CN116160190B - Automatic welding robot for nozzle - Google Patents

Automatic welding robot for nozzle Download PDF

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Publication number
CN116160190B
CN116160190B CN202310142289.XA CN202310142289A CN116160190B CN 116160190 B CN116160190 B CN 116160190B CN 202310142289 A CN202310142289 A CN 202310142289A CN 116160190 B CN116160190 B CN 116160190B
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CN
China
Prior art keywords
nozzle
disc
clamping
pipe
driving
Prior art date
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Active
Application number
CN202310142289.XA
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Chinese (zh)
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CN116160190A (en
Inventor
刘皓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qianjiang Dust Removal Equipment Co ltd
Original Assignee
Qianjiang Dust Removal Equipment Co ltd
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Publication date
Application filed by Qianjiang Dust Removal Equipment Co ltd filed Critical Qianjiang Dust Removal Equipment Co ltd
Priority to CN202310142289.XA priority Critical patent/CN116160190B/en
Publication of CN116160190A publication Critical patent/CN116160190A/en
Application granted granted Critical
Publication of CN116160190B publication Critical patent/CN116160190B/en
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Classifications

    • 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
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • 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
    • 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
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • B23K37/0435—Clamps
    • B23K37/0443—Jigs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
    • B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
    • B65G15/20—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts arranged side by side, e.g. for conveyance of flat articles in vertical position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G27/00—Jigging conveyors
    • B65G27/04—Load carriers other than helical or spiral channels or conduits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

The invention relates to the technical field of pipe welding, and discloses an automatic nozzle welding robot which comprises a welding robot, a moving track, a supporting component, a pipe conveying mechanism, a nozzle conveying mechanism and a nozzle compacting component, wherein the moving track is arranged on the welding robot; the support assembly comprises a plurality of support plates which are arranged at intervals, and support grooves for placing pipes are formed in the support plates; the pipe conveying mechanism comprises a frame, a cross beam is arranged on the frame, the cross beam is parallel to the axis of the supporting groove, two groups of pull rods are arranged on the cross beam, and a plug rod is arranged on one side, opposite to the two groups of pull rods, of the cross beam; the nozzle conveying mechanism comprises a vibrating disc, a conveying line and a disc clamping mechanism arranged on one side of the conveying line, wherein the disc clamping mechanism comprises a base and a disc, a plurality of groups of clamping assemblies are arranged on the circumference of the disc, the disc is connected with a lifting assembly for controlling the lifting of the disc, and a rotating assembly for driving the disc to intermittently rotate, and the base is connected with a driving piece. The invention can realize the effects of automatically arranging the nozzles on the pipe and automatically welding the nozzles.

Description

Automatic welding robot for nozzle
Technical Field
The invention relates to the technical field of pipe welding, in particular to an automatic welding robot for a nozzle.
Background
In the process of manufacturing dust collecting equipment, a vent pipe needs to be manufactured, a plurality of nozzles are required to be welded at linear intervals on the side face of a longer thick pipe, the nozzles are cylindrical, one end of each nozzle is a plane, the other end of each nozzle is an intersecting line face combined with the pipe, before welding, the intersecting line faces of the nozzles are contacted and attached to the pipe manually, then the nozzles are pressed, a certain number of nozzles are sequentially arranged, then the connecting parts of the nozzles and the pipe are welded through a welding robot, the welding robot can capture welding tracks, and intelligent accurate welding is performed on the pipe and the nozzles.
However, in the actual processing process, the arrangement of the nozzles is finished manually, and the time for manual preparation before welding is long, so that an automatic welding robot is needed, the automatic arrangement of the nozzles can be realized, and the welding efficiency of pipe processing is improved.
Disclosure of Invention
The invention aims to provide an automatic nozzle welding robot which has the effects of automatically arranging nozzles on a pipe and automatically welding the nozzles.
The technical aim of the invention is realized by the following technical scheme: the automatic nozzle welding robot comprises a welding robot, a moving track for driving the welding robot to reciprocate, a support assembly arranged on the side surface of the moving track, and a pipe conveying mechanism arranged on one side of the support assembly and used for conveying pipes to the support assembly, and a nozzle conveying mechanism used for discharging and clamping the nozzles and linearly arranging the nozzles above the pipes;
the support assembly comprises a plurality of support plates which are arranged at intervals, support grooves for placing pipes are formed in the support plates, the support grooves in the plurality of support plates are linearly arranged, and the pipe conveying mechanism conveys the pipes into the support grooves of the support plates for welding and supporting;
the pipe conveying mechanism comprises a frame, wherein a cross beam is arranged on the frame, the cross beam is parallel to the axes of a plurality of supporting grooves, a driving cross beam or a driving component I which is close to or far away from a supporting plate is arranged on the frame, two groups of pull rods are arranged on the cross beam, inserting rods are arranged on one side, opposite to the two groups of pull rods, of the two groups of pull rods, a driving component II which is close to or far away from each other and a driving component III which is used for driving the two groups of pull rods to ascend and descend are arranged on the cross beam;
the nozzle conveying mechanism comprises a vibrating disc, a conveying line and a disc clamping mechanism arranged on one side of the conveying line, wherein the conveying line is used for continuously conveying nozzles conveyed by the vibrating disc forwards and adjusting the directions of the nozzles, the disc clamping mechanism comprises a base and a disc, a plurality of groups of clamping assemblies are arranged on the circumference of the disc, the disc is connected with a lifting assembly for controlling the lifting of the disc and a rotating assembly for driving the disc to intermittently rotate, the base is connected with a driving piece, and the driving piece drives the base to move along the axial direction parallel to the supporting groove;
the device also comprises a nozzle compacting assembly connected with the cross beam, and when the disc clamping mechanism and the base move together, the disc clamping mechanism conveys the nozzle to the upper part of the pipe, and the nozzle compacting assembly compacts the nozzle and the pipe.
By adopting the technical scheme, before welding, the first driving component drives the cross beam to move to the position right above the pipe, then the second driving component drives the two pull rods to be far away from each other, so that the distance between the two groups of pull rods is larger than the length of the pipe, then the third driving component drives the two groups of pull rods to move downwards to the two sides of the pipe, then the second driving component drives the two groups of pull rods to be close to each other, so that the inserting rods are inserted into the two ends of the pipe, then the lifting mechanism is lifted, the pipe is lifted along with the lifting mechanism, after the pipe is lifted, the first driving component drives the cross beam to move, the cross beam drives the pipe below to move together, and when the pipe reaches the position above the supporting plate, the third driving component drives the pull rods and the pipe to move downwards for a distance, and the pipe is sent into the supporting groove on the supporting plate, so that the feeding of the pipe is completed;
in the nozzle conveying mechanism, a plurality of nozzles are arranged in a vibration disc, the vibration disc performs vibration sequencing on the nozzles, one end of a nozzle plane is downward, an intersecting line is upwards arranged, the nozzles are discharged from a discharge end of the vibration disc and enter a conveying line, the conveying line adjusts the nozzles, then a disc clamping mechanism clamps the nozzles with the adjusted direction, in the clamping process, a clamping assembly firstly clamps the nozzles, then a lifting assembly controls the disc to lift so that the nozzles are separated from the conveying line, then a rotating assembly controls the disc to rotate for a certain angle, in the rotating process, the lifting assembly controls the disc to descend, at the moment, the next clamping assembly moves to the conveying line, the conveying line forwards conveys the nozzles to a station, the clamping assembly clamps the nozzles, and the processes are repeated until the clamping assemblies on the disc clamp the nozzles, and the clamping of the nozzles is completed;
then the base is controlled by the driving piece to move, the base drives the disc and the nozzles on the disc to move along the axis direction of the pipe, the disc and the nozzles on the disc are stopped after moving to a first placing point, at the moment, the nozzles on one clamping assembly are positioned right above the pipe, at the moment, the nozzles are pushed downwards by the nozzle clamping assembly and are clamped with the pipe, the fixation of the nozzles and the pipe is completed, after the nozzles are clamped, the clamping assembly is loosened and rotated by a certain angle, the next nozzle is positioned right above the pipe and moves to the next placing point, then the nozzles are pushed downwards by the nozzle clamping assembly and are clamped with the pipe, the steps are repeated until all the nozzles on the disc are clamped by the nozzle clamping assembly, and then the disc clamping mechanism is driven by the driving piece to reset and clamp the nozzles;
after the nozzle is pushed by the nozzle pressing component to press the pipe, fixing of the pipe and the nozzle is completed, at the moment, the welding robot is driven to weld the nozzle and the pipe together, after welding is completed, the nozzle pressing component is separated from the nozzle, the nozzle is not pressed, the pull rods are controlled to move downwards and are close to each other, the inserting rods are inserted into the pipe, the pull rods are controlled to move upwards to pull the welded pipe, the driving cross beam is far away from the supporting plate, blanking is completed, the steps are repeated, feeding of the pipe and the nozzle is performed again, welding is performed again, the procedure automatically feeds the nozzle, preparation work before welding is reduced, and welding efficiency is greatly improved.
As a further arrangement of the invention, the conveying line comprises a horizontal slideway connected with the discharge end of the vibration disc, a first conveying belt is vertically arranged on one side surface of the slideway, a nozzle reversing mechanism is connected with the discharge end of the horizontal slideway, the nozzle reversing mechanism is used for reversing the nozzles up and down, the nozzle reversing mechanism comprises a frame and a round rotating frame rotationally connected with the frame, a discharging plate and a steering plate are arranged in the rotating frame, the discharging plate and the steering plate are mutually parallel, one side of the steering plate facing the discharging plate is provided with a first arc-shaped lug, the first lug is matched with the intersecting end of the nozzles, two sides of the rotating frame, which are positioned on the discharging plate and the steering plate, are provided with a second vertical conveying belt, the conveying directions of the two conveying belts are the same, the rotating frame is connected with a fourth driving assembly for driving the rotating of the rotating nozzle reversing mechanism, one side of the nozzle reversing mechanism is provided with a material plate, the upper end surface of the material plate is provided with a second lug, two sides of the material plate are vertically provided with a third conveying belt in the conveying direction, the upper end surface of the discharging plate is coplanar with the horizontal slideway, and the upper end surface of the discharging plate is mutually coplanar with the fourth driving assembly, and the fourth driving assembly is 180 DEG coplanar with the fourth lug of the upper lug of the rotating frame.
As a further arrangement of the invention, the driving assembly IV comprises a circular rack arranged on the outer side of the rotating frame, a gear meshed with the circular rack and a motor III in transmission connection with the gear, and the motor III is fixedly connected with the frame.
By adopting the technical scheme, the nozzle from the vibration disc enters the horizontal slideway, the nozzle is continuously driven to continuously move forwards in the horizontal slideway because the vibration disc is provided with the nozzle, when the nozzle is moved to the nozzle reversing mechanism, the nozzle cannot move from the horizontal slideway to the discharging plate because the lug is arranged above the steering plate, and cannot continuously move forwards because the intersecting line surface of the nozzle is not aligned with the lug, and at the moment, the conveying belt drives the nozzle to slowly rotate under the action of the conveying belt I, and when the intersecting line surface of the nozzle is matched with the lug of the steering plate, the nozzle moves from the horizontal slideway to the discharging plate;
because the material plate is also provided with the lug, the lug on the material plate enables the nozzle on the material plate to be unable to enter the material plate, so that the nozzle is accumulated on the material plate, after a certain amount of nozzles are arranged on the material plate, the rotating frame is driven by the driving component four to rotate 180 degrees, the steering plate is arranged at the moment, the material plate is arranged at the moment, the lug of the steering plate is connected with the lug of the material plate, the steering plate is communicated with the material plate, the nozzle enters the material plate under the action of the second conveying belt and the third conveying belt, and the nozzle at the forefront end waits for the clamping of the disc clamping mechanism.
As a further arrangement of the invention, the clamping assembly comprises a mounting plate which is in sliding connection with the disc, a first cylinder is fixedly arranged on the disc, two clamping arms are arranged on the mounting plate, one ends of the clamping arms are hinged with the mounting plate, the other ends of the clamping arms are provided with clamping blocks, the middle parts of the two clamping arms are hinged with connecting rods, the two connecting rods are commonly hinged with connecting blocks, a second cylinder is also arranged on the mounting plate, the working end of the second cylinder is fixedly connected with the connecting blocks, and the axes of the first cylinder and the second cylinder are arranged in parallel.
Through adopting above-mentioned technical scheme, when the clamping assembly is close to the nozzle, first cylinder promotes the mounting panel and moves forward, makes the nozzle be located between two grip blocks, and cylinder two shrink afterwards, and cylinder two drives the connecting block and moves backward, drives the trace and removes when the connecting block moves backward, and the trace then drives the swing that two arm of gripping are close to each other to make the grip block press from both sides the nozzle tightly.
As a further arrangement of the invention, the clamping blocks are vertically connected with the clamping arms in a sliding manner, springs are arranged between the clamping blocks and the clamping arms, and two ends of each spring are respectively and fixedly connected with the clamping arms and the clamping blocks.
Through adopting above-mentioned technical scheme, when disc fixture carries the top of tubular product with the nozzle, the intersecting line face of nozzle and the top surface of tubular product still have a section distance this moment, direct through nozzle compacting component compresses tightly the nozzle with tubular product this moment, damage clamping component easily, after the setting spring, when disc fixture carries the top of tubular product with the nozzle, when the nozzle compacting component pushes down the nozzle, can drive the grip block and move down together, after the nozzle compresses tightly on tubular product, the grip component loosens the nozzle, break away from the nozzle, the grip block resets under the effect of spring, thereby can not cause the damage to the clamping component.
As a further arrangement of the invention, the lifting assembly comprises a plurality of air cylinders III fixedly connected with the base, the air cylinders III are vertically arranged, the working ends of the air cylinders III are commonly connected with a fixed plate, a rotating shaft is vertically and rotatably connected to the fixed plate, and the rotating shaft is fixedly connected with the disc.
As a further arrangement of the invention, the rotating assembly comprises a first motor fixedly connected with the fixed plate, and the first motor is in transmission connection with the rotating shaft; the driving piece comprises a linear sliding rail, and the linear sliding rail is parallel to the movable sliding rail.
By adopting the technical scheme, the motor I drives the rotating shaft to rotate, so that the disc is driven to rotate, and intermittent rotation of the disc is realized; the cylinder III drives the fixing plate to move up and down, and drives the disc to move up and down through the rotating shaft, so that the lifting of the disc is realized.
As a further arrangement of the invention, the nozzle compacting assembly comprises a supporting beam fixedly connected with the cross beam, a plurality of compacting cylinders are arranged on the supporting beam at linear intervals, the working ends of the compacting cylinders are vertically downward, the working ends of the compacting cylinders are connected with compacting blocks, and the compacting blocks are matched with the end parts of the nozzles.
Through adopting above-mentioned technical scheme, after compressing tightly the cylinder extension, the compact heap is with the tight pressure of nozzle on the tubular product, also has the effect of compressing tightly to the tubular product simultaneously to compress tightly tubular product and nozzle and fix, convenient welding.
As a further arrangement of the invention, the driving assembly III comprises a connecting plate and a lifting cylinder vertically and fixedly arranged on the connecting plate, the pull rod is fixedly connected with the working end of the lifting cylinder, and the connecting plate is connected with the driving assembly II.
As a further arrangement of the invention, the second driving component comprises a bidirectional screw rod rotatably arranged on the beam and a second motor for driving the bidirectional screw rod to rotate, and the two connecting plates are fixedly connected with two screw nuts of the bidirectional screw rod respectively; the first driving assembly comprises a unidirectional screw rod and a guide rod, wherein the unidirectional screw rod is rotatably arranged on the frame, the guide rod is parallel to the unidirectional screw rod, and the cross beam is fixedly connected with a screw nut of the unidirectional screw rod and is in sliding connection with the guide rod.
The beneficial effects of the invention are as follows:
before welding, firstly, a first driving component drives a cross beam to move to the position right above the pipe, then a second driving component drives two pull rods to be far away from each other, so that the distance between the two groups of pull rods is larger than the length of the pipe, then a third driving component drives the two groups of pull rods to move downwards to the two sides of the pipe, then the second driving component drives the two groups of pull rods to be close to each other, so that the inserted rods are inserted into the two ends of the pipe, then a lifting mechanism is lifted to lift the pull rods, the pipe is lifted along with the lifting mechanism, after the pipe is lifted, the first driving component drives the cross beam to move, the cross beam drives the pipe below to move together, and when the pipe reaches the position above a supporting plate, the third driving component drives the pull rods and the pipe to move downwards for a certain distance, and the pipe is sent into a supporting groove on the supporting plate, so that the feeding of the pipe is completed;
in the nozzle conveying mechanism, a plurality of nozzles are arranged in a vibration disc, the vibration disc performs vibration sequencing on the nozzles, one end of a nozzle plane is downward, an intersecting line is upwards arranged, the nozzles are discharged from a discharge end of the vibration disc and enter a conveying line, the conveying line adjusts the nozzles, then a disc clamping mechanism clamps the nozzles with the adjusted direction, in the clamping process, a clamping assembly firstly clamps the nozzles, then a lifting assembly controls the disc to lift so that the nozzles are separated from the conveying line, then a rotating assembly controls the disc to rotate for a certain angle, in the rotating process, the lifting assembly controls the disc to descend, at the moment, the next clamping assembly moves to the conveying line, the conveying line forwards conveys the nozzles to a station, the clamping assembly clamps the nozzles, and the processes are repeated until the clamping assemblies on the disc clamp the nozzles, and the clamping of the nozzles is completed;
then the base is controlled by the driving piece to move, the base drives the disc and the nozzles on the disc to move along the axis direction of the pipe, the disc and the nozzles on the disc are stopped after moving to a first placing point, at the moment, the nozzles on one clamping assembly are positioned right above the pipe, at the moment, the nozzles are pushed downwards by the nozzle clamping assembly and are clamped with the pipe, the fixation of the nozzles and the pipe is completed, after the nozzles are clamped, the clamping assembly is loosened and rotated by a certain angle, the next nozzle is positioned right above the pipe and moves to the next placing point, then the nozzles are pushed downwards by the nozzle clamping assembly and are clamped with the pipe, the steps are repeated until all the nozzles on the disc are clamped by the nozzle clamping assembly, and then the disc clamping mechanism is driven by the driving piece to reset and clamp the nozzles;
after the nozzle is pushed by the nozzle pressing component to press the pipe, fixing of the pipe and the nozzle is completed, at the moment, the welding robot is driven to weld the nozzle and the pipe together, after welding is completed, the nozzle pressing component is separated from the nozzle, the nozzle is not pressed, the pull rods are controlled to move downwards and are close to each other, the inserting rods are inserted into the pipe, the pull rods are controlled to move upwards to pull the welded pipe, the driving cross beam is far away from the supporting plate, blanking is completed, the steps are repeated, feeding of the pipe and the nozzle is performed again, welding is performed again, the procedure automatically feeds the nozzle, preparation work before welding is reduced, and welding efficiency is greatly improved.
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 apparent that the drawings in the following description are only 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 a schematic view of the overall structure of the present embodiment;
FIG. 2 is a schematic view of the structure of the support plate of the present embodiment;
FIG. 3 is a schematic view of the pipe conveying mechanism according to the present embodiment;
FIG. 4 is a schematic view of the driving assembly II and the nozzle pressing assembly in the present embodiment;
FIG. 5 is a schematic view of the conveyor line structure of the present embodiment;
FIG. 6 is a schematic view of the conveyor line structure of the present embodiment;
FIG. 7 is a schematic view of the nozzle reversing mechanism of the present embodiment;
FIG. 8 is a schematic view of the disk chucking mechanism of the present embodiment;
FIG. 9 is a schematic view of the clamping assembly of the present embodiment;
FIG. 10 is a schematic view showing the internal structure of the base of the present embodiment;
in the figure, 11, a welding robot, 12, a moving track, 2, a supporting component, 21, a supporting plate, 22, a supporting groove, 3, a pipe conveying mechanism, 31, a rack, 32, a beam, 33, a first driving component, 331, a one-way screw, 332, a guide rod, 34, a pull rod, 35, a plug rod, 36, a second driving component, 361, a two-way screw, 362, a second motor, 37, a third driving component, 371, a connecting plate, 372, a hydraulic cylinder, 4, a nozzle conveying mechanism, 41, a vibration disk, 42, a conveying line, 421, a horizontal slideway, 422, a first conveying belt, 423, a nozzle reversing mechanism, 4231, a rotating frame, 4232, a discharging plate, 4233, a second conveying belt, 4234 and a fourth driving component, 42341, round rack, 42342, gear, 43343, motor three, 4235, material plate, 4236, conveyor three, 4237, steering plate, 43, disc clamping mechanism, 431, base, 432, disc, 433, clamping assembly, 4331, mounting plate, 4332, cylinder one, 4333, clamping arm, 4334, clamping block, 4335, linkage rod, 4336, connecting block, 4337, cylinder two, 4338, spring, 434, lifting assembly, 4341, cylinder three, 4342, fixing plate, 4343, spindle, 435, rotating assembly, 4351, motor one, 436, linear slide rail, 5, nozzle pressing assembly, 51, support beam, 52, pressing cylinder 53, pressing block, 61, bump one, 62, bump two.
Detailed Description
The technical scheme of the present invention will be clearly and completely described in connection with specific embodiments. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
Examples
The automatic nozzle welding robot comprises a welding robot 11, a moving track 12 for driving the welding robot 11 to reciprocate, a support assembly 2 arranged on the side surface of the moving track 12, a pipe conveying mechanism 3 arranged on one side of the support assembly 2 and used for conveying pipes onto the support assembly 2, and a nozzle conveying mechanism 4 used for discharging and clamping the nozzles and linearly arranging the nozzles above the pipes;
welding robot 11 and removal track 12 are prior art, and the removal track 12 is laid on ground or supporting part, and welding robot 11 sets up on removal track 12, and removal track 12 is connected with power device, can drive welding robot 11 and carry out rectilinear movement on removal track 12, and removal track 12 and tubular product parallel arrangement, welding robot 11 remove on removal track 12, stop after removing to the position that every nozzle corresponds, then weld the connecting portion of nozzle and tubular product through the soldered connection of its work end.
The supporting component 2 comprises a plurality of supporting plates 21 which are arranged at intervals, the supporting plates 21 are provided with supporting grooves 22 for placing pipes, in the embodiment, the supporting grooves 22 are arranged in a V shape, the cylindrical pipes can be better supported, the supporting grooves 22 on the supporting plates 21 are linearly arranged, specifically, the axes of the supporting grooves 22 are parallel to the moving track 12, and the pipe conveying mechanism 3 conveys the pipes into the supporting grooves 22 of the supporting plates 21 for welding and supporting, and at the moment, the pipes are parallel to the moving track 12 of the welding robot 11;
the pipe conveying mechanism 3 comprises a frame 31, a beam 32 is arranged on the frame 31, the beam 32 is parallel to the axis of the supporting groove 22, a first driving component 33 for driving the beam 32 or approaching or separating from the supporting plate 21 is arranged on the frame 31, in the embodiment, the first driving component 33 comprises a one-way screw 331 and a guide rod 332 which are rotatably arranged on the frame 31 and are parallel to the one-way screw 331, the beam 32 is fixedly connected with a screw nut of the one-way screw 331 and is slidably connected with the guide rod 332, and the one-way screw 331 is driven to rotate by a motor, so that the beam 32 is driven to be far from or approaching the supporting plate 21 under the action of the one-way screw 331; the beam 32 is provided with two groups of pull rods 34, one side of the two groups of pull rods 34 opposite to each other is provided with an inserting rod 35, the beam 32 is provided with a driving component II 36 for driving the two groups of pull rods 34 to be close to or far away from each other and a driving component III 37 for driving the two groups of pull rods 34 to ascend and descend, in the embodiment, the driving component III 37 comprises a connecting plate 371 and a hydraulic cylinder 372 vertically and fixedly arranged on the connecting plate 371, the pull rods 34 are fixedly connected with the working ends of the hydraulic cylinder 372, the connecting plate 371 is connected with the driving component II 36, and the up-down movement of the pull rods 34 can be controlled under the action of the hydraulic cylinder 372; the second driving component 36 comprises a bi-directional screw rod 361 arranged on the beam 32 in a rotating way and a second motor 362 for driving the bi-directional screw rod 361 to rotate, the two connecting plates 371 are fixedly connected with two screw nuts of the bi-directional screw rod 361 respectively, and the bi-directional screw rod 361 is controlled to rotate through the second motor 362 so that the two connecting plates 371 are close to or far away from each other, and the two pull rods 34 are driven to be far away from and close to each other;
in a specific pipe feeding and conveying process, firstly, a cross beam 32 is controlled to move to a pipe to be processed through a one-way screw 331, so that a pull rod 34 and an inserting rod 35 are positioned right above a substituted pipe to be processed, then, under the action of a two-way screw 361, the two pull rods 34 are controlled to be far away from each other, the distance between the two pull rods 34 is larger than the length of the pipe, then, a hydraulic cylinder 372 is extended, the pull rod 34 and the inserting rod 35 are driven to move downwards, the inserting rod 35 can be inserted into a port of the pipe, then, the two pull rods 34 are controlled to rotate, the two pull rods 34 are close to each other, finally, the inserting rod 35 is inserted into ports at two ends of the pipe, then, a hydraulic cylinder 372 is controlled to shrink, so that the pipe is pulled up, then, the cross beam 32 is controlled to move to the upper side of a supporting plate 21 through the one-way screw 331, then, the pipe is controlled to extend through the hydraulic cylinder 372, the pipe is lowered into a supporting groove 22 of the supporting plate 21, then, under the action of the two-way screw 361, the two pull rods 34 are far away from each other, the hydraulic cylinder 372 is shrunk again, and the pipe feeding is completed;
after the pipe and the nozzle are welded, the hydraulic cylinder 372 is controlled to extend, the inserting rod 35 is positioned on two sides of a pipe port, then the pull rods 34 are close to each other through the bidirectional screw 361, the inserting rod 35 is inserted into the port of the pipe, the hydraulic cylinder 372 ascends again, the welded pipe is pulled away from the supporting groove 22 of the supporting plate 21, and the beam 32 is enabled to be far away from the supporting plate 21 with the welded pipe under the action of the unidirectional screw 331, so that the pipe blanking is completed.
The nozzle conveying mechanism 4 comprises a vibrating disc 41, a conveying line 42 and a disc clamping mechanism 43 arranged on one side of the conveying line 42, the conveying line 42 is used for continuously conveying the nozzles conveyed by the vibrating disc 41 forwards and adjusting the directions of the nozzles, the disc clamping mechanism 43 comprises a base 431 and a disc 432, a plurality of groups of clamping assemblies 433 are arranged on the circumference of the disc 432, the disc 432 is connected with a lifting assembly 434 for controlling the lifting of the disc 432 and a rotating assembly 435 for driving the disc 432 to intermittently rotate, the base 431 is connected with a driving piece, and the driving piece drives the base 431 to move along the axial direction parallel to the supporting groove 22;
specifically, the conveying line 42 includes a horizontal slideway 421 connected with the discharge end of the vibration disc 41, a conveying belt one 422 is vertically arranged on one side of the horizontal slideway 421, a baffle is arranged on the other side of the horizontal slideway 421, a nozzle reversing mechanism 423 is connected with the discharge end of the horizontal slideway 421, the nozzle reversing mechanism 423 is used for reversing the nozzles up and down, the nozzle reversing mechanism 423 includes a frame 31 and a round rotating frame 4231 rotationally connected with the frame 31, a discharging plate 4232 and a steering plate 4237 positioned above the discharging plate 4232 are horizontally arranged in the rotating frame 4231, one side of the steering plate 4237 facing the discharging plate 4232 is provided with an arc-shaped first lug 61, the first lug 61 is matched with a penetrating end of a nozzle, the rotating frame 4231 is positioned on both sides of the discharging plate 4232 and the steering plate 4237 and is provided with a vertical conveying belt two 4233, the conveying direction of the two conveying belts two 4233 is the same, the rotating frame 4231 is connected with a driving component four 4234 for driving the rotation of the nozzle, in the embodiment, the driving component four 4234 includes a round 42341 arranged outside the rotating frame 4231, a gear plate 42341, a gear plate 3535 is arranged on the rotating frame 4235 and is in the same plane with the three side of the rotating plate 4235, a gear plate 4235 is arranged on the rotating plate 4235, and is in the same plane as the end face of the three motor 3535, and is connected with the three gear plate 4235, and the three end face of the rotating plate 4235 is arranged on the rotating plate 4235, and is arranged on the side of the rotating plate 4235;
the nozzle from the vibration disc 41 enters the horizontal slideway 421, the nozzle is pushed to continuously move forwards in the horizontal slideway 421 because the vibration disc 41 continuously has the nozzle, when the nozzle moves to the position of the nozzle reversing mechanism 423, the nozzle cannot move from the horizontal slideway 421 to the discharging plate 4232 and cannot continuously move forwards because the lug is arranged above the steering plate 4237, when the intersecting line surface of the nozzle is not aligned with the lug, the nozzle cannot be driven to slowly rotate by the first conveyor belt 422 under the action of the first conveyor belt 422, when the intersecting line surface of the nozzle is matched with the lug of the steering plate 4237, the nozzle moves from the horizontal slideway 421 to the discharging plate 4232, and the nozzle moves forwards along the discharging plate 4232 under the clamping and conveying of the second conveyor belt 4233;
because the material plate 4235 is also provided with the protruding blocks, the protruding blocks on the material plate 4235 enable the nozzles on the material plate 4232 to not enter the material plate 4235, so that the nozzles are accumulated on the material plate 4232, after a certain amount of nozzles are installed on the material plate 4232, the three motor 43343 drives the gear 42342 to rotate, the gear 42342 drives the circular rack 42341 and the rotating frame 4231 to rotate, the rotating frame 4231 is driven to rotate 180 degrees, the steering plate 4237 is arranged downwards, the material plate 4232 is arranged upwards, the protruding blocks of the steering plate 4237 are connected with the protruding blocks of the material plate 4235, the steering plate 4237 is communicated with the material plate 4235, the nozzles enter the material plate 4235 under the action of the second conveyer belt 4233 and the third conveyer belt 4236, and the foremost nozzles wait for clamping of the disc clamping mechanism 43.
The clamping assembly 433 comprises a mounting plate 4331 which is in sliding connection with the disc 432, a first cylinder 4332 is fixedly arranged on the disc 432, two clamping arms 4333 are arranged on the mounting plate 4331, one ends of the clamping arms 4333 are hinged with the mounting plate 4331, the other ends of the clamping arms 4334 are provided with clamping blocks 4338, the middle parts of the two clamping arms 4333 are hinged with a linkage rod 4335, the two linkage rods 4335 are jointly hinged with a connecting block 4336, a second cylinder 4337 is also arranged on the mounting plate 4331, the working end of the second cylinder 4337 is fixedly connected with the connecting block 4336, the axes of the first cylinder 4332 and the second cylinder 4337 are arranged in parallel, the clamping blocks 4334 are vertically and slidably connected with the clamping arms 4333, springs 4338 are arranged between the clamping blocks 4334 and the clamping arms 4333, and the two ends of the springs 4338 are respectively fixedly connected with the clamping arms 4333 and the clamping blocks 4334; the lifting assembly 434 comprises a plurality of air cylinders III 4341 fixedly connected with the base 431, the air cylinders III 4341 are vertically arranged, the working ends of the air cylinders III 4341 are commonly connected with a fixed plate 4342, a rotating shaft 4343 is vertically and rotatably connected to the fixed plate 4342, and the rotating shaft 4343 is fixedly connected with the disc 432; the rotating component 435 comprises a motor one 4351 fixedly connected with the fixed plate 4342, and the motor one 4351 is in transmission connection with the rotating shaft 4343; the driving piece comprises a linear slide 436, the linear slide 436 is parallel to the moving slide, and the linear slide 436 is in the prior art;
in the specific working process of the disc clamping mechanism 43, firstly, the base 431 and the disc 432 are moved to one end of the conveying line 42 through the linear slide rail 436, then the first cylinder 4332 stretches to push the mounting plate 4331 to move forwards, the first cylinder 4337 contracts, the second cylinder 4337 drives the connecting block 4336 to move backwards, the connecting block 4336 drives the linkage rod 4335 to move when moving backwards, the linkage rod 4335 drives the two clamping arms 4333 to swing close to each other, so that the clamping blocks 4334 clamp the nozzles, after clamping, the nozzles are in direct fit with the bumps on the material plate 4235, the discs 432 cannot rotate directly, so that the discs 432 are jacked up through the stretching of the third cylinder 4341, the nozzles are separated from the bumps on the material plate 4235, the first motor 4351 is controlled to drive the discs 432 to rotate, meanwhile, the first cylinder 4332 in the groups of clamping components 433 contracts, so that the nozzles are clamped and rotate, in the process of the discs 432 rotate, the third cylinder 4341 contracts, the discs 432 descend and reset, and the steps are repeated, so that each group of clamping components 433 on the discs 432 are clamped by one nozzle 433, and the side of the tubular product is pressed against the corresponding to the first cylinder 4351 through the linear slide rail, and the tubular product 433 is pressed against the side of the tubular product which is arranged, and the tubular product is in the position tightly pressed against the side of the tubular product.
Because the nozzle needs to be transported to the upper part of the pipe, a certain gap is reserved between the bottom of the nozzle and the top surface of the pipe, the nozzle and the pipe are directly pressed together through the nozzle pressing assembly 5, the clamping assembly 433 is damaged, after the spring 4338 is arranged between the clamping arm 4333 and the clamping block 4334, when the disc clamping mechanism 43 conveys the nozzle to the upper part of the pipe, the clamping block 4334 is driven to move downwards together when the nozzle pressing assembly 5 presses down the nozzle, after the nozzle is pressed on the pipe, the clamping assembly 433 releases the nozzle and is separated from the nozzle, and the clamping block 4334 is reset under the action of the spring 4338, so that the clamping assembly 433 cannot be damaged.
Finally, the device further comprises a nozzle compressing assembly 5 connected with the cross beam 32, when the disc clamping mechanism 43 and the base 431 move together, the nozzle compressing assembly 5 compresses the nozzle and the pipe when the disc clamping mechanism 43 conveys the nozzle to the upper side of the pipe, in this embodiment, the nozzle compressing assembly 5 comprises a supporting beam 51 fixedly connected with the cross beam 32, a plurality of compressing cylinders 52 are arranged on the supporting beam 51 at linear intervals, the working ends of the compressing cylinders 52 are vertically downward, the working ends of the compressing cylinders 52 are connected with compressing blocks 53, the compressing blocks 53 are matched with the end parts of the nozzle, after the compressing cylinders 52 stretch, the compressing blocks 53 tightly compress the nozzle on the pipe, and simultaneously, the pipe and the nozzle are compressed, so that the pipe and the nozzle are compressed and fixed, and welding is facilitated.

Claims (5)

1. A nozzle automatic welding robot (11), characterized in that: the automatic pipe feeding device comprises a welding robot (11), a moving track (12) for driving the welding robot (11) to reciprocate, a supporting component (2) arranged on the side face of the moving track (12), and a pipe conveying mechanism (3) for conveying pipes onto the supporting component (2) and a nozzle conveying mechanism (4) for discharging and clamping nozzles and linearly arranging the nozzles above the pipes, wherein one side of the supporting component (2) is provided with the pipe conveying mechanism;
the support assembly (2) comprises a plurality of support plates (21) which are arranged at intervals, support grooves (22) for placing pipes are formed in the support plates (21), the support grooves (22) in the support plates (21) are linearly arranged, and the pipe conveying mechanism (3) conveys the pipes to the support grooves (22) of the support plates (21) for welding and supporting;
the pipe conveying mechanism (3) comprises a frame (31), wherein a cross beam (32) is arranged on the frame (31), the cross beam (32) is parallel to the axes of a plurality of supporting grooves (22), a first driving component (33) for driving the cross beam (32) or approaching or keeping away from a supporting plate (21) is arranged on the frame (31), two groups of pull rods (34) are arranged on the cross beam (32), inserting rods (35) are arranged on one side, opposite to the two groups of pull rods (34), of the cross beam (32), a second driving component (36) for driving the two groups of pull rods (34) to approach or keep away from each other, and a third driving component (37) for driving the two groups of pull rods (34) to ascend and descend are arranged on the cross beam (32);
the nozzle conveying mechanism (4) comprises a vibrating disc (41), a conveying line (42) and a disc (432) clamping mechanism (43) arranged on one side of the conveying line (42), the conveying line (42) is used for continuously conveying nozzles conveyed out of the vibrating disc (41) forwards and adjusting the directions of the nozzles, the disc (432) clamping mechanism (43) comprises a base (431) and a disc (432), a plurality of groups of clamping assemblies (433) are circumferentially arranged on the disc (432), the disc (432) is connected with a lifting assembly (434) for controlling the disc (432) to lift, and a rotating assembly (435) for driving the disc (432) to intermittently rotate, and the base (431) is connected with a driving piece which drives the base (431) to move along the axial direction parallel to the supporting groove (22);
the conveying line (42) comprises a horizontal slideway (421) connected with the discharging end of the vibration disc (41)
(421) Is provided with conveyer belt one (422) vertically, the discharge end of horizontal slide (421) is connected with nozzle reversing mechanism (423), nozzle reversing mechanism (423) are used for the upper and lower switching-over of nozzle, nozzle reversing mechanism (423) include frame (31) and with frame (31) rotate circular rotating turret (4231) of being connected, rotating turret (4231) inside be provided with blowing board (4232) and be located blowing board (4232) top turn to board (4237) that are parallel to each other, one side of turning board (4237) orientation blowing board (4232) is provided with curved lug one (61), lug one (61) and the intersecting line end phase-match of nozzle, rotating turret (4231) are located blowing board (4232) and turn to board (4237) both sides are provided with vertical conveyer belt two (4233), and the direction of delivery of two conveyer belts two (4233) is the same, rotating turret (4231) are connected with drive its pivoted drive assembly four (4234), one side of nozzle (4237) is provided with curved lug one (4261) towards one side of blowing board (4232) and is provided with the coplanarity of delivery board (4232), the material of delivery board (4237) is provided with on the two sides (35) of blowing board (4232), the direction of delivery board (4237) is provided with the coplanarity of delivery board (4232) and has a coplanarity, and the material of the direction of delivery board (4237)
After the driving component IV (4234) drives the rotating frame (4231) to rotate 180 degrees, the first protruding block (61) on the steering plate (4237) is coplanar with the second protruding block (62) on the material plate (4235);
the clamping assembly (433) comprises a mounting plate (4331) which is slidably connected with the disc (432), a first cylinder (4332) is fixedly arranged on the disc (432), two clamping arms (4333) are arranged on the mounting plate (4331), one end of each clamping arm (4333) is hinged with the mounting plate (4331), a clamping block (4334) is arranged at the other end of each clamping arm, and two clamping arms are arranged on the mounting plate
(4333) A linkage rod (4335) is hinged at the middle part of the two linkage rods (4335), a connecting block (4336) is hinged together, a second cylinder (4337) is further arranged on the mounting plate (4331), the working end of the second cylinder (4337) is fixedly connected with the connecting block (4336), and the axes of the first cylinder (4332) and the second cylinder (4337) are arranged in parallel;
the lifting assembly (434) comprises a plurality of air cylinders III (4341) fixedly connected with the base (431)
(4341) The working ends of the three cylinders (4341) are connected with a fixed plate (4342) in a vertical mode, a rotating shaft (4343) is vertically connected to the fixed plate (4342) in a rotating mode, and the rotating shaft (4343) is fixedly connected with a disc (432);
the rotating assembly (435) comprises a first motor (4351) fixedly connected with the fixed plate (4342), and the first motor (4351) is in transmission connection with the rotating shaft (4343); the driving piece comprises a linear slide rail (436), and the linear slide rail (436) is parallel to the moving slide rail;
also comprises a nozzle pressing assembly (5) connected with the beam (32), and a clamping mechanism (43) and a base of the disk (432)
(431) Moving together, when the clamping mechanism (43) of the disc (432) conveys the nozzle to the upper part of the pipe, the nozzle pressing component (5) presses the nozzle and the pipe;
the nozzle compacting assembly (5) comprises a supporting beam (51) fixedly connected with the cross beam (32), a plurality of compacting cylinders (52) are arranged on the supporting beam (51) at linear intervals, the working ends of the compacting cylinders (52) are vertically downward, the working ends of the compacting cylinders (52) are connected with compacting blocks (53), and the compacting blocks (53) are matched with the end parts of the nozzles.
2. A nozzle automatic welding robot (11) according to claim 1, characterized in that: the driving assembly IV (4234) comprises a circular rack (42341) arranged on the outer side of the rotating frame (4231), a gear (42342) meshed with the circular rack (42341) and a motor III (43343) in transmission connection with the gear (42342), wherein the motor III (43343) is fixedly connected with the frame (31).
3. A nozzle automatic welding robot (11) according to claim 1, characterized in that: the clamping block
(4334) And the clamping arm (4333) is vertically connected in a sliding manner, a spring (4338) is arranged between the clamping block (4334) and the clamping arm (4333), and two ends of the spring (4338) are fixedly connected with the clamping arm (4333) and the clamping block (4334) respectively.
4. A nozzle automatic welding robot (11) according to claim 1, characterized in that: the driving assembly III (37) comprises a connecting plate (371) and a hydraulic cylinder (372) vertically and fixedly arranged on the connecting plate (371), and the pull rod is connected with the hydraulic cylinder
(34) Is fixedly connected with the working end of the hydraulic cylinder (372), and the connecting plate (371) is connected with the second driving component (36).
5. A nozzle automatic welding robot (11) according to claim 4, characterized in that: the second driving assembly (36) comprises a bidirectional screw rod (361) rotatably arranged on the cross beam (32) and a second motor (362) for driving the bidirectional screw rod (361) to rotate, and the two connecting plates (371) are fixedly connected with two screw nuts of the bidirectional screw rod (361) respectively; the first driving component (33) comprises a one-way screw rod (331) rotatably arranged on the frame (31) and a guide rod (332) parallel to the one-way screw rod (331), and the cross beam (32) is fixedly connected with a screw nut of the one-way screw rod (331) and is in sliding connection with the guide rod (332).
CN202310142289.XA 2023-02-21 2023-02-21 Automatic welding robot for nozzle Active CN116160190B (en)

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Application Number Priority Date Filing Date Title
CN202310142289.XA CN116160190B (en) 2023-02-21 2023-02-21 Automatic welding robot for nozzle

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CN116160190B true CN116160190B (en) 2023-09-15

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6102384A (en) * 1999-05-07 2000-08-15 Simmons; Charles W. Nozzle setting jig
CN209647885U (en) * 2018-11-26 2019-11-19 绍兴创新激光科技有限公司 A kind of sensor laser-beam welding machine
KR102128538B1 (en) * 2019-05-17 2020-06-30 디에스이디아이 주식회사(Ds Edi) Automatic brazing device for fixed connector
CN112192103A (en) * 2020-10-18 2021-01-08 傅迪生 Welding equipment for automatic and efficient welding of steel bars of invisible well lid
CN113634899A (en) * 2021-09-15 2021-11-12 佛山大德激光设备有限公司 Robot laser welding system
CN216037302U (en) * 2021-10-29 2022-03-15 东莞市信诚智能科技有限公司 A upset discharge mechanism for lithium cell connection piece

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6102384A (en) * 1999-05-07 2000-08-15 Simmons; Charles W. Nozzle setting jig
CN209647885U (en) * 2018-11-26 2019-11-19 绍兴创新激光科技有限公司 A kind of sensor laser-beam welding machine
KR102128538B1 (en) * 2019-05-17 2020-06-30 디에스이디아이 주식회사(Ds Edi) Automatic brazing device for fixed connector
CN112192103A (en) * 2020-10-18 2021-01-08 傅迪生 Welding equipment for automatic and efficient welding of steel bars of invisible well lid
CN113634899A (en) * 2021-09-15 2021-11-12 佛山大德激光设备有限公司 Robot laser welding system
CN216037302U (en) * 2021-10-29 2022-03-15 东莞市信诚智能科技有限公司 A upset discharge mechanism for lithium cell connection piece

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