CN115488488A - Workpiece spot welding device based on industrial robot and spot welding method thereof - Google Patents
Workpiece spot welding device based on industrial robot and spot welding method thereof Download PDFInfo
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- CN115488488A CN115488488A CN202211343851.7A CN202211343851A CN115488488A CN 115488488 A CN115488488 A CN 115488488A CN 202211343851 A CN202211343851 A CN 202211343851A CN 115488488 A CN115488488 A CN 115488488A
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/36—Auxiliary equipment
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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
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
- B23K37/0533—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor external pipe alignment clamps
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Abstract
The invention discloses a workpiece spot welding device based on an industrial robot and a spot welding method thereof, wherein the device comprises a workbench, a feeding device arranged on the workbench, a clamping device arranged on the feeding device, supports symmetrically arranged on the workbench, an adjusting assembly arranged on the supports, a lifting device connected with the adjusting assembly, a welding unit connected with the lifting device, and a plurality of welding devices arranged on the circumferential direction of the welding unit; the welding unit comprises a lifting block connected with the lifting equipment, a first motor arranged on the lifting block, a hinge seat connected with the output end of the first motor, an adjusting part connected with the hinge seat, and a welding assembly arranged on the adjusting part; the device can not only complete the welding work of a bending area in a tubular workpiece of a bending workpiece, but also can improve the welding quality of the pipeline welding workpiece by matching with a pipeline outer wall welding device.
Description
Technical Field
The invention relates to a workpiece spot welding device, in particular to a workpiece spot welding device based on an industrial robot, and relates to the technical field of workpiece welding.
Background
Welding, also known as fusion welding, is a manufacturing process and technique for joining metals or other thermoplastic materials such as plastics by heating, high temperature or high pressure, and as the degree of industrialization of our country is continuously increased, welded products are more and more important in life.
But current welding equipment still has some problems, and current welding equipment is carrying out weldment work to the inner wall of two tubular work pieces that have predetermined radian, because there is established radian in the work piece, and then can increase welder's the welding degree of difficulty, when carrying out weldment work to the less pipeline inner wall of some diameters simultaneously, because operating personnel's self operating factor or the objective factor that intraductal light is comparatively dark, and then can appear leaking the phenomenon of welding when welding, and then lead to weldment work's failure.
In order to avoid the above problems, some enterprises select to weld two pipelines, and then can weld the outer surface of the pipeline, and then accomplish the welding to two crooked pipelines, but when the pipe wall size of the pipeline is too big, only accomplish the connection work to two crooked pipelines through welding to the outer wall, can lead to the instability of product quality after welding, and then can lead to the fracture of product after welding, and then lead to the pipeline can not accomplish the transportation work, and then the quality that leads to the product after welding can not reach established standard.
Therefore, how to weld two pipes with a predetermined arc is a problem to be solved.
Disclosure of Invention
The purpose of the invention is as follows: the utility model provides a work piece spot welding device for based on industrial robot to solve the above-mentioned problem that prior art exists.
The technical scheme is as follows: a workpiece spot welding device for industrial robot includes:
the welding device comprises a workbench, a feeding device arranged on the workbench, a clamping device arranged on the feeding device, brackets symmetrically arranged on the workbench, an adjusting assembly arranged on the brackets, a lifting device connected with the adjusting assembly, a welding unit connected with the lifting device, and a plurality of welding devices arranged on the circumferential direction of the welding unit;
the welding unit comprises a lifting block connected with the lifting equipment, a first motor arranged on the lifting block, a hinge seat connected with the output end of the first motor, an adjusting part connected with the hinge seat, and a welding assembly arranged on the adjusting part;
the feeding equipment, the clamping equipment and the lifting equipment are in the prior art; and the welding unit is provided with a visual detection device and a light supplement device, and the visual detection device is in the prior art.
In a further embodiment, the adjusting part comprises a first connecting rod movably connected with the hinged seat, a second connecting rod movably connected with the first connecting rod, a third connecting rod movably connected with the second connecting rod, a second motor arranged on the third connecting rod, and a rotating seat connected with the output end of the second motor;
the adjusting part is also provided with at least three rotating motors;
one of the rotating motors is used for adjusting the angle between the first connecting rod and the hinge seat;
the other rotating motor is used for adjusting the angle between the first connecting rod and the second connecting rod;
the rest of the rotating motors are used for adjusting the angle between the second connecting rod and the third connecting rod;
the three rotating motors do not interfere with each other;
the rotating seat is connected with the welding assembly; the angle between the connecting rods can be adjusted, so that the welding assembly can move in a pipeline with at least one bending area, the welding assembly can be located in any area of a bent workpiece, and the welding work on the inner wall of the pipeline is completed.
In a further embodiment, the welding assembly comprises a group of connecting seats, a telescopic cylinder, a plurality of cross arms and a group of welding parts, wherein the telescopic cylinder is used for connecting the two connecting seats and is positioned between the two connecting seats;
one connecting seat is connected with the rotating seat;
at least when the work state, telescopic cylinder adjusts the interval between two connecting seats, and then carries out weldment work to the different positions of work piece.
In a further embodiment, the welding part comprises a first limiting seat connected with the rotating seat, a second limiting seat connected with the first limiting seat, a plurality of limiting parts arranged on the second limiting seat, universal joints used for connecting adjacent limiting parts, and an adjusting motor arranged on the second limiting seat;
the first limiting seat and the second limiting seat are of annular structures, and the first limiting seat is positioned in a range enclosed by the second limiting seat;
the limiting parts are evenly distributed on the circumferential direction of the second limiting seat, the output end of the adjusting motor is connected with one limiting part;
the welding equipment is connected with the limiting part;
at least in the adjusting process, the moving adjusting motor drives the limiting part connected with the adjusting motor to move, and under the cooperation of the universal joint, the remaining limiting part can be driven to start to move, so that the remaining limiting part is folded inwards or stretched outwards; only need through a driving motor, just can drive all drive gears and rotate, then can adjust the distance between welding set and the pipeline work piece inner wall, and then can accomplish the weldment work to the pipeline of different diameters.
In a further embodiment, the adjusting portion comprises a plurality of guide seats arranged on the first limiting seat in the circumferential direction and on the second limiting seat in the circumferential direction, a driving rack arranged on the guide seats and connected with the guide seats in a sliding manner, a driving gear meshed with the driving rack, and a limiting plate arranged at one end of the driving rack;
a plurality of limiting pulleys are arranged in the length direction of the limiting plate in one welding part, and a limiting sliding groove matched with the limiting pulleys is further arranged on the rotating seat;
the welding equipment is connected with the other end of the driving rack; the position of the welding equipment can be synchronously adjusted, and then the welding work on the inner wall of the pipeline can be completed.
In a further embodiment, the cross arm comprises a fifth connecting rod movably connected with one of the connecting seats, a fourth connecting rod movably connected with one end of the fifth connecting rod, a seventh connecting rod movably connected with the other end of the fifth connecting rod, and a sixth connecting rod movably connected with the other end of the fourth connecting rod;
the other end of the sixth connecting rod is arranged on the other connecting seat, and the other end of the seventh connecting rod is movably connected with the other end of the sixth connecting rod; through mutually supporting of the telescopic cylinder who sets up and crossing arm, and then can adjust the distance between two connecting seats to the distance between two welding parts of indirect adjustment, and then make the welding part can carry out weldment work simultaneously to two different regions in the pipeline, and then improve work efficiency or previous welding part and carry out weldment work.
In a further embodiment, the adjustment assembly comprises two mutually perpendicular adjustment portions;
one adjusting part comprises a displacement motor arranged on one support, an adjusting screw rod arranged at the output end of the displacement motor, a transmission part sleeved on the adjusting screw rod, and an adjusting plate arranged on the transmission part;
the other adjusting part is positioned on the adjusting plate, and the lifting equipment is positioned on the adjusting plate in the other adjusting part; the position of the welding assembly in the pipeline can be adjusted, and then the welding work of the inner wall of the pipeline can be completed.
In a further embodiment, the bracket is further provided with an adjusting slide rail and an adjusting slide block which is connected with the adjusting slide rail in a sliding manner;
the adjusting slide block is connected with the adjusting plate.
A spot welding method based on the workpiece spot welding device for the industrial robot comprises the following steps:
s1: when the inner wall of a tubular workpiece with a preset curvature needs to be welded, an operator firstly places the workpiece on a clamping device, then the clamping device finishes clamping the workpiece, and then a feeding device transports the workpiece to a set welding area;
s2: when a workpiece is positioned in a set welding area, the displacement motor starts to work, then the moving displacement motor can drive the adjusting screw rod to start rotating, the moving adjusting screw rod can drive the transmission piece to start working, the moving transmission piece can drive the adjusting plate to start reciprocating motion in the length direction of the support, the position of the other adjusting part can be adjusted, then the lifting equipment starts to move, and then multidirectional position adjustment work is carried out on the position of the welding equipment according to the size and the position of the workpiece, so that the welding equipment is positioned in a tubular workpiece with preset curvature;
s3: when the welding equipment is positioned in a tubular workpiece with a preset curvature, the second motor and the first motor start to work, then the moving second motor can drive the rotating seat to start rotating, further the moving rotating seat can drive the welding assembly to start working, then the welding equipment can complete the welding work on the circumferential direction of the inner wall of the pipeline, and then the welding assembly can move upwards along the axial direction of the pipeline workpiece under the coordination of one adjusting part, so that the welding work on the straight area of the bent pipeline workpiece is completed;
s4: before welding work is carried out on the inner wall of the pipeline in the circumferential direction by welding equipment, the adjusting motor starts to work, then the moving adjusting motor can drive one of the driving gears to start to rotate, then the moving driving gear can drive the universal joint connected with the driving gear to start to work, then the moving universal joint can drive the other driving gear to start to rotate, further all the driving gears can rotate, then the rotating driving gear can drive the driving rack meshed with the rotating driving gear to start to work, further the moving driving gear can reciprocate in the length direction of the moving driving gear, further the position of the welding equipment on the driving rack is adjusted, further the position of the welding equipment can be adjusted according to the diameter of the inner wall of the workpiece, and further the welding work on the inner walls of workpieces with different sizes can be completed;
s5: after the welding operation of the straight area of the bent pipeline workpiece is finished, the welding operation of the bent area of the pipeline workpiece needs to be carried out at the moment, then the motors are adjusted to work reversely, so that the limiting plate at the other end of the driving rack is folded inwards, then the three rotating motors start to rotate in sequence, so that the angle between the hinge base and the first connecting rod, the angle between the first connecting rod and the second connecting rod, the angle between the second connecting rod and the third connecting rod and the position of the welding assembly can be adjusted, so that the welding assembly can be located in the bent area or pass through the bent area to be located in another straight area, then the welding equipment starts to work, the working process is the same as the step S4, redundant description is omitted, and the welding operation of the bent area or another straight area can be finished;
s6: after the welding operation on the bent area or the other straight area is finished, the three rotating motors start to work, and simultaneously under the coordination of one adjusting part, the welding unit is withdrawn from the tubular workpiece, and the repair welding and detection operation on the welding area can be finished in the withdrawing process;
s7: and when the welding unit is withdrawn from the tubular workpiece, the feeding device moves reversely, so that the workpiece is located in a set feeding area, then the operator takes the workpiece which is subjected to welding work out of the clamping device, then the workpiece is replaced by a new workpiece which is not welded, and then the steps S1-S6 are repeated, so that the welding work on the tubular workpiece with the preset radian is finished.
Has the advantages that: the invention discloses a workpiece spot welding device based on an industrial robot, which is used for welding two pipelines with preset radian, and is further provided with a welding unit, when a bent area of a pipeline workpiece needs to be welded, three rotating motors sequentially start to rotate, so that the angle between a hinge seat and a first connecting rod, the angle between the first connecting rod and a second connecting rod, the angle between a second connecting rod and a third connecting rod and the position of a welding assembly can be sequentially adjusted, the welding assembly can be positioned in the bent area or pass through the bent area to be positioned in another straight area, then welding equipment starts to work, the welding work of the bent area or the other straight area can be completed, then the workpiece welding work of a thicker pipe wall can be completed by matching with a pipeline outer wall welding device, the welding work of the bent area in the tubular workpiece of the bent workpiece can be completed, and the welding quality of the pipeline welding workpiece can be improved by matching with the pipeline outer wall welding device.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a schematic view of the adjusting assembly of the present invention.
Fig. 3 is a schematic structural view of the welding unit of the present invention.
FIG. 4 is a schematic view of a welded assembly of the present invention.
Fig. 5 is a plan view of a welded portion of the present invention.
Fig. 6 is a schematic view of a weld of the present invention.
The reference signs are: the automatic welding machine comprises a workbench 1, a feeding device 2, a bracket 3, an adjusting assembly 4, a displacement motor 41, an adjusting screw rod 42, a transmission piece 43, an adjusting plate 44, an adjusting slider 45, an adjusting slide rail 46, a lifting device 5, a welding unit 6, a lifting block 61, a first motor 62, a hinged seat 63, a first connecting rod 64, a second connecting rod 65, a third connecting rod 66, a second motor 67, a rotating seat 68, a welding assembly 69, a connecting seat 691, a telescopic cylinder 692, a cross arm 693, a fourth connecting rod 6931, a fifth connecting rod 6932, a sixth connecting rod 6933, a seventh connecting rod 6934, a welding part 694, a first limiting seat 6941, a second limiting seat 6942, an adjusting motor 6943, a driving motor 6944, a driving rack 6945, a limiting plate 6946, a universal joint 6947, a driving gear 6948 and a guide seat 6949.
Detailed Description
Through research and analysis of the applicant, the reason for the problem (when the pipe wall of the pipeline is too large, the connection work of two bent pipelines is completed only by welding the outer wall, which can cause unstable quality of the welded product) is that when the existing welding equipment is used for welding the inner walls of two tubular workpieces with preset radians, the welding difficulty of welding personnel can be increased due to the preset radians in the workpieces, and meanwhile, when the inner walls of the pipelines with smaller diameters are welded, the phenomenon of welding leakage can occur during welding due to the operation factors of the operators or the objective factors that the light in the pipelines is dark, so that the failure of the welding work can be caused; in order to avoid the problems, when two pipelines are selected to be welded, the outer surfaces of the pipelines can be welded, and then the two curved pipelines are welded, when the pipe wall of each pipeline is too large in size, the two curved pipelines are connected only by welding the outer wall, the quality of a welded product is unstable, and further the welded product is broken, so that the pipelines cannot complete transportation, and further the quality of the welded product cannot reach a set standard.
A workpiece spot welding device for industrial robot includes: the automatic welding machine comprises a workbench 1, a feeding device 2, a bracket 3, an adjusting assembly 4, a displacement motor 41, an adjusting screw rod 42, a transmission piece 43, an adjusting plate 44, an adjusting slider 45, an adjusting slide rail 46, a lifting device 5, a welding unit 6, a lifting block 61, a first motor 62, a hinged seat 63, a first connecting rod 64, a second connecting rod 65, a third connecting rod 66, a second motor 67, a rotating seat 68, a welding assembly 69, a connecting seat 691, a telescopic cylinder 692, a cross arm 693, a fourth connecting rod 6931, a fifth connecting rod 6932, a sixth connecting rod 6933, a seventh connecting rod 6934, a welding part 694, a first limiting seat 6941, a second limiting seat 6942, an adjusting motor 6943, a driving motor 6944, a driving rack 6945, a limiting plate 6946, a universal joint 6947, a driving gear 6948 and a guide seat 6949.
As shown in fig. 1 to 6, the device includes a workbench 1, a feeding device 2 disposed on the workbench 1, a clamping device disposed on the feeding device 2, brackets 3 symmetrically mounted on the workbench 1, an adjusting assembly 4 disposed on the brackets 3, a lifting device 5 connected to the adjusting assembly 4, a welding unit 6 connected to the lifting device 5, and a plurality of welding devices disposed on the circumferential direction of the welding unit 6; the welding unit 6 comprises a lifting block 61 connected with the lifting device 5, a first motor 62 arranged on the lifting block 61, a hinged seat 63 connected with the output end of the first motor 62, an adjusting part connected with the hinged seat 63, and a welding assembly 69 arranged on the adjusting part, wherein the feeding device 2, the clamping device and the lifting device 5 are the prior art; a visual detection device and a light supplement device are arranged on the welding unit 6, and the visual detection device is in the prior art; when the inner wall of a tubular workpiece with a preset curvature needs to be welded, an operator firstly places the workpiece on a clamping device, then the clamping device finishes clamping the workpiece, and then the feeding device 2 transports the workpiece to a set welding area; through the charging equipment 2 and the centre gripping equipment that set up, and then can transport the work piece to the established position, and then be convenient for welding equipment to accomplish the weldment work to the work piece, simultaneously through the visual inspection equipment who sets up, and then when the work piece withdraws from in the pipeline, the visual inspection equipment can detect the contrast in the region of welding, and then avoid the pipeline region that leaks to weld to appear, be equipped with two at least regulating parts in this device simultaneously, and then can carry out weldment work to a plurality of regions simultaneously, two regulating parts are dismantled with connecting seat 691 and are connected simultaneously, and then can replace one of them weld part 694 with the portion of polishing, and then can carry out the work of polishing to the region of welding, and then guarantee going on smoothly of weldment work, simultaneously through the weldment work to the inside and outside arm of pipeline, and then can accomplish the weldment work of the tubiform work that the pipe wall is thicker.
The adjusting part comprises a first connecting rod 64 movably connected with the hinged seat 63, a second connecting rod 65 movably connected with the first connecting rod 64, a third connecting rod 66 movably connected with the second connecting rod 65, a second motor 67 arranged on the third connecting rod 66, and a rotating seat 68 connected with the output end of the second motor 67; the adjusting part is also provided with at least three rotating motors; one of the rotating motors is used to adjust the angle between the first link 64 and the hinge base 63; another rotation motor is used to adjust the angle between the first link 64 and the second link 65; the remaining one rotation motor is used to adjust the angle between the second link 65 and the third link 66; the three rotating motors do not interfere with each other; the rotary base 68 is connected with a welding assembly 69; the cross arm 693 comprises a fifth connecting rod 6932 movably connected with one of the connecting seats 691, a fourth connecting rod 6931 movably connected with one end of the fifth connecting rod 6932, a seventh connecting rod 6934 movably connected with the other end of the fifth connecting rod 6932, and a sixth connecting rod 6933 movably connected with the other end of the fourth connecting rod 6931; the other end of the sixth connecting rod 6933 is arranged on the other connecting seat 691, and the other end of the seventh connecting rod 6934 is movably connected with the other end of the sixth connecting rod 6933; after the welding operation of the straight area of the bent pipeline workpiece is completed, the welding operation of the bent area of the pipeline workpiece needs to be performed at this time, then the motor 6943 is adjusted to reversely operate, so that the limiting plate 6946 at the other end of the driving rack 6945 is inwardly folded, then the three rotating motors sequentially start to rotate, further the angle between the hinge seat 63 and the first connecting rod 64, the angle between the first connecting rod 64 and the second connecting rod 65, the angle between the second connecting rod 65 and the third connecting rod 66 and the position of the welding assembly 69 can be adjusted, further the welding assembly 69 can be located in the bent area or located in another straight area through the bent area, then the welding equipment starts to operate, the operation process is the same as the step S4, and redundant description is omitted here, and further the welding operation of the bent area or another straight area can be completed; after the welding work of the bent area or the other straight area is finished, the three rotating motors start to work, and simultaneously, under the coordination of one adjusting part, the welding unit 6 is withdrawn from the tubular workpiece, and the repair welding and detection work of the welding area can be finished in the withdrawing process; when the welding unit 6 is withdrawn from the tubular workpiece, the feeding device 2 moves reversely, so that the workpiece is located in a predetermined feeding area, the operator takes the workpiece which is subjected to welding work off the clamping device, then the workpiece is replaced by a new workpiece which is not welded, and then the steps S1-S6 are repeated, so that the welding work on the tubular workpiece with the preset radian is completed.
In a further embodiment, the first motor 62 is arranged to further drive the welding assembly 69 to rotate, so that a welding area of a welding device on the welding assembly 69 can be adjusted, and further welding work on the circumferential direction of the pipeline can be completed, and rotation of the second motor 67 is arranged to further adjust an included angle between the rotary seat 68 and the third connecting rod 66, so that when the welding assembly 69 faces a bending area, the welding assembly 69 can smoothly pass through the bending position, then at least three rotating motors are arranged, so that an angle between the connecting rods can be adjusted, and further the welding assembly 69 can move in the pipeline with at least one bending area, so that the welding assembly 69 can be located in any area of a bent workpiece, and further welding work on the inner wall of the pipeline is completed, and meanwhile, by arranging the visual detection device in the welding assembly 69, not only can the welding condition of the welding device be detected, but also when the welding assembly 69 turns to work, contact between the welding assembly 69 and the inner wall of the tubular workpiece can be avoided, so that damage to the welding assembly 69 or damage to the pipeline is avoided, and safety of the device is ensured.
The welding assembly 69 comprises a set of connecting seats 691, a telescopic cylinder 692 for connecting the two connecting seats 691 and located between the two connecting seats 691, a plurality of cross arms 693 arranged between the two connecting seats 691, and a set of welding parts 694 symmetrically arranged at the outer sides of the two connecting seats 691; one of the connection seats 691 is connected with the rotary seat 68; at least in the working state, the telescopic cylinder 692 adjusts the distance between the two connecting seats 691, so as to weld different positions of the workpiece; the welding part 694 includes a first limit socket 6941 connected to the rotating socket 68, a second limit socket 6942 connected to the first limit socket 6941, a plurality of limit parts disposed on the second limit socket 6942, a universal joint 6947 for connecting adjacent limit parts, and an adjustment motor 6943 disposed on the second limit socket 6942; wherein the first and second retaining bases 6941 and 6942 are annular structures, and the first retaining base 6941 is located within a range surrounded by the second retaining base 6942; the limiting parts are uniformly distributed on the circumference of the second limiting seat 6942, and the output end of the adjusting motor 6943 is connected with one of the limiting parts; the welding equipment is connected with the limiting part; at least in the adjusting process, the moving adjusting motor 6943 drives the limiting part connected with the moving adjusting motor to move, and under the cooperation of the universal joint 6947, the remaining limiting part can be driven to start to move, so that the remaining limiting part is folded inwards or stretched outwards; the adjusting part comprises a plurality of guide seats 6949 arranged on the circumferential direction of the first limiting seat 6941 and the circumferential direction of the second limiting seat 6942, a driving rack 6945 which is arranged on the guide seats 6949 and is slidably connected with the guide seats 6949, a driving gear 6948 which is meshed with the driving rack 6945, and a limiting plate 6946 which is arranged at one end of the driving rack 6945; a plurality of limiting pulleys are arranged in the length direction of the limiting plate 6946 in one welding part 694, and a limiting sliding groove matched with the limiting pulleys is further arranged on the rotating seat 68; the welding equipment is connected with the other end of the driving rack 6945; after the welding equipment is positioned in a tubular workpiece with a preset curvature, the second motor 67 and the first motor 62 start to work, then the moving second motor 67 can drive the rotating seat 68 to start to rotate, further the moving rotating seat 68 can drive the welding assembly 69 to start to work, then the welding equipment can complete the circumferential welding work on the inner wall of the pipeline, and then the welding assembly 69 can move upwards along the axial direction of the pipeline workpiece under the coordination of one adjusting part, so that the welding work on the straight area of the bent pipeline workpiece is completed; before the welding equipment performs welding work on the circumferential direction of the inner wall of the pipeline, the adjusting motor 6943 starts to work, the moving adjusting motor 6943 can drive one driving gear 6948 to rotate, the moving driving gear 6948 can drive the universal joint 6947 connected with the driving gear 6948 to start to work, the moving universal joint 6947 can drive the other driving gear 6948 to start to rotate, all the driving gears 6948 can be made to rotate, the rotating driving gear 6948 can drive the driving rack 6945 meshed with the rotating driving gear 6948 to start to work, the moving driving gear 6948 can reciprocate in the length direction of the driving gear, the position of the welding equipment on the driving rack 6945 is adjusted, the position of the welding equipment can be adjusted according to the diameter of the inner wall of the workpiece, and welding work on the inner walls of workpieces with different sizes can be completed.
In a further embodiment, the distance between the two connecting seats 691 can be adjusted by mutually matching the telescopic cylinder 692 and the cross arm 693, so that the distance between the two welding parts 694 can be indirectly adjusted, the welding part 694 can simultaneously perform welding work on two different areas in the pipeline, the work efficiency is improved, or the welding work is performed on the former welding part 694, and the repair welding work can be performed on the welding missing area of the inner wall of the pipeline according to the information of the visual inspection equipment by the latter welding part 694, so that the smooth performance of the welding work is ensured; by connecting the welding apparatus to one end of the drive rack 6945, then engaging the drive rack 6945 with the drive gears 6948, then sequentially connecting the drive gears 6948 via the universal joints 6947, and then only requiring one drive motor 6944 to rotate all of the drive gears 6948, then the distance between the welding apparatus and the inner wall of the pipe work piece can be adjusted, and thus welding of pipes of different diameters can be accomplished.
The adjusting component 4 comprises two adjusting parts which are perpendicular to each other; one of the adjusting parts comprises a displacement motor 41 arranged on one of the brackets 3, an adjusting screw rod 42 arranged at the output end of the displacement motor 41, a transmission piece 43 sleeved on the adjusting screw rod 42, and an adjusting plate 44 arranged on the transmission piece 43; another adjusting part on the adjusting plate 44, there is provided, the lifting device 5 is located on the adjusting plate 44 in the other adjusting part; the bracket 3 is also provided with an adjusting slide rail 46 and an adjusting slide block 45 which is connected with the adjusting slide rail 46 in a sliding manner; the adjusting slide block 45 is connected with the adjusting plate 44; when a workpiece is positioned in a preset welding area, the displacement motor 41 starts to work, then the moving displacement motor 41 can drive the adjusting screw rod 42 to start rotating, then the moving adjusting screw rod 42 can drive the transmission piece 43 to start working, further the moving transmission piece 43 can drive the adjusting plate 44 to start reciprocating motion in the length direction of the support 3, further the position of the other adjusting part can be adjusted, then the lifting device 5 starts to move, further multi-directional position adjusting work is carried out on the position of the welding device according to the size and the position of the workpiece, and further the welding device is positioned in a tubular workpiece with preset curvature; the position of the welding assembly 69 in the pipe can be adjusted and the welding of the inner wall of the pipe can be completed.
Description of the working principle: when the inner wall of a tubular workpiece with a preset curvature needs to be welded, an operator firstly places the workpiece on a clamping device at the moment, then the clamping device finishes clamping the workpiece, and then a feeding device 2 transports the workpiece to a set welding area; when a workpiece is positioned in a preset welding area, the displacement motor 41 starts to work, then the moving displacement motor 41 can drive the adjusting screw rod 42 to start rotating, then the moving adjusting screw rod 42 can drive the transmission piece 43 to start working, further the moving transmission piece 43 can drive the adjusting plate 44 to start reciprocating motion in the length direction of the support 3, further the position of the other adjusting part can be adjusted, then the lifting device 5 starts to move, further multi-directional position adjusting work is carried out on the position of the welding device according to the size and the position of the workpiece, and further the welding device is positioned in a tubular workpiece with preset curvature; after the welding equipment is positioned in a tubular workpiece with a preset curvature, the second motor 67 and the first motor 62 start to work, then the moving second motor 67 can drive the rotating seat 68 to start to rotate, further the moving rotating seat 68 can drive the welding assembly 69 to start to work, then the welding equipment can complete the circumferential welding work on the inner wall of the pipeline, and then the welding assembly 69 can move upwards along the axial direction of the pipeline workpiece under the coordination of one adjusting part, so that the welding work on the straight area of the bent pipeline workpiece is completed; before the welding equipment performs welding work on the circumferential direction of the inner wall of the pipeline, the adjusting motor 6943 starts to work, the moving adjusting motor 6943 can drive one driving gear 6948 to start to rotate, the moving driving gear 6948 can drive the universal joint 6947 connected with the driving gear 6947 to start to work, the moving universal joint 6947 can drive the other driving gear 6948 to start to rotate, all the driving gears 6948 can be made to rotate, the rotating driving gear 6948 can drive the driving rack 6945 meshed with the rotating driving gear 6948 to start to work, the moving driving gear 6948 can reciprocate in the length direction of the driving gear 6948, the position of the welding equipment on the driving rack 6945 is adjusted, the position of the welding equipment can be adjusted according to the diameter of the inner wall of the workpiece, and welding work on the inner walls of workpieces with different sizes can be completed; after the welding operation of the straight area of the bent pipeline workpiece is completed, the welding operation of the bent area of the pipeline workpiece needs to be performed at this time, then the motor 6943 is adjusted to reversely operate, so that the limiting plate 6946 at the other end of the driving rack 6945 is inwardly folded, then the three rotating motors sequentially start to rotate, further the angle between the hinge seat 63 and the first connecting rod 64, the angle between the first connecting rod 64 and the second connecting rod 65, the angle between the second connecting rod 65 and the third connecting rod 66 and the position of the welding assembly 69 can be adjusted, further the welding assembly 69 can be located in the bent area or located in another straight area through the bent area, then the welding equipment starts to operate, the operation process is the same as the step S4, and redundant description is omitted here, and further the welding operation of the bent area or another straight area can be completed; after the welding work of the bent area or the other straight area is finished, the three rotating motors start to work, and simultaneously, under the coordination of one adjusting part, the welding unit 6 is withdrawn from the tubular workpiece, and the repair welding and detection work of the welding area can be finished in the withdrawing process; when the welding unit 6 is withdrawn from the tubular workpiece, the feeding device 2 moves reversely, so that the workpiece is located in a predetermined feeding area, the operator takes the workpiece which is subjected to welding work off the clamping device, then the workpiece is replaced by a new workpiece which is not welded, and then the steps S1-S6 are repeated, so that the welding work on the tubular workpiece with the preset radian is completed.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (9)
1. A workpiece spot welding device based on an industrial robot is characterized by comprising:
the welding device comprises a workbench, a feeding device arranged on the workbench, a clamping device arranged on the feeding device, brackets symmetrically arranged on the workbench, an adjusting assembly arranged on the brackets, a lifting device connected with the adjusting assembly, a welding unit connected with the lifting device, and a plurality of welding devices arranged on the circumferential direction of the welding unit;
the welding unit include with the elevator that jacking equipment connects is located first motor on the elevator, with the articulated seat that first motor output is connected, with the regulation part that articulated seat is connected, and locate welding assembly on the regulation part.
2. The workpiece spot welding device based on the industrial robot as claimed in claim 1, wherein: the adjusting part comprises a first connecting rod movably connected with the hinged seat, a second connecting rod movably connected with the first connecting rod, a third connecting rod movably connected with the second connecting rod, a second motor arranged on the third connecting rod and a rotating seat connected with the output end of the second motor;
the adjusting part is also provided with at least three rotating motors;
one of the rotating motors is used for adjusting the angle between the first connecting rod and the hinge seat;
the other rotating motor is used for adjusting the angle between the first connecting rod and the second connecting rod;
the rest of the rotating motors are used for adjusting the angle between the second connecting rod and the third connecting rod;
the three rotating motors do not interfere with each other;
the rotating seat is connected with the welding assembly.
3. The workpiece spot welding device based on the industrial robot as claimed in claim 2, wherein: the welding assembly comprises a group of connecting seats, a telescopic cylinder, a plurality of cross arms and a group of welding parts, wherein the telescopic cylinder is used for connecting the two connecting seats and is positioned between the two connecting seats;
one connecting seat is connected with the rotating seat;
at least when the work state, telescopic cylinder adjusts the interval between two connecting seats, and then carries out weldment work to the different positions of work piece.
4. The workpiece spot welding device based on the industrial robot as claimed in claim 3, wherein: the welding part comprises a first limiting seat connected with the rotating seat, a second limiting seat connected with the first limiting seat, a plurality of limiting parts arranged on the second limiting seat, universal joints used for connecting adjacent limiting parts, and an adjusting motor arranged on the second limiting seat;
the first limiting seat and the second limiting seat are of annular structures, and the first limiting seat is positioned in a range enclosed by the second limiting seat;
the limiting parts are uniformly distributed on the circumferential direction of the second limiting seat, and the output end of the adjusting motor is connected with one limiting part;
the welding equipment is connected with the limiting part;
at least in the adjusting process, the moving adjusting motor drives the limiting part connected with the adjusting motor to move, and under the cooperation of the universal joint, the remaining limiting part can be driven to start to move, so that the remaining limiting part is folded inwards or stretched outwards.
5. The workpiece spot welding device based on the industrial robot as claimed in claim 4, wherein: the adjusting part comprises a plurality of guide seats arranged in the circumferential direction of the first limiting seat and the circumferential direction of the second limiting seat, a driving rack positioned on the guide seats and connected with the guide seats in a sliding manner, a driving gear meshed with the driving rack, and a limiting plate arranged at one end of the driving rack;
a plurality of limiting pulleys are arranged in the length direction of the limiting plate in one welding part, and a limiting sliding groove matched with the limiting pulleys is further arranged on the rotating seat;
and the welding equipment is connected with the other end of the driving rack.
6. The workpiece spot welding device based on the industrial robot as claimed in claim 3, wherein: the cross arm comprises a fifth connecting rod movably connected with one connecting seat, a fourth connecting rod movably connected with one end of the fifth connecting rod, a seventh connecting rod movably connected with the other end of the fifth connecting rod, and a sixth connecting rod movably connected with the other end of the fourth connecting rod;
the other end of the sixth connecting rod is arranged on the other connecting seat, and the other end of the seventh connecting rod is movably connected with the other end of the sixth connecting rod.
7. The workpiece spot welding device based on the industrial robot as claimed in claim 1, wherein: the adjusting component comprises two adjusting parts which are perpendicular to each other;
one adjusting part comprises a displacement motor arranged on one support, an adjusting screw rod arranged at the output end of the displacement motor, a transmission part sleeved on the adjusting screw rod, and an adjusting plate arranged on the transmission part;
the other adjusting part is positioned on the adjusting plate, and the lifting device is positioned on the adjusting plate in the other adjusting part.
8. The workpiece spot welding device based on the industrial robot as claimed in claim 7, wherein: the bracket is also provided with an adjusting slide rail and an adjusting slide block which is connected with the adjusting slide rail in a sliding way;
the adjusting slide block is connected with the adjusting plate.
9. A spot welding method of a workpiece spot welding apparatus for an industrial robot based on any one of claims 1 to 8, comprising the steps of:
s1: when the inner wall of a tubular workpiece with a preset curvature needs to be welded, an operator firstly places the workpiece on a clamping device, then the clamping device finishes clamping the workpiece, and then a feeding device transports the workpiece to a set welding area;
s2: when a workpiece is positioned in a set welding area, the displacement motor starts to work, then the moving displacement motor can drive the adjusting screw rod to start rotating, the moving adjusting screw rod can drive the transmission piece to start working, the moving transmission piece can drive the adjusting plate to start reciprocating motion in the length direction of the support, the position of the other adjusting part can be adjusted, then the lifting equipment starts to move, and multi-directional position adjustment work is carried out on the position of the welding equipment according to the size and the position of the workpiece, so that the welding equipment is positioned in a tubular workpiece with preset curvature;
s3: when the welding equipment is positioned in a tubular workpiece with a preset curvature, the second motor and the first motor start to work, then the moving second motor can drive the rotating seat to start rotating, further the moving rotating seat can drive the welding assembly to start working, then the welding equipment can complete the welding work on the circumferential direction of the inner wall of the pipeline, and then the welding assembly can move upwards along the axial direction of the pipeline workpiece under the coordination of one adjusting part, so that the welding work on the straight area of the bent pipeline workpiece is completed;
s4: before the welding equipment performs welding work on the circumferential direction of the inner wall of the pipeline, the adjusting motor starts to work, then the moving adjusting motor can drive one of the driving gears to start to rotate, then the moving driving gear can drive the universal joint connected with the driving gear to start to work, then the moving universal joint can drive the other driving gear to start to rotate, and further all the driving gears can rotate;
s5: after the welding operation on the straight area of the bent pipeline workpiece is completed, the welding operation on the bent area of the pipeline workpiece needs to be performed, then the motors are adjusted to reversely work, so that the limiting plate at the other end of the driving rack is inwards folded, then the three rotating motors start to rotate in sequence, further the angle between the hinge seat and the first connecting rod, the angle between the first connecting rod and the second connecting rod, the angle between the second connecting rod and the third connecting rod and the position of the welding assembly can be adjusted, further the welding assembly can be located in the bent area or pass through the bent area to be located in the other straight area, then the welding equipment starts to work, the working process is the same as the step S4, redundant description is not provided, and further the welding operation on the bent area or the other straight area can be completed;
s6: after the welding work of the bent area or the other straight area is finished, the three rotating motors start to work, and simultaneously, under the coordination of one adjusting part, the welding unit is withdrawn from the tubular workpiece, and the repair welding and detection work of the welding area can be finished in the withdrawing process;
s7: and when the welding unit is withdrawn from the tubular workpiece, the feeding device moves reversely, so that the workpiece is positioned in a set feeding area, then the operator takes the workpiece which is subjected to welding work off the clamping device, then the workpiece is replaced by a new workpiece which is not welded, and then the steps S1-S6 are repeated, so that the welding work on the tubular workpiece with the preset radian is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211343851.7A CN115488488A (en) | 2022-10-31 | 2022-10-31 | Workpiece spot welding device based on industrial robot and spot welding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211343851.7A CN115488488A (en) | 2022-10-31 | 2022-10-31 | Workpiece spot welding device based on industrial robot and spot welding method thereof |
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| CN115488488A true CN115488488A (en) | 2022-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211343851.7A Withdrawn CN115488488A (en) | 2022-10-31 | 2022-10-31 | Workpiece spot welding device based on industrial robot and spot welding method thereof |
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| CN (1) | CN115488488A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118123389A (en) * | 2024-04-30 | 2024-06-04 | 山东图腾制冷设备有限公司 | Assembling equipment of shell-and-tube heat exchanger for refrigeration |
-
2022
- 2022-10-31 CN CN202211343851.7A patent/CN115488488A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118123389A (en) * | 2024-04-30 | 2024-06-04 | 山东图腾制冷设备有限公司 | Assembling equipment of shell-and-tube heat exchanger for refrigeration |
| CN118123389B (en) * | 2024-04-30 | 2024-07-02 | 山东图腾制冷设备有限公司 | Assembling equipment of shell-and-tube heat exchanger for refrigeration |
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Application publication date: 20221220 |