CN115041892B - Special-shaped small-specification aluminum alloy template welding manipulator - Google Patents
Special-shaped small-specification aluminum alloy template welding manipulator Download PDFInfo
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- CN115041892B CN115041892B CN202210852342.0A CN202210852342A CN115041892B CN 115041892 B CN115041892 B CN 115041892B CN 202210852342 A CN202210852342 A CN 202210852342A CN 115041892 B CN115041892 B CN 115041892B
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- 238000003466 welding Methods 0.000 title claims abstract description 151
- 229910000838 Al alloy Inorganic materials 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 238000009434 installation Methods 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000003014 reinforcing effect Effects 0.000 description 42
- 238000009415 formwork Methods 0.000 description 10
- 230000000712 assembly Effects 0.000 description 7
- 238000000429 assembly Methods 0.000 description 7
- 230000008093 supporting effect Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 230000009191 jumping Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 230000001976 improved effect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 239000010953 base metal Substances 0.000 description 2
- 238000009435 building construction Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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Abstract
The invention belongs to the technical field of aluminum alloy template welding equipment, and provides a special-shaped small-specification aluminum alloy template welding manipulator which comprises a machine base, a welding gun, a power supply, a mechanical arm group and a controller, wherein the machine base comprises a top seat and a triangular seat, two feeding mechanical arm groups and a welding mechanical arm group are arranged on three sides of the triangular seat, a power switching plugboard is arranged on a side edge of the triangular seat, an air source connecting port and a power supply connecting port are arranged on the power switching plugboard, a pneumatic feeding clamp is arranged at the movable tail end of the feeding mechanical arm group, the pneumatic feeding clamp comprises a cross clamping groove, a clamping piece, a piston assembly and a wedge-shaped clamping surface, a double-sided welding device is arranged at the movable tail end of the welding mechanical arm group, and the double-sided welding device comprises a positioning adjusting mechanism and a positioning adjusting mechanism. The invention has reasonable design, strong welding capability, high utilization rate and suitability for large-scale popularization, and is beneficial to improving the production efficiency of the template.
Description
Technical Field
The invention belongs to the technical field of aluminum alloy templates for building construction, relates to aluminum alloy template welding equipment, and particularly relates to a special-shaped small-specification aluminum alloy template welding manipulator.
Background
The building form is a temporary supporting structure, which is manufactured according to the design requirement, so that the concrete structure and the components are formed according to the specified position and geometric dimension, the correct position of the concrete structure and the components is kept, and the self weight of the building form and the external load acted on the building form are borne. The building construction template mainly comprises a panel, a supporting structure and a connecting piece. The panel is a bearing plate directly contacted with the newly poured concrete; the supporting structure is a temporary structure for supporting the panel, the concrete and the construction load, so that the building template structure is firmly combined; the connector is a fitting that connects the panel to the support structure as one piece. The aluminum template building template is widely used with the characteristics of simple operation, fast construction, high return, environmental protection and energy saving, multiple use times, good concrete pouring effect, recoverability and the like.
The panel of the existing aluminum alloy template is provided with a plurality of template reinforcing ribs with small specifications, and the shapes of the template reinforcing ribs are different according to the requirements of different construction units, so that the template reinforcing ribs are more in species and larger in individual shape difference. Although the workshop is provided with automatic welding equipment, the special-shaped template reinforcing ribs with small specifications can only be welded manually, so that the production efficiency of the aluminum alloy template is difficult to be obviously improved; secondly, the manual welding can only be performed twice from two sides of the reinforcing rib, and the actual welding quality is greatly influenced by the welding method, so that the welding quality is still to be improved.
Disclosure of Invention
Aiming at the technical problems in the aspect of welding reinforcing ribs on an aluminum alloy template, the invention provides the special-shaped small-specification aluminum alloy template welding manipulator which is reasonable in design, strong in welding capability, beneficial to improving the template production efficiency and high in utilization rate.
In order to achieve the above purpose, the technical scheme adopted by the invention is that the special-shaped small-specification aluminum alloy template welding manipulator comprises a machine base, a welding gun and a power supply, wherein the machine base is provided with a mechanical arm group and a controller, the mechanical arm group comprises a main seat, a plurality of mechanical arms and a plurality of shaft joints, the machine base comprises a top seat, the bottom of the top seat is provided with a hollow triangular seat, the mechanical arm group is provided with three side surfaces of the triangular seat respectively, the side edges of the triangular seat are provided with power transfer inserting plates, the power transfer inserting plates are provided with air source connecting ports and power supply connecting ports, the power transfer inserting plates are connected with an air source and a power supply arranged in the triangular seat, the three mechanical arm groups are respectively two feeding mechanical arm groups and one welding mechanical arm group, the movable tail end of the feeding mechanical arm group is provided with a pneumatic feeding clamp, the power input end of the pneumatic feeding clamp is provided with a hose connected with the air source connecting ports, the pneumatic clamping groove is arranged on the pneumatic feeding clamp holder, the cross clamping groove is provided with three side surfaces respectively, the cross clamping groove is provided with air source connecting ports, the welding gun is provided with two power clamping mechanism, and the welding gun is provided with two power clamping mechanism and the two welding wire clamping mechanism clamping ends are connected with two wedge-shaped clamping mechanism clamping ends, and the welding gun clamping mechanism is provided with two welding wire clamping mechanism.
Preferably, the machine base is provided with an installation port matched with the welding mechanical arm group, the installation port is provided with a jump arm device, and the jump arm device is used for preventing the head end of the welding gun from being welded with the aluminum alloy template.
Preferably, the mounting opening is of a circular structure, the welding mechanical arm group comprises a ring groove matched with the mounting opening, the jump arm device comprises five plate spring groups distributed in a circular array, each plate spring group comprises at least two plate springs, and the arching surfaces of the plate springs face the mounting opening and are in contact fit with the ring groove.
Preferably, the five leaf spring groups comprise two upper positioning leaf spring groups, two side positioning leaf spring groups and a lower positioning leaf spring group, one end of the upper positioning leaf spring group is fixedly connected with the machine base, the other end of the upper positioning leaf spring group is a movable end, two ends of the side positioning leaf spring groups are movable ends and are movably matched with limiters arranged at mounting openings, a cam driving mechanism is arranged on the inner side of the side positioning leaf spring groups, a rotating surface of the cam driving mechanism is movably matched with the side positioning leaf spring groups, and two ends of the lower positioning leaf spring groups are fixed ends.
Preferably, the limiter comprises a protruding block protruding towards the center of the mounting opening, a guide groove is formed in the protruding block, a sliding block matched with the guide groove is arranged at the end portion of the side positioning plate spring group, and an annular sinking opening matched with the sliding block is formed in the inner wall of the mounting opening.
Preferably, the positioning adjusting mechanism comprises a mounting cylinder, mounting holes matched with the welding gun are formed in the mounting cylinder, adjusting components are arranged at two ends of the mounting cylinder, each adjusting component comprises a side clamping block matched with the side face of the welding gun, a spring is arranged at one end, opposite to the welding gun, of each side clamping block, the spring is arranged in a groove cylinder, the outer wall of the groove cylinder is in threaded fit with the mounting cylinder, and an adjusting head is arranged at one end, far away from the center of the mounting cylinder, of the groove cylinder.
Preferably, the side clamping block is provided with a pressure sensor on the matching surface of the side clamping block and the welding gun, and the pressure sensor and the jump arm device are electrically connected with the controller.
The bottom of three-edged seat is provided with the camera, camera and controller electric connection.
Compared with the prior art, the invention has the advantages and positive effects that:
1. The two feeding mechanical arm groups of the special-shaped small-specification aluminum alloy template welding mechanical arm provided by the invention can clamp plate-shaped template reinforcing ribs and clamp block-shaped template reinforcing ribs; if the two feeding mechanical arms can take a pair of template reinforcing ribs in sequence, the two template reinforcing ribs are distributed on two sides of the transverse rib on the aluminum alloy template, the two template reinforcing ribs are welded by the welding mechanical arm group, and the two sides of the same template reinforcing rib can be welded by the double-sided welder of the welding mechanical arm group at the same time, so that the welding quality is improved; the wedge-shaped surface of the movable pneumatic feeding clamp pushes the massive template reinforcing ribs to be extruded at the corners of the aluminum alloy template, and then the massive template reinforcing ribs are welded by the welding mechanical arm group. The device has reasonable design, strong welding capability, high utilization rate and suitability for large-scale popularization, and is favorable for improving the production efficiency of the template.
2. According to the special-shaped small-specification aluminum alloy template welding manipulator provided by the invention, the positioning and adjusting mechanism can adjust the distance between the tail ends of the two welding guns, so that the actual welding requirements are met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and 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 special-shaped small-sized aluminum alloy template welding manipulator provided by an embodiment;
FIG. 2 is a working diagram of a special-shaped small-specification aluminum alloy template welding manipulator provided by an embodiment;
Fig. 3 is a front view of a welding manipulator for a special-shaped small-sized aluminum alloy template provided by the embodiment;
Fig. 4 is a schematic diagram of cooperation between the arm-jump device and the triangular base according to the embodiment;
FIG. 5 is a front view of a double-sided welder provided by an embodiment;
In the drawings, 1, a stand; 11. a top base; 12. a triangular seat; 13. a power transfer plug board; 14. a mounting port; 15. an annular sinking port; 2. a power supply; 3. a mechanical arm group; 3a, a main seat; 3b, a mechanical arm; 3c, an axial joint; 31. a feeding mechanical arm group; 32. welding a mechanical arm group; 321. a ring groove; 33. pneumatic feeding clamp holder; 331. a cross clamping groove; 332. a clamping piece; 333. a piston assembly; 334. wedge-shaped clamping surfaces; 4. a double-sided welder; 41. a positioning adjusting mechanism; 411. a mounting cylinder; 412. an adjustment assembly; 4121. a side clamping block; 4122. a spring; 4123. a grooved drum; 4124. adjusting the head; 42. a welding gun; 5. an arm jumping device; 51. a leaf spring group; 511. an upper positioning plate spring group; 512. a side positioning leaf spring group; 513. a lower positioning plate spring group; 52. a limiter; 521. a bump; 522. a guide groove; 53. a cam driving mechanism; 54. a slide block; 6. a camera; 7. an aluminum alloy template; 71. plate-shaped template reinforcing ribs; 72. block form reinforcing ribs; 73. and a transverse rib.
Detailed Description
In order that the above objects, features and advantages of the application will be more clearly understood, a further description of the application will be rendered by reference to the appended drawings and examples. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other. For convenience of description, the words "upper", "lower", "left" and "right" are merely used herein to denote a correspondence with the upper, lower, left, and right directions of the drawing figures, and are not limiting on the structure.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced otherwise than as described herein, and therefore the present invention is not limited to the specific embodiments of the disclosure that follow.
1-5, The special-shaped small-specification aluminum alloy template welding manipulator provided by the invention comprises a machine base 1, a welding gun 42 and a power supply 2, wherein the machine base 1 is provided with a mechanical arm group 3 and a controller, the controllers of all mechanical arm groups 3b can be also arranged in a triangular base 12 in a centralized manner, and the mechanical arm group 3 comprises a main base 3a, a plurality of mechanical arms 3b and a plurality of shaft joints 3c. The welding gun 42, the main seat 3a, the mechanical arm 3b and the shaft joint 3c are in the prior art, and the embodiment is not described herein, and the welding of the present invention adopts the non-welding wire spot welding. On the basis, the machine base 1 provided by the invention comprises a top seat 11, the bottom of the top seat 11 is provided with a hollow triangular seat 12, the mechanical arm groups 3 are three in total and are respectively arranged on three sides of the triangular seat 12, the side edges of the triangular seat 12 are provided with a power transfer plug board 13, the power transfer plug board 13 is provided with an air source connecting port and a power source connecting port, the power transfer plug board 13 is connected with an air source and a power source 2 which are arranged in the triangular seat 12, the three mechanical arm groups 3 are respectively two feeding mechanical arm groups 31 and one welding mechanical arm group 32, the movable tail end of each feeding mechanical arm group 31 is provided with a pneumatic feeding clamp 33, the power input end of each pneumatic feeding clamp 33 is provided with a hose connected with an air source interface, the pneumatic feeding clamp 33 is provided with a cross clamp groove 331, the groove face of the cross clamp groove 331 is provided with a plurality of pairs of clamp pieces 332, each pneumatic feeding clamp 33 also comprises a piston assembly 333 which is arranged in the pneumatic clamp 33 and is connected with the clamp pieces 332, for example, one piston assembly 333 corresponds to one clamp piece 332, or two clamp pieces 332 correspond to one piston assembly 333, the movable tail end of each clamp arm 33 is provided with two wedge-shaped clamp pieces 4, the welding gun 4 is provided with two welding gun positioning mechanism 42, and the welding gun positioning mechanism 42 is arranged at two tail ends of each welding mechanism 4 are connected with two welding mechanism 4, and the welding gun positioning mechanism 42 are arranged at two tail ends through the welding mechanism. The depths of the transverse portion and the longitudinal portion of the cross clamping groove 331 are different to adapt to the form reinforcing ribs with different shapes, and all the clamping pieces 332 inside the cross clamping groove 331 can be driven by the air source and the corresponding piston component 333 to realize opening, closing and clamping actions, so that the requirement of pneumatic clamping feeding is met. The different pneumatic feed grippers 33 are connected to the air supply by separate conduits, and all piston assemblies 333 in the same pneumatic feed gripper 33 are driven synchronously by the air supply, so that the movements of the gripping tabs 332 in the same pneumatic feed gripper 33 are substantially synchronized. The operation start and brake of the welding gun 42 are electrically controlled.
Specifically, the top seat 11 can be installed and connected with a supporting frame system of a workshop, and the inside of the triangular seat 12 is used for installing the power supply 2 and the air source. The three-edged seat 12 provides three installation foundation surfaces for the three mechanical arm groups 3, and can effectively meet the action needs and the function needs of different mechanical arm groups 3. The power patch panel 13 mainly provides a power source for main functional components at the end of the mechanical arm group 3, including aerodynamic force and electric force. Further, for the two sides of the transverse rib 73 on the aluminum alloy template 7, mainly plate-shaped template reinforcing ribs 71 are adopted, the specific shape of the template reinforcing ribs can be triangle, trapezoid or other polygonal structures, and the common characteristic of the template reinforcing ribs is that the template reinforcing ribs are all provided with a right angle to be in butt joint with the panel base material; and the corner positions between the transverse ribs 73 and the side plates mainly adopt block-shaped template reinforcing ribs 72 with triangular pyramid structures. For the plate-shaped template reinforcing ribs and the block-shaped template reinforcing ribs, the two feeding mechanical arm groups 31 provided by the invention can realize clamping, and particularly can meet the automatic welding requirements of various different actual plate-shaped structures, namely, the special-shaped small-specification template reinforcing ribs. Further, the two feeding mechanical arms 3b can sequentially take a pair of plate-shaped template reinforcing ribs 71, so that the two template reinforcing ribs respectively lean against two sides of the transverse rib 73 on the aluminum alloy template 7, and then the two template reinforcing ribs are welded by the welding mechanical arm group 32. After a welding spot connecting line with a sufficient length is arranged on one of the template reinforcing ribs, the feeding mechanical arm group 31 for clamping the template reinforcing rib can take materials to perform welding work at the next equi-differential position, and the welding mechanical arm group 32 can directly cross the transverse rib 73 from one side of the transverse rib 73 to the other side for welding, so that higher welding efficiency can be obtained. In particular, the double-sided welder 4 of the welding mechanical arm group 32 can weld the welding seams on two sides of the same template reinforcing rib at the same time, which is favorable for ensuring the stress uniformity of the welding seams and the base metal, thereby obtaining the welding seams with higher quality and improving the compression resistance and the deformation resistance of the aluminum alloy template 7.
Further, for the block-shaped formwork reinforcing ribs, the block-shaped formwork reinforcing ribs can be manually placed at the corner positions of the formwork due to the small number of the block-shaped formwork reinforcing ribs, the wedge-shaped faces of the pneumatic feeding clamp holders 33 are abutted against the inclined faces of the formwork reinforcing ribs until the block-shaped formwork reinforcing ribs are abutted against the aluminum alloy formwork, and then welding is performed on welding seams of the formwork reinforcing ribs by the welding mechanical arm groups 32. The conversion of the robot arm group 3 when the plate-shaped formwork reinforcing ribs 71 and the block-shaped formwork reinforcing ribs 72 are welded may be achieved by operating the controller by remote control means. The displacement change of the template under the device can be realized by a stepping driving mechanism or a conveying mechanism of a workshop. Compared with the pure manual welding, the equipment has stronger welding capability and higher utilization rate, and can obviously improve the operation efficiency of the whole template production line. In order to meet the requirement of welding the template reinforcing ribs with different thicknesses, the positioning and adjusting mechanism 41 provided by the invention can adjust the distance between the tail ends of the two welding guns 42, so that the actual welding requirement is met. The clamping depth and the extrusion depth of the template reinforcing rib are smaller than the minimum height of the top end of the template reinforcing rib from the aluminum alloy template 7, so that the pneumatic feeding clamp 33 is prevented from being contained on the base material.
In order to prevent the head end of a welding gun 42 from being welded with an aluminum alloy template 7, the invention is provided with a mounting opening 14 matched with a welding mechanical arm group 32 on a machine base 1, and a jump arm device 5 is arranged at the mounting opening 14. The arm jumping device 5 is an emergency mechanism, and when the working end of the welding mechanical arm set 32, namely the double-sided welder 4, abnormally stagnates, the main seat 3a of the welding mechanical arm set 32 is pried, so that the welding mechanical arm set 32 can generate upward pulling-up action, and the pulling-up action cannot interfere a program designed for the welding mechanical arm set 32, so that the end part of the double-sided welder 4 and a base material can be timely disconnected and continue the subsequent welding action in the moment of welding death, and the actual welding efficiency of the equipment is ensured.
For the purpose of working stability of the welding mechanical arm set 32, the invention designs the mounting opening 14 into a circular structure, the welding mechanical arm set 32 comprises a ring groove 321 matched with the mounting opening 14, the arm jumping device 5 comprises five plate spring sets 51 distributed in a circular array, the plate spring sets 51 comprise at least two plate springs, and the arching surfaces of the plate springs face the mounting opening 14 and are contacted and matched with the ring groove 321. The leaf springs serve as buffer parts, so that emergency requirements of the jump arm mechanical arm group 3 in welding operation can be met, five-point nodes can be provided for the welding mechanical arm group 32 as an effective supporting structure, and stability requirements of the welding operation on the welding mechanical arm group 32 are met.
Further, the corners of the main seat of the welding mechanical arm set are connected with the triangular seat through bolts, and through holes matched with the bolts on the triangular seat adopt waist-shaped holes or arc-shaped holes, so that the jumping requirement of the welding mechanical arm set can be met, and the joint supporting stability of the whole welding mechanical arm set between the triangular seat and the jumping arm device can be ensured. The five plate spring assemblies 51 provided by the invention comprise two upper positioning plate spring assemblies 511, two side positioning plate spring assemblies 512 and one lower positioning plate spring assembly 513, wherein one end of each upper positioning plate spring assembly 511 is fixedly connected with the machine base 1, the other end of each upper positioning plate spring assembly is a movable end, both ends of each side positioning plate spring assembly 512 are movable ends and are movably matched with the limiter 52 arranged at the mounting opening 14, the inner side of each side positioning plate spring assembly 512 is provided with the cam driving mechanism 53, the rotating surface of each cam driving mechanism 53 is movably matched with each side positioning plate spring assembly 512, and both ends of each lower positioning plate spring assembly 513 are fixed ends. In the case of normal welding operation, the two upper positioning leaf spring assemblies 511 and the one lower positioning leaf spring assembly 513 support the main seat 3a of the welding robot arm assembly 32 at three points, and the movable ends of the upper positioning leaf spring assemblies 511 are provided with a certain expansion and contraction capability, particularly in the case that the main seat 3a is subjected to instantaneous unbalanced pressure. The cam driving mechanism 53 in the side positioning plate spring set 512 adopts a motor as a power source, the motor can drive the cam end at the output side of the motor to rotate, the rotating surface of the cam is in rolling contact with the plate springs in the measuring plate spring set 51, the plate springs generate a moving swing, the changing swing mainly causes the main seat 3a to generate instant jumping, and the welding working end of the double-sided welding device 4 is timely separated from the base metal under the condition of welding, so that efficient welding is realized.
In order to improve the matching performance of the side positioning plate spring group 512 with the machine base 1 and the welding mechanical arm group 32, the limiter 52 provided by the invention comprises a convex block 521 protruding towards the center direction of the mounting hole 14, a guide groove 522 is arranged on the convex block 521, a sliding block 54 matched with the guide groove 522 is arranged at the end part of the side positioning plate spring group 512, and an annular countersink 15 matched with the sliding block 54 is arranged on the inner wall of the mounting hole 14. The guide slot 522 may take the form of an arcuate path of gradual curvature, and may not have a slot diameter that is exactly equal to the maximum diameter of the slider 54, but is greater than the maximum diameter of the slider 54. In this way, the two guide grooves 522 and the annular countersink 15 on the same side are used as a set of guide system, so that the cam driving mechanism 53 drives the leaf spring to swing, and meanwhile, the sliding block 54 at the end part of the leaf spring can generate corresponding displacement in the guide system without deviating from the movement range designed for the leaf spring, thus the swing requirement of the leaf spring can be fully met, and the minimum swing amplitude only needs to enable the main seat 3a to generate reasonable jump amplitude. It should be noted that, the two cam driving mechanisms 53 drive different side positioning plate spring sets 512 at different timings, and the starting basis is that the welding stagnation occurs in different double-sided welders 4.
In order to improve the adjustment performance of the positioning adjustment mechanism 41, the positioning adjustment mechanism 41 provided by the invention comprises a mounting barrel 411, wherein a mounting hole matched with the welding gun 42 is formed in the mounting barrel 411, adjustment assemblies 412 are arranged at two ends of the mounting barrel 411, each adjustment assembly 412 comprises a side clamping block 4121 matched with the side surface of the welding gun 42, a spring 4122 is arranged at one end of the side clamping block 4121, which is away from the welding gun 42, the spring 4122 is arranged in a groove barrel 4123, the outer wall of the groove barrel 4123 is in threaded fit with the mounting barrel 411, and an adjustment head 4124 is arranged at one end of the groove barrel 4123, which is far away from the center of the mounting barrel 411. The pressure of the spring 4122 acting on the side clamping block 4121 can be changed by rotating the adjusting head 4124, and the actual height of the welding gun can be adjusted when the interaction force between the side clamping block 4121 and the welding gun is reduced, so that the aim of adjusting the distance between the two welding guns is fulfilled.
In order to improve the welding efficiency, the side clamping block 4121 of the present invention is provided with a pressure sensor (not shown) on the mating surface with the welding gun 42, and the pressure sensor and the arm jump device 5 are electrically connected to the controller. The pressure sensors on the two side clamping blocks 4121 of the same double-sided welder 4 sense the pressure change of the welding gun 42 from two directions, and after the information fed back to the controller by the two pressure sensors is received by the controller, the controller sends a control signal to a cam driving mechanism 53 on the same side or the opposite side of the welding gun 42 with the problem of welding death, and the cam driving mechanism 53 starts a welding death emergency mechanism. The minimum rotational displacement of the cam drive 53 is determined by the controller for different pressure signals generated by the same double-sided welder 4, thereby enabling the two welding guns 42 of the double-sided welder 4 to be completely separated from the base material in the event of different degrees of weld death. The cam driving mechanism 53 on one side of the double-sided welding machine 4 forms an emergency mechanism, the cam driving mechanism 53 on the same side of the double-sided welding machine can be used for forming the emergency mechanism, the cam driving mechanism 53 on the different side of the double-sided welding machine 4 can be used for forming the emergency mechanism, and the double-sided welding machine 4 is preferably used for forming the emergency mechanism by adopting the cam driving mechanism 53 on the different side of the double-sided welding machine 4, so that the design difficulty is low, and the double-sided welding machine 4 can be fully prevented from being arranged on the transverse rib 73 of the aluminum alloy template 7.
In order to improve welding efficiency, the invention is provided with the camera 6 at the bottom of the triangular base 12, and the camera is electrically connected with the controller. The camera 6 is designed to provide real-time welding images for workers or robot systems, so that the accuracy of the welding action of the whole equipment is improved, and the welding efficiency and the operation safety of the equipment are ensured.
The present invention is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present invention without departing from the technical content of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (4)
1. The special-shaped small-specification aluminum alloy template welding manipulator comprises a machine base, a welding gun and a power supply, wherein the machine base is provided with a mechanical arm group and a controller, the mechanical arm group comprises a main seat, a plurality of mechanical arms and a plurality of shaft joints, and is characterized in that the machine base comprises a top seat, the bottom of the top seat is provided with a hollow triangular seat, the mechanical arm group is totally three and respectively arranged on three sides of the triangular seat, the side edges of the triangular seat are provided with power transfer inserting plates, the power transfer inserting plates are provided with air source connecting ports and power source connecting ports, the power transfer inserting plates are connected with an air source and a power source arranged inside the triangular seat, the three mechanical arm groups are respectively two feeding mechanical arm groups and one welding mechanical arm group, the movable tail end of the feeding mechanical arm group is provided with a pneumatic feeding clamp holder, the power input end of the pneumatic feeding clamp holder is provided with a hose connected with an air source interface, the pneumatic feeding clamp holder is provided with a cross clamping groove, the groove surface of the cross clamping groove is provided with clamping pieces, the pneumatic feeding clamp holder is internally provided with a piston assembly connected with the clamping pieces, the two ends of the pneumatic feeding clamp holder are provided with wedge-shaped clamping surfaces, the movable tail end of the welding mechanical arm group is provided with a double-sided welder, the double-sided welder comprises a positioning and adjusting mechanism, two welding guns are arranged on the positioning and adjusting mechanism in an included angle manner, and the power input end of each welding gun is connected with the power source interface through an electric wire;
The welding machine comprises a machine base, a welding machine arm group, a welding machine head and an aluminum alloy template, wherein the machine base is provided with a mounting port matched with the welding machine arm group, a jump arm device is arranged at the mounting port and used for preventing the head end of the welding gun from being welded with the aluminum alloy template; the welding mechanical arm set comprises an annular groove matched with the mounting opening, the jump arm device comprises five plate spring sets distributed in a circular array, the plate spring sets comprise at least two plate springs, and the arching surfaces of the plate springs face the mounting opening and are in contact fit with the annular groove; the five plate spring groups comprise two upper positioning plate spring groups, two side positioning plate spring groups and a lower positioning plate spring group, one end of each upper positioning plate spring group is fixedly connected with the machine base, the other end of each upper positioning plate spring group is a movable end, both ends of each side positioning plate spring group are movable ends and are movably matched with a limiter arranged at the mounting opening, the inner side of each side positioning plate spring group is provided with a cam driving mechanism, the rotating surface of each cam driving mechanism is movably matched with each side positioning plate spring group, and both ends of each lower positioning plate spring group are fixed ends; the limiter comprises a protruding block protruding towards the center of the mounting opening, a guide groove is formed in the protruding block, a sliding block matched with the guide groove is arranged at the end of the side positioning plate spring group, and an annular sinking opening matched with the sliding block is formed in the inner wall of the mounting opening.
2. The special-shaped small-specification aluminum alloy template welding manipulator according to claim 1, wherein the positioning adjusting mechanism comprises an installation cylinder, an installation hole matched with a welding gun is formed in the installation cylinder, adjusting components are arranged at two ends of the installation cylinder, each adjusting component comprises a side clamping block matched with the side face of the welding gun, a spring is arranged at one end, opposite to the welding gun, of each side clamping block, each spring is arranged in a groove cylinder, the outer wall of each groove cylinder is in threaded fit with the installation cylinder, and an adjusting head is arranged at one end, far away from the center of the installation cylinder, of each groove cylinder.
3. The special-shaped small-specification aluminum alloy template welding manipulator according to claim 2, wherein the side clamping blocks are provided with pressure sensors on the matching surfaces of the side clamping blocks and the welding gun, and the pressure sensors and the jump arm device are electrically connected with a controller.
4. The special-shaped small-specification aluminum alloy template welding manipulator according to claim 1, wherein a camera is arranged at the bottom of the triangular base and is electrically connected with a controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210852342.0A CN115041892B (en) | 2022-07-19 | 2022-07-19 | Special-shaped small-specification aluminum alloy template welding manipulator |
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| CN111448085A (en) * | 2017-12-08 | 2020-07-24 | 五十铃自动车株式会社 | Upper arm structure of suspension device |
| CN113070558A (en) * | 2021-03-26 | 2021-07-06 | 山东易斯特工程工具有限公司 | Robot operating device for plasma surfacing of wear-resistant surface of shield cutter |
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| CN104785978B (en) * | 2015-05-11 | 2017-03-15 | 武汉锂鑫自动化科技有限公司 | A kind of U ribs welder and its adjustment mechanism |
| CN211052920U (en) * | 2019-11-01 | 2020-07-21 | 苏州领裕电子科技有限公司 | Welding machine for welding material sheet on four-station disc in rotation mode on transverse material belt |
| CN212350888U (en) * | 2020-04-27 | 2021-01-15 | 佛山市逸升科技实业有限公司 | Six-axis numerical control stepping double-welding-gun manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111448085A (en) * | 2017-12-08 | 2020-07-24 | 五十铃自动车株式会社 | Upper arm structure of suspension device |
| CN113070558A (en) * | 2021-03-26 | 2021-07-06 | 山东易斯特工程工具有限公司 | Robot operating device for plasma surfacing of wear-resistant surface of shield cutter |
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