanism 102 and the positioning mechanism 103 may be determined according to actual needs, which is not limited in the embodiment of the present application. In some embodiments, the positioning mechanism 103 may be disposed on the lifting mechanism 102; the positioning mechanism 103 is coupled to the clamping mechanism 1013 such that the positioning mechanism 103 follows upon relative movement of the two clamping mechanisms 1013. Thus, when the elevating mechanism 102 is driven to elevate, the positioning mechanism 103 and the clamping mechanism 1013 are elevated synchronously; while the two clamping structures 1013 are clamped or released in a relatively movable manner, the positioning mechanism 103 may move closer to or further from the workpiece as the clamping structures 1013 are moved.
The structure of the locating pin member 1032 may be determined according to practical needs, which is not limited in this embodiment. In some embodiments, the ends of the dowel members 1032 may have a frustoconical or faceted configuration with a cross-section that decreases in a direction approaching the workpiece. Correspondingly, in the region where the ends of the dowel members 1032 are located, the ends closer to the workpiece are relatively smaller and the ends farther from the workpiece are larger in size; therefore, when the locating pin member 1032 and the workpiece are subjected to plug-in location, the smaller end part on the tail end of the locating pin member 1032 is in contact alignment with the tail end of the locating hole of the workpiece, so that the tail end of the locating pin member 1032 can easily enter the locating hole of the workpiece, and the locating pin member 1032 drives the workpiece to perform position adjustment, so that the workpiece occupies the correct position, and the difficulty of alignment plug-in connection is reduced.
The extending direction of the positioning pin 1032 may be determined according to practical needs, which is not limited in the embodiment of the present application. In some embodiments, the extending direction of the dowel member 1032 may be parallel to the direction of relative movement of the two clamp structures 1013; accordingly, the plugging positioning direction of the positioning pin 1032 is parallel to the relative moving direction of the two clamping structures 1013, which can increase the positioning accuracy of the plugging process of the positioning pin 1032. In some examples, the positioning mechanism 103 is connected to the clamping structures 1013, and when the positioning mechanism 103 follows the two clamping structures 1013 during the relative movement, the two clamping structures 1013 can move relatively to make the positioning mechanism 103 and the workpiece approach initially, so as to shorten the plugging positioning stroke of the positioning mechanism 103, and improve the plugging positioning precision of the positioning mechanism 103.
The construction form of the lifting mechanism 102 may be determined according to actual needs, and may be of a type such as a lifting table, a lifting cylinder arranged in the vertical direction, or the like, which is not limited in the embodiment of the present application. In some embodiments, the lifting mechanism 102 may include a lifting moving body 1022 and a third driving element 1021 driving the lifting moving body 1022 to move up and down, and the clamping mechanism 101 and the positioning mechanism 103 may be provided on the lifting moving body 1022, respectively. The number of the third driving elements 1021 may be determined according to practical needs, which is not limited in the embodiment of the present application. The type of the third driving element 1021 may be determined according to actual needs, and may be, for example, a telescopic cylinder, an electric push rod, or the like, which is not limited in the embodiment of the present application.
As shown in fig. 1 to 3, the embodiment of the present application provides an automatic welding apparatus 1, the automatic welding apparatus 1 including the positioning and clamping device 10 and the welding device 20 provided in any of the above embodiments, the welding device 20 being configured to perform a welding action on a workpiece. The positioning and clamping device 10 can perform high-precision positioning and clamping on the workpiece after the workpiece is fed, so that the workpiece is ensured to be always kept at a correct position; the welding operation is then performed by the welding device 20, ensuring welding accuracy and quality. When the welding object is a pump laser, the workpiece may include a laser housing and at least one pump terminal that has been initially positioned and mounted on the laser housing. In the welding process, the joint of the laser shell and the pumping terminal can be welded, so that the laser shell and the pumping terminal can be reliably connected and fixed.
In some embodiments, the automatic welding apparatus 1 may further include a loading and unloading device 30, where the loading and unloading device 30 includes a conveying mechanism 301 and a loading plate 302 disposed on the conveying mechanism 301, and a movement direction of the conveying mechanism 301 is perpendicular to a relative movement direction of the two clamping structures 1013. Here, the workpiece that has undergone the preliminary positioning installation may be placed on the loading plate 302, and fed by the conveying mechanism 301 to the position where the positioning and clamping device 10 is located, for example, between the two clamping structures 1013. Subsequently, the positioning and clamping device 10 carries out bearing positioning connection on the workpiece and the bearing structure 1012 through the arrangement of the clamping mechanism 101 and the lifting mechanism 102, and carries out pin positioning connection on the workpiece through the plurality of positioning pin pieces 1032, so that positioning constraint on the workpiece is realized, and the workpiece occupies a correct position; on the other hand, the workpiece is clamped by the two clamping structures 1013, so that the workpiece keeps the positioning position unchanged, and the clamping purpose is realized. Therefore, the workpiece can be positioned and clamped with higher precision after finishing feeding, so that the workpiece is always kept at the correct position, and the welding quality is ensured. Further, after the welding is completed, the workpiece can be lowered onto the material receiving plate 302 by driving the lifting mechanism 102, and the conveying mechanism 301 conveys the workpiece for discharging. The type of the conveying mechanism 301 may be determined according to actual needs, and types such as a belt conveyor, a conveying device based on a screw-rail linear motion mechanism, a conveying device based on a linear motor-rail motion mechanism, and the like may be employed, which are not limited in the embodiment of the present application.
In some examples, the positioning and clamping device 10 may include a plurality of guide wheel sets 104, the plurality of guide wheel sets 104 disposed on opposite sides of the deck 302 along a direction perpendicular to a direction of movement thereof; the guide wheels 1041 of the same guide wheel set 104 are sequentially arranged at intervals along the movement direction of the conveying mechanism 301, and the guide wheels 1041 are configured to perform rolling guide on the material bearing plate 302. In this way, during the conveying process that the material bearing plate 302 gradually moves forward to the position where the positioning and clamping device 10 is located, the opposite sides of the material bearing plate 302 along the vertical direction of the moving direction of the material bearing plate are respectively acted by the guiding force of the guiding wheels 1041, so that the material bearing plate 302 gradually adjusts the coarse positioning position defined between the plurality of guiding wheel sets 104; accordingly, the workpiece on the material bearing plate 302 can be initially positioned before being positioned and clamped by the positioning and clamping device 10, so that the alignment precision between the workpiece and the positioning and clamping device 10 is increased, and the positioning precision of the workpiece after being positioned and clamped by the positioning and clamping device 10 is further improved.
The structure of the loading plate 302 may be determined according to practical needs, which is not limited in the embodiment of the present application. In some examples, the material bearing plate 302 may be provided with a relief recess 3021 formed by recessing in a direction perpendicular to the moving direction of the material bearing plate, and the bearing structure 1012 may be embedded in the relief recess 3021 when the two clamping structures 1013 are clamped by relative movement. In this way, when the two clamping structures 1013 clamp the workpiece in a relatively moving manner, the avoiding concave portion 3021 can avoid the bearing structure 1012, so that motion interference between the material bearing plate 302 and the bearing structure 1012 is avoided; accordingly, the carrier structure 1012 can be safely and reliably moved under the workpiece to carry the workpiece.
In some examples, after the clamping mechanism 101 clamps the workpiece, the lifting mechanism 102 drives the clamping mechanism 101 up and down to separate the workpiece from the load plate 302. After the workpiece is separated from the material bearing plate 302, the workpiece is carried, positioned and connected by the carrying structure 1012, and the three degrees of freedom of the workpiece are restrained by the carrying structure 1012 to realize preliminary positioning; in the subsequent clamping and positioning process, the bearing structure 1012 can be used as a positioning reference, so that the reduction of positioning precision caused by the fact that the material bearing plate 302 with low precision is used as the positioning reference is avoided, and the positioning precision in the positioning and clamping process is ensured. In addition, compared with the larger contact area between the material bearing plate 302 and the workpiece, the bearing connection area of the bearing structure 1012 and the workpiece is smaller, so that the surface area with higher processing precision requirement can be reduced, and the processing difficulty and cost are reduced.
For example, the material bearing plate 302 may be provided with a plurality of limiting members 303 sequentially spaced along the outer contour line of the workpiece. Here, the lifting stroke of the lifting mechanism 102 may be configured such that the orthographic projection of the workpiece in the vertical plane and the orthographic projection of the stopper 303 in the vertical plane remain at least partially overlapped. In this way, in the lifting travel range of the lifting mechanism 102, the workpiece is always kept in the area between the plurality of limiting pieces 303, and the workpiece is prevented from deviating from the corresponding area by the limiting action of the plurality of limiting pieces 303, so that the workpiece can smoothly drop onto the material bearing plate 302 to be discharged after welding is completed. Illustratively, the limiting member 303 may be removed from the material bearing plate 302 for replacement, thereby increasing convenience of use and maintenance.
In some embodiments, the welding device 20 may include a first horizontal feeding mechanism 201, a second horizontal feeding mechanism 202, and a vertical feeding mechanism 203, where the second horizontal feeding mechanism 202 is disposed on the first horizontal feeding mechanism 201, the vertical feeding mechanism 203 is disposed on the second horizontal feeding mechanism 202, and the vertical feeding mechanism 203 is provided with a welding working mechanism 204. In this way, three-axis feeding can be achieved, so that the welding working mechanism 204 can freely move to different areas to weld the to-be-welded parts located at different positions. The structural forms of the first horizontal feeding mechanism 201, the second horizontal feeding mechanism 202, and the vertical feeding mechanism 203 may be determined according to actual needs, and types such as a screw-rail linear motion mechanism, a linear motor-rail motion mechanism, and the like may be adopted, which are not limited in the embodiment of the present application.
The construction form of the welding mechanism 204 may be determined according to actual needs, and the embodiment of the present application is not limited thereto. As shown in fig. 4, in some examples, the soldering work mechanism 204 may include a tin feed break assembly 2041, a soldering execution assembly 2042, and a dust extraction mechanism 2043. The solder send break assembly 2041 is configured to send solder to a hot melt soldering area of the soldering execution assembly 2042 to provide the metal solder required for soldering the soldering execution assembly 2042. The welding execution component 2042 heats and melts the metal solder provided by the tin feeding and breaking component 2041, and the molten metal solder fills the gaps at the joints of the metal pieces in the hot-melt welding area, so that the purpose of hot-melt welding is achieved. The dust collection port 20431a of the dust collection mechanism 2043 is adjacent to the hot-melt welding area of the welding execution assembly 2042, and harmful substances such as welding slag or harmful gas generated in the hot-melt welding area can be timely removed through the dust collection port 20431a, so that the cleanliness of the welding process is improved, and the pollution of the harmful substances to the operation environment and welding seams is reduced.
Thus, on one hand, the welding mechanism 204 adopts an automatic tin feeding welding mode, so that the welding efficiency can be improved, and the consistency of welding quality can be ensured; on the other hand, the dust collection mechanism 2043 is adopted to absorb harmful substances generated in the welding process, so that the cleanliness of the welding process can be improved, and the pollution to the operating environment and welding seams can be reduced.
The form of the tin feeding and breaking assembly 2041 may be determined according to practical needs, and the embodiment of the present application is not limited thereto. As shown in fig. 5, in some examples, the tin-sending and tin-breaking assembly 2041 may include a fourth drive element 20411 and spaced apart tensioning and traction wheels 20412, 20413. Here, the fourth drive element 20411 is configured to drive the traction wheel 20413 in rotation; the traction wheel 20413 has a flexible wheel portion 20413a, and the tension wheel 20412 is configured to tension the tin wire 2a on the peripheral surface of the flexible wheel portion 20413 a. The flexible wheel portion 20413a may be of a flexible wheel construction such as a pulley, a sheave, or the like, which is not limited in the embodiment of the present application. The type of the fourth driving element 20411 may be determined according to actual needs, and types such as a driving motor, a hydraulic motor, etc. are not limited thereto in the embodiment of the present application.
Under the action of the tensioning wheel 20412, the tin wire 2a can be sequentially tensioned on the peripheral surface of the tensioning wheel 20412 and the peripheral surface of the flexible wheel 20413a, so that the interaction force between the traction wheel 20413 and the tin wire 2a tensioned on the peripheral surface of the flexible wheel 20413a is always ensured. When the fourth driving element 20411 drives the traction wheel 20413 to rotate, the interaction force between the traction wheel 20413 and the tin wire 2a will drive the tin wire 2a, so that the tin wire 2a advances and feeds along with the rotation of the traction wheel 20413, and gradually approaches the hot-melt welding area of the welding execution assembly 2042.
In some examples, the tin-feed break assembly may also include a break wheel 20414. The breaking wheel 20414 has a running wheel portion 20414a, and a breaking tooth portion 20414a' is provided on the surface of the running wheel portion 20414 a. The tin-breaking tooth portion 20414a' is configured to contact the tin wire 2a on the flexible wheel portion 20413a to break the tin wire 2a. In other words, the gap between the broken tooth portion 20414a' and the flexible wheel portion 20413a is smaller than the diameter of the tin wire 2a. Thus, when the traction wheel 20413 draws the tin wire 2a to advance and convey, the tin wire 2a passes through the area between the flexible wheel portion 20413a and the tin breaking tooth portion 20414a 'of the traction wheel 20413, and is pressed by the flexible wheel portion 20413a and the tin breaking tooth portion 20414 a'; correspondingly, one side of the tin wire 2a along the radial direction is tightly pressed by the flexible wheel part 20413a, and the other side of the tin wire is contacted with the tin breaking tooth part 20414a' to form a stamping small hole on the surface of the tin wire 2a, so that the tin breaking effect is realized.
In some examples, the traction wheel 20413 may have a first gear portion 20413b thereon, the tin breaking wheel 20414 has a second gear portion 20414b thereon, and the first gear portion 20413b and the second gear portion 20414b are meshed to form a gear transmission connection. In this way, when the fourth driving element 20411 drives the traction wheel 20413 to rotate, the first gear portion 20413b of the traction wheel 20413 drives the second gear portion 20414b and the tin breaking wheel 20414 thereof to rotate through the gear transmission relationship, so that the tin breaking tooth portions 20414a' provided on the tin breaking wheel 20414 sequentially perform stamping tin breaking on the tin wire 2 a; the tin breaking wheel 20414 synchronously rotates along with the traction wheel 20413 to perform tin breaking action, so that the phenomenon that the tin wire 2a is blocked during forward conveying can be avoided, and smooth conveying is ensured.
The arrangement of the flexible wheel portion 20413a and the first gear portion 20413b on the traction wheel 20413 may be determined according to actual needs, and the embodiment of the present application is not limited thereto. For example, the flexible wheel portion 20413a and the first gear portion 20413b may be disposed in order along the axial direction of the traction wheel 20413. In this way, the coaxial characteristics of the flexible wheel portion 20413a and the first gear portion 20413b can be ensured, so that the traction wheel 20413 has better structural characteristics and movement characteristics.
The arrangement of the working wheel portion 20414a and the second gear portion 20414b on the tin breaking wheel 20414 may be determined according to actual needs, and the embodiment of the present application is not limited thereto. For example, the running wheel portion 20414a and the second gear portion 20414b may be disposed in order along the axial direction of the tin-breaking wheel 20414. In this way, the coaxial characteristics of the running wheel portion 20414a and the second gear portion 20414b can be ensured, so that the tin breaking wheel 20414 has better structural characteristics and movement characteristics.
In some examples, the tin feeding and breaking assembly 2041 may further include a tensioning spring 20415 disposed at one axial end of the tensioning wheel 20412, and the tensioning spring 20415 may be elastically deformed along the axial direction of the tensioning wheel 20412. The tensioning spring 20415 can be elastically deformed to apply an axial force to the tensioning wheel 20412, so that the tensioning wheel 20412 is kept in a correct position to tension the tin wire 2a.
In some examples, the tin feeding break assembly 2041 may further include a fixing portion 20416 configured to fix the tin wire coil 2, the tin wire coil 2 being rotatably held on the fixing portion 20416, the tin wire 2a of the tin wire coil 2 being sequentially tensioned on the circumferential surface of the tensioning wheel 20412 and the flexible wheel portion 20413 a. The tin wire reel 2 is a reel material formed by winding tin wires 2a, and can gradually release the tin wires 2a wound on the reel material for feeding when rotating. Under the traction action of the traction wheel 20413, the tin wire 2a continuously moves forward and is conveyed to drive the tin wire coil 2 to rotate on the fixing part 20416, so that the tin wire 2a wound on the tin wire coil 2 is continuously released.
In some examples, the tin feed break assembly 2041 can further include a charge sensor 20417 for prompting replenishment of the tin wire 2a when the tin wire 2a is absent. When the tin wire coil 2 is provided, the material amount sensor 20417 can prompt replacement of the tin wire coil 2 when the tin wire 2a of the tin wire coil 2 is about to run out. The type of the material amount sensor 20417 can be determined according to actual needs, and the embodiment of the present application is not limited thereto. In some examples, the dose sensor 20417 may be a photoelectric sensor, where the emitting end and the receiving end of the photoelectric sensor are respectively disposed on two sides of the tin wire 2a, and a prompt is given when the tin wire 2a does not exist between the emitting end and the receiving end.
The configuration of the welding actuator assembly 2042 may be determined according to actual needs, and the embodiment of the present application is not limited thereto. As shown in fig. 6, in some examples, the weld performing assembly 2042 may include a mounting base 20421 and a weld head 20422, the weld head 20422 being slidably disposed on the mounting base 20421. In this way, the weld head 20422 may be shifted in position on the mounting base 20421 to weld metal pieces in different positions or having different physical dimensions.
Illustratively, the welding actuator assembly 2042 may further comprise a tin inlet tube 20423, wherein one end of the tin inlet tube 20423 is connected to the tin outlet end of the tin feeding and breaking assembly 2041 via a pipeline, and the other end of the tin inlet tube 20423 is disposed opposite to the welding head 20422. In this way, the relative positions of the tin feeding and breaking assembly 2041 and the welding executing assembly 2042 can be set according to actual needs, and the tin wire 2a is conveyed and transferred through the pipeline, so that the diversity of the space layout of the welding working mechanism 204 is increased.
The structure of the dust collection mechanism 2043 can be determined according to practical needs, and the embodiment of the present application is not limited thereto. As shown in fig. 1, in some embodiments, the suction mechanism 2043 may include a suction fan and a suction tube 20431 connected in sequence, with the suction opening 20431a of the suction tube 20431 being disposed adjacent to the hot melt weld zone of the weld-performing assembly 2042. The dust collection fan is used for forming negative pressure at the dust collection opening 20431a, external air can be forced to flow into the dust collection pipe 20431 through the dust collection opening 20431a under the action of the negative pressure, harmful substances generated in the hot-melt welding area are removed through forced convection, pollution to an operation environment or welding seams caused by residual harmful substances is avoided, and the environment cleanliness and welding quality are guaranteed.
As shown in fig. 3, in some embodiments, the automated welding apparatus 1 may also include a fume purifier 40 that may be used to purify fumes and dust generated by the welding process, as well as to recover rare metals and precious materials.
In some embodiments, the automatic welding apparatus 1 may further include a protective cover, which can isolate the internal and external environments to provide a sealed and safe welding operation environment, prevent the surrounding environment from being polluted by strong light/smoke generated in the welding process, and prevent personal injury caused by false touch of operators in the welding process.
The positioning and clamping device and the automatic welding equipment provided by the embodiment of the application are described in detail, and specific examples are applied to the description of the principle and the implementation mode of the application, and the description of the above examples is only used for helping to understand the method and the core idea of the application; meanwhile, those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present application, and the present description should not be construed as limiting the present application in view of the above.
Claims (12)
1. A positioning and clamping device, comprising:
the clamping mechanism comprises a first driving element, a bearing structure and two clamping structures which are oppositely arranged at intervals, wherein the first driving element drives the bearing structure to move below a workpiece so as to align the bearing structure with the workpiece, and drives the two clamping structures to relatively move so as to clamp the workpiece;
the lifting mechanism is configured to drive the clamping mechanism to lift up and down so as to carry and connect the bearing structure and the workpiece; after the first driving element drives the bearing structure to move below the workpiece and the two clamping structures clamp the workpiece, the lifting mechanism drives the clamping mechanism to lift so that the bearing structure moves upwards to carry and connect with the workpiece;
the positioning mechanism comprises a second driving element and a plurality of positioning pin pieces which are arranged at intervals in parallel, the extending direction of the positioning pin pieces is parallel to the plane where the bearing structure is located, and the second driving element drives the positioning pin pieces to move along the extending direction of the positioning pin pieces so as to perform splicing and positioning with workpieces clamped by the clamping mechanism.
2. The positioning and clamping device according to claim 1, wherein the clamping structure comprises a plurality of clamping pieces sequentially arranged at intervals along at least a first direction, the first direction is parallel to a plane where the bearing structure is located and perpendicular to a relative movement direction of the two clamping structures; the clamping member has a universal ball structure.
3. The positioning and clamping device according to claim 1, wherein the positioning mechanism is disposed on the lifting mechanism; the positioning mechanism is connected with the clamping structures, and the positioning mechanism follows when the two clamping structures move relatively.
4. The positioning and clamping device as recited in claim 1, wherein the terminal end of the positioning pin member has a truncated cone or pyramid configuration with a cross-section that decreases in a direction approaching the workpiece.
5. The positioning and clamping device as recited in claim 1, wherein the extending direction of said dowel member is parallel to the direction of relative movement of said two clamping structures.
6. An automatic welding apparatus, comprising:
the positioning and clamping device of any one of claims 1-5;
and a welding device configured to perform a welding action on the workpiece.
7. The automatic welding equipment according to claim 6, further comprising a loading and unloading device, wherein the loading and unloading device comprises a conveying mechanism and a material bearing plate arranged on the conveying mechanism, and the movement direction of the conveying mechanism is perpendicular to the relative movement direction of the two clamping structures.
8. The automated welding apparatus of claim 7, wherein the positioning and clamping device comprises a plurality of guide wheel sets disposed on opposite sides of the vertical direction of the direction of motion of the carrier plate, the guide wheels of a same guide wheel set being sequentially spaced along the direction of motion of the transport mechanism, the guide wheels being configured to roll guide the carrier plate.
9. The automatic welding device according to claim 7, wherein the material receiving plate is provided with a recess for avoiding formed by recessing in a direction perpendicular to a moving direction of the material receiving plate, and the bearing structure is embedded in the recess for avoiding when the two clamping structures are clamped by relative movement.
10. The automated welding apparatus of claim 7, wherein the lifting mechanism drives the clamping mechanism to lift after the clamping mechanism clamps the workpiece to separate the workpiece from the load plate.
11. The automatic welding apparatus according to claim 10, wherein the material carrying plate is provided with a plurality of stoppers sequentially arranged at intervals along an outer contour line of the workpiece, and a lifting stroke of the lifting mechanism is configured to keep at least partial coincidence of an orthographic projection of the workpiece in a vertical plane and an orthographic projection of the stoppers in the vertical plane.
12. The automatic welding apparatus according to claim 6, wherein the welding device includes a first horizontal feeding mechanism, a second horizontal feeding mechanism, and a vertical feeding mechanism, which are vertically arranged in pairs, the second horizontal feeding mechanism being provided on the first horizontal feeding mechanism, the vertical feeding mechanism being provided on the second horizontal feeding mechanism, and the vertical feeding mechanism being provided with a welding work mechanism.
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