CN116329829B - Automatic welding device for industrial robot - Google Patents
Automatic welding device for industrial robot Download PDFInfo
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- CN116329829B CN116329829B CN202310609378.0A CN202310609378A CN116329829B CN 116329829 B CN116329829 B CN 116329829B CN 202310609378 A CN202310609378 A CN 202310609378A CN 116329829 B CN116329829 B CN 116329829B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- 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
- B23K37/0247—Driving means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- 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 robot welding, in particular to an automatic welding device for an industrial robot, which comprises: four support lugs, a pulling and fixing mechanism, a clamping mechanism, an introduction mechanism and a welding mechanism. According to the invention, before the rib plate is placed into the frame body, the frame body is fixed through the pull-fixing mechanism, then the clamping mechanism is matched with the guide-in mechanism, the rib plate is fixed before two extrusion guide plates are rapidly inserted, the clamping mechanism is matched with the guide-in mechanism, so that the convenience and efficiency of rib plate insertion are improved, the problem that one-time adjustment is time-consuming and labor-consuming when the rib plate is placed is avoided, after the rib plate is inserted into the extrusion guide plates, the extrusion guide plates fix the rib plate under the action of the elasticity of the abutting-against springs, and the phenomenon that the rib plate and the frame body are poor in welding quality due to shaking during welding is prevented.
Description
Technical Field
The invention relates to the technical field of robot welding, and particularly provides an automatic welding device for an industrial robot.
Background
Industrial robots can be classified according to various modes such as structural characteristics, application fields, working modes and the like, and common industrial robot types are as follows: SCARA robots, humanoid robots, delta robots, linear robots, AGV robots, collaborative robots, wherein an AGV robot is an automated navigation robot vehicle for material handling and warehouse management in industrial production.
AGV robots are typically constructed of a plurality of welded components including a chassis, body, brackets, wheels, sensors, etc., where the chassis is typically welded from steel or aluminum alloy (as shown in FIG. 9) for supporting the entire body and load.
When the chassis of the AGV robot is welded, a plurality of rib plates are required to be placed in the frame body and are clung to the inner side wall of the frame body, then welding is carried out, in order to ensure the firmness of welding seams between the rib plates and the frame body, the difference between the length of the rib plates and the width dimension of the inside of the frame body is small, and larger welding seam gaps are avoided between the rib plates and the frame body after welding, but the rib plates can be accurately inserted into the frame body and clung to the inner wall of the frame body only by carrying out multiple position adjustment when being placed in the frame body, so that the placing speed and convenience of the rib plates are reduced; and when welding the rib plate and the frame body, the rib plate is easy to shake under the action of welding force, so that the welding quality between the rib plate and the frame body is affected.
Disclosure of Invention
In view of the above, the embodiment of the application provides an automatic welding device for an industrial robot, so as to solve the technical problem that in the related art, a rib plate cannot be quickly placed into a frame body, and the welding quality of the rib plate and the frame body is affected due to the fact that multiple position adjustment and rib plate shaking are required.
In order to achieve the above purpose, the embodiment of the present application provides the following technical solutions: an automatic welding apparatus for an industrial robot, comprising: the four support lugs are in rectangular arrangement, the two support lugs in mirror image arrangement are rotationally connected with a transmission shaft, the two transmission shafts are in transmission connection through chain wheels and chains which are axially symmetrically arranged, the two chains are jointly hinged with bases which are uniformly arranged, the bases are composed of two support plates hinged with the chains and a middle fixing plate arranged between the two support plates, and the two support lugs on the same side of the chains are connected through support bars.
The two supporting plates are jointly provided with a pulling and fixing mechanism for carrying and fixing the frame body; the middle fixing plate is provided with a clamping mechanism for clamping and fixing the rib plates, and the support bar is provided with an introducing mechanism matched with the clamping mechanism for inserting the rib plates into the frame body and a welding mechanism for welding the frame body and the rib plates.
The pulling and fixing mechanism comprises triangular jacking blocks which are connected to the supporting plates in a sliding mode, the triangular jacking blocks are symmetrically arranged along the length direction of the supporting plates, the triangular jacking blocks are abutted against the corners of the inner side of the frame body, inclined sliding grooves are formed in the supporting plates, pushing columns penetrating through the inclined sliding grooves are arranged at the bottoms of the triangular jacking blocks, the pushing columns are connected with the inclined sliding grooves through reset springs, and driving groups for driving the triangular jacking blocks to move are mounted on the two supporting rods together.
The clamping mechanism comprises a plurality of groups of fixed frames installed on the middle fixed plate, the plurality of groups of fixed frames are distributed along the length direction of the middle fixed plate, each group of fixed frames consists of two fixed frames symmetrically distributed along the length direction of the middle fixed plate, the opposite surfaces and the top of each group of two fixed frames are all in an opening shape, an extrusion guide plate is slidably installed in each fixed frame, the tops of the two extrusion guide plates are arc-shaped, and a supporting and clamping spring is installed between each extrusion guide plate and each fixed frame.
In a possible implementation mode, the drive group includes the mounting panel of installing on two support bars jointly through falling L type frame, the swash plate along its length direction symmetrical arrangement is all installed to two lateral walls that the mounting panel was arranged along its width direction, slide groove has been seted up at the top of swash plate, sliding connection has U type to draw the seat on the slide groove, be connected through the pressure spring between U type draws the seat and the slide groove, the removal groove has been seted up to the bottom of mounting panel, sliding connection has the arm-tie along its length direction symmetrical arrangement in the removal groove, Y type rope is all installed to the looks back of two arm-ties, two slope section tip of Y type rope run through behind mounting panel and the swash plate and are connected with U type and draw the seat.
In a possible implementation manner, the guiding mechanism comprises vertical plates which are arranged symmetrically on the supporting bars along the length direction of the guiding mechanism, the vertical plates are located on one side, away from the supporting ear plates, of the inverted-L-shaped frame, connecting strips are arranged between the two vertical plates which are axially arranged along the conveying shaft, type seats which are axially arranged along the length direction of the connecting strips are arranged on opposite faces of the two connecting strips, a fixed frame is located between the two type seats with opposite openings, the tops of vertical sections of the type seats with opposite openings are arc-shaped structures, and the bottoms of the type seats are located above the tops of the extrusion guide plates and the tops of the frame bodies.
In one possible implementation mode, the welding mechanism comprises fixed guide plates arranged on the support bars through fixing frames, the fixed guide plates are located on one side, away from the mounting plate, of the vertical plates, lifting plates sliding up and down are connected between the two fixed guide plates, hanging and fixing frames distributed along the length direction of the lifting plates are arranged at the bottoms of the lifting plates, and welding heads for welding rib plates and the frame bodies are arranged at two ends of the hanging and fixing frames.
In a possible implementation mode, a bearing bar is installed between the tops of the two supporting ear plates distributed along the length direction of the supporting bar through a fixing block, one side, far away from the middle fixing plate, of the supporting bar is rotationally connected with bearing rollers distributed uniformly, the bearing rollers are in rolling contact with the bearing bar, and one end, far away from the welding head, of the bearing bar is of an arc-shaped structure.
In a possible implementation mode, the stand column symmetrically arranged along the length direction of the support bar is arranged at the top of the support bar, the fixing frame is arranged between the two stand columns, the top of the two stand columns positioned at the same side of the fixing frame is provided with the top fixing frame together, the top fixing frame is provided with the pressing bars uniformly distributed along the length direction of the support frame, the pressing bars are positioned above the joint of the frame body and the rib plate, the bottoms of the pressing bars are in rolling connection with the abutting rollers uniformly distributed, the joint of the abutting rollers, the frame body and the rib plate abuts against, and one side, close to the arc section of the support bar, of the lower end of each pressing bar is of an arc structure.
In one possible implementation, the vertical section end surfaces of the type seat with two opposite openings are respectively and rotatably connected with grinding reduction rollers which are uniformly distributed along the arc-shaped surface and the vertical surface of the grinding reduction rollers.
The above technical solutions in the embodiments of the present invention have at least one of the following technical effects: 1. according to the automatic welding device for the industrial robot, before the rib plate is placed into the frame body, the frame body is fixed through the pulling and fixing mechanism, then the rib plate is quickly inserted between the two extrusion guide plates to be fixed through the matching of the clamping mechanism and the guide mechanism, the matching of the clamping mechanism and the guide mechanism not only improves the convenience and efficiency of rib plate insertion, but also avoids the problem that one-time adjustment is time-consuming and labor-consuming when the rib plate is placed, after the rib plate is inserted into the extrusion guide plates, the rib plate is fixed through the extrusion guide plates under the action of the elastic force of the abutting and clamping springs, and the phenomenon that the rib plate shakes during welding and the welding quality of the rib plate and the frame body is poor is prevented.
2. When the rib plate is placed, the rib plate is placed between the two type seats with opposite openings, then the rib plate is pressed down, the rib plate is centered along the length direction of the rib plate under the guiding action of the arc sections of the two type seats, and when the rib plate is contacted with the arc sections of the extrusion guide plate, the extrusion guide plate centers the rib plate along the width direction of the rib plate, so that the rib plate is conveniently and rapidly inserted into a frame body, the placement position of the rib plate is guided, and the placement accuracy of the welding position of the rib plate and the subsequent welding quality are improved.
3. When the frame body and the rib plate are close to the pressing strip, if one end of the rib plate is tilted, the tilted end moves towards the bottom of the pressing strip along the arc section of the pressing strip, so that the rib plate is pressed and flattened, and the rib plate is prevented from being tilted to influence the welding quality of the rib plate and the frame body.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of a main perspective structure of the present invention.
Fig. 2 is a schematic view of a first partial perspective view of the present invention.
FIG. 3 is a schematic cross-sectional view of the fixing frame, the pressing guide plate and the abutting spring of the present invention.
Fig. 4 is a schematic view of a partial structure of the stay plate, the middle fixing plate, and the pull fixing mechanism of the present invention.
Figure 5 is a cross-sectional view of a type shoe and wear reduction roller of the present invention.
Fig. 6 is a schematic perspective view of the driving set of the present invention.
Fig. 7 is a bottom cross-sectional view of the drive-group of the present invention.
FIG. 8 is a schematic view of the structure of the pressing bar and the abutting roller of the present invention.
Fig. 9 is a schematic perspective view of the chassis of the industrial robot after welding.
Reference numerals: 1. supporting the ear plate; 2. a conveying shaft; 3. a supporting plate; 4. a middle fixing plate; 5. a support bar; 6. a pulling and fixing mechanism; 7. a clamping mechanism; 8. an introduction mechanism; 9. a welding mechanism; 10. a frame; 11. rib plates.
30. A receiving bar; 301. a column; 302. a jacking and fixing frame; 303. pressing strips; 304. a roller; 31. and (5) bearing rollers.
60. Triangular ejector blocks; 61. pushing the column; 62. a return spring; 63. a drive group.
630. An inverted L-shaped frame; 631. a mounting plate; 632. a sloping plate; 633. a slip groove; 634. a U-shaped pull seat; 635. a pressure spring; 636. a moving groove; 637. pulling a plate; 638. y-shaped rope.
70. A fixed frame; 71. extruding the guide plate; 72. and the abutting spring is used for abutting against the spring.
80. A vertical plate; 81. a connecting strip; 82. seat; 820. and (5) reducing the grinding roller.
90. Fixing the guide plate; 91. a lifting plate; 92. a hanging and fixing frame; 93. and (5) a welding head.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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 be within the scope of the invention.
In order that those skilled in the art will better understand the present invention, the following description will be given in detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, an automatic welding apparatus for an industrial robot, comprising: four support otic placodes 1, four support otic placodes 1 are the rectangle and arrange, rotate between two support otic placodes 1 that the mirror image was arranged and be connected with conveying axle 2, pass through the sprocket chain transmission connection of arranging along its axial symmetry between two conveying axles 2, articulated the base that has evenly to arrange jointly on two chains, the base comprises two with the articulated fagging 3 of chain and the well fixed plate 4 of installation between two fagging 3, is located and is connected through support bar 5 between two support otic placodes 1 of chain same side.
The two supporting plates 3 are jointly provided with a pulling and fixing mechanism 6 for carrying and fixing the frame body 10; the middle fixing plate 4 is provided with a clamping mechanism 7 for clamping and fixing the rib plate 11, and the support bar 5 is provided with an introducing mechanism 8 which is matched with the clamping mechanism 7 to insert the rib plate 11 into the frame body 10 and a welding mechanism 9 for welding the frame body 10 and the rib plate 11.
Referring to fig. 1, 4 and 6, the pulling and fixing mechanism 6 includes a triangular jack 60 slidably connected to the supporting plate 3, the triangular jack 60 is symmetrically arranged along the length direction of the supporting plate 3, the triangular jack 60 abuts against an inner corner of the frame 10, an inclined chute is formed on the supporting plate 3, a pushing column 61 penetrating the inclined chute is mounted at the bottom of the triangular jack 60, the pushing column 61 is connected with the inclined chute through a return spring 62, and a driving set 63 driving the triangular jack 60 to move is mounted on the two supporting bars 5 together.
When the conveying shaft 2 stops intermittently, the driving group 63 pushes the pushing column 61 to drive the triangular jack blocks 60 to move, so that the triangular jack blocks 60 move along the inclined sliding grooves, the distance between the four triangular jack blocks 60 on the same pulling and fixing mechanism 6 is shortened, the frame body 10 is placed on the supporting plate 3 smoothly, after the frame body 10 is placed, the driving group 63 does not push the pushing column 61 any more, the pushing column 61 and the triangular jack blocks 60 move and reset along the inclined sliding grooves under the elastic reset action of the reset spring 62 until the triangular jack blocks 60 are abutted and fixed with the inner side corners of the frame body 10, the frame body 10 is limited and fixed under the action of the abutting force of the four triangular jack blocks 60, and the positions of the triangular jack blocks 60 and the inner side corners of the frame body 10 are abutted and fixed with each other to the frame body 10 are adjusted to a certain extent, so that the rib plates 11 are inserted into the frame body 10 smoothly through the matching of the guide mechanism 8 and the extrusion guide plates 71 and are abutted and fixed with the inner wall of the frame body 10.
Referring to fig. 6 and 7, the driving set 63 includes a mounting plate 631 mounted on two support bars 5 together by an inverted L-shaped frame 630, two side walls of the mounting plate 631 arranged along a width direction of the mounting plate are all provided with inclined plates 632 symmetrically arranged along a length direction of the mounting plate, a sliding groove 633 is provided at a top of the inclined plates 632, a U-shaped pull seat 634 is slidingly connected to the sliding groove 633, the sliding groove 633 is connected with the sliding groove 633 by a pressure spring 635, a moving groove 636 is provided at a bottom of the mounting plate 631, pull plates 637 symmetrically arranged along the length direction of the moving groove 636 are slidingly connected with two pull plates 637, Y-shaped ropes 638 are mounted on opposite sides of the two pull plates 637, and two inclined section ends of the Y-shaped ropes 638 penetrate through the mounting plate 631 and the inclined plates 632 to be connected with the U-shaped pull seat 634.
When the conveying shaft 2 stops intermittently, the external electric sliding blocks connected with the pulling plates 637 drive the two pulling plates 637 to move towards the middle of the mounting plate 631, the pulling plates 637 drive the U-shaped pulling seat 634 to move through the Y-shaped ropes 638, the U-shaped pulling seat 634 moves through the pushing posts 61 into the U-shaped pulling seat 634 when moving, the U-shaped pulling seat 634 drives the pushing posts 61 to move, so that the distance between the four triangular jacking blocks 60 is shortened, the frame 10 is placed on the supporting plate 3, after the frame 10 is placed, the pulling plates 637 are reset under the drive of the external electric sliding blocks connected with the frame, the Y-shaped ropes 638 are loosened, and the U-shaped pulling seat 634 is reset under the action of the elastic force of the pressure springs 635.
Referring to fig. 2, 3 and 4, the clamping mechanism 7 includes a plurality of groups of fixing frames 70 mounted on the middle fixing plate 4, the plurality of groups of fixing frames 70 are arranged along the length direction of the middle fixing plate 4, each group of fixing frames 70 is composed of two fixing frames 70 symmetrically arranged along the length direction of the middle fixing plate 4, opposite faces and tops of the two fixing frames 70 of each group are all open, an extrusion guide plate 71 is slidably mounted in the fixing frames 70, tops of the two extrusion guide plates 71 are arc-shaped, and a supporting and clamping spring 72 is mounted between the extrusion guide plate 71 and the fixing frames 70.
When the chain drives the frame 10 to move to the position of the guide mechanism 8, the conveying shaft 2 stops intermittently, then the rib plate 11 is quickly inserted between the two extrusion guide plates 71 in the same group through the guide mechanism 8, the rib plate 11 is firstly contacted with the arc-shaped sections of the extrusion guide plates 71 when entering between the two extrusion guide plates 71 in the same group, the arc-shaped sections of the two extrusion guide plates 71 increase the distance between the two extrusion guide plates 71 so that the rib plate 11 smoothly enters between the two extrusion guide plates 71, then the rib plate 11 moves downwards along the extrusion guide plates 71 until the rib plate 11 abuts against the middle fixed plate 4, at the moment, the two extrusion guide plates 71 extrude and fix the rib plate 11 under the action of the elastic force of the abutting springs 72, so that the rib plate 11 is prevented from shaking in the moving process, the rib plate 11 is quickly inserted into the frame 10 under the action of the cooperation of the extrusion guide plates 71 and the guide mechanism 8, and the problem that the rib plate 11 needs to be smoothly inserted for a plurality of times when being inserted into the frame 10, so that time is wasted is avoided.
Referring to fig. 1 and 5, the guiding mechanism 8 includes a vertical plate 80 symmetrically disposed along a length direction thereof and mounted on the supporting bar 5, the vertical plate 80 is located at a side of the inverted L-shaped frame 630 away from the supporting ear plate 1, a connecting bar 81 is mounted between two vertical plates 80 axially arranged along the conveying shaft 2, -shaped seats 82 arranged along a length direction thereof are mounted on opposite surfaces of the two connecting bars 81, the fixing frame 70 is located between two -shaped seats 82 with opposite openings, the tops of vertical sections of the -shaped seats 82 with opposite openings are arc-shaped structures, and the bottoms of the -shaped seats 82 are located above the tops of the pressing guide plates 71 and the tops of the frame 10.
When placing floor 11, place floor 11 earlier between two type seats 82 that the opening is relative, then push down floor 11, floor 11 carries out the regulation of centering along floor 11 length direction under the arc section direction effect of two type seats 82, when floor 11 and extrusion baffle 71's arc section contact, extrusion baffle 71 carries out the regulation of centering along its width direction to floor 11, in not only being convenient for the quick insertion frame 10 of floor 11, still guided the placement position of floor 11, improved the accuracy that floor 11 welded position was placed.
Referring to fig. 5, the vertical end surfaces of the type seats 82 with opposite openings are respectively and rotatably connected with antifriction rollers 820 uniformly distributed along the arc surfaces and the vertical surfaces thereof, and the antifriction rollers 820 are used for reducing friction between the rib 11 and the type seats 82 when the rib 11 is inserted between the type seats 82 with opposite openings, so that the rib 11 can be smoothly inserted into the type seats 82 and move downwards.
Referring to fig. 2, the welding mechanism 9 includes a fixed guide plate 90 mounted on the support bar 5 via a fixing frame, the fixed guide plate 90 is located at one side of the vertical plate 80 away from the mounting plate 631, a lifting plate 91 sliding up and down is connected between the two fixed guide plates 90, a hanging frame 92 arranged along the length direction of the lifting plate 91 is mounted at the bottom of the lifting plate 91, and welding heads 93 for welding the rib plate 11 and the frame 10 are mounted at two ends of the hanging frame 92.
When the frame body 10 and the rib plate 11 are placed and aligned and conveyed to the position right below the lifting plate 91 through a chain, the lifting plate 91 connected with the external electric sliding block drives the welding head 93 to move downwards, the welding head 93 is aligned with the rib plate 11 and the side welding seam of the frame body 10, then the welding head 93 welds the rib plate 11 and the frame body 10, the lifting plate 91 drives the welding head to move downwards through the hanging frame 92, and a plurality of welding heads 93 weld synchronously, so that the welding efficiency of the rib plate 11 and the frame body 10 is improved.
Referring to fig. 1 and 2, a supporting bar 30 is mounted between the tops of two supporting ear plates 1 arranged along the length direction of the supporting bar 5 through a fixing block, one side of the supporting plate 3 away from the middle fixing plate 4 is rotationally connected with uniformly arranged bearing rollers 31, the bearing rollers 31 are in rolling contact with the supporting bar 30, and one end of the supporting bar 30 away from the welding head 93 is of an arc structure.
The bearing roller 31 that is connected on the fagging 3 that the strip 30 moved to the chain upside supports to frame 10 and the steady transportation and the welding of floor 11 that accept on fagging 3 and the well fixed plate 4 also prevent simultaneously that floor 11 from counterpointing after inserting frame 10 in, fagging 3 and well fixed plate 4 rock when removing, lead to floor 11 perk to drop from well fixed plate 4, and the one end that holds strip 30 kept away from welding head 93 is arc structure, so that bearing roller 31 from the rotation of chain downside to the side on the chain move on the horizontal segment of strip 30 and transition, prevent bearing roller 31 card in 30 tip of holding.
Referring to fig. 2 and 8, the top of the receiving bar 30 is provided with upright posts 301 symmetrically arranged along the length direction thereof, the fixing frame is located between the two upright posts 301, the tops of the two upright posts 301 located at the same side of the fixing frame are jointly provided with a top fixing frame 302, the top fixing frame 302 is provided with pressing bars 303 uniformly distributed along the length direction thereof, the pressing bars 303 are located above the connection positions of the frame 10 and the rib plates 11, the bottoms of the pressing bars 303 are in rolling connection with abutting rollers 304 uniformly distributed, the connection positions of the abutting rollers 304, the frame 10 and the rib plates 11 abut, and one side, close to the arc section of the receiving bar 30, of the lower end of the pressing bar 303 is of an arc structure.
When the chain drives the frame 10 and the rib plate 11 to move, and the frame 10 and the rib plate 11 are close to the pressing strip 303, if one end of the rib plate 11 is tilted, the tilted end moves towards the bottom of the pressing strip 303 along the arc section of the pressing strip 303, so that the rib plate 11 is pressed and leveled until the intermittent stop of the chain, at this time, the frame 10 and the rib plate 11 are positioned right below the lifting plate 91, the pressing strips 303 on two sides of the lifting plate 91 are respectively pressed at the connection positions of two ends of the rib plate 11 and the frame 10, the rib plate 11 and the frame 10 are pressed and leveled, and the tilting of the rib plate 11 is prevented.
When the conveying shaft 2 stops intermittently, the driving group 63 pushes the pushing column 61 to drive the triangular jack blocks 60 to move, so that the triangular jack blocks 60 move along the inclined sliding grooves, the distance between the four triangular jack blocks 60 on the same pulling and fixing mechanism 6 is shortened, the frame body 10 is placed on the supporting plate 3 smoothly, after the frame body 10 is placed, the driving group 63 does not push the pushing column 61 any more, the triangular jack blocks 60 are reset, the frame body 10 is limited and fixed under the action of the abutting force of the four triangular jack blocks 60, and the positions of the triangular jack blocks 60 and the inner side corners of the frame body 10 are adjusted to a certain extent, so that the rib plates 11 are matched with the extrusion guide plates 71 through the guide mechanisms 8 to be inserted into the frame body 10 smoothly, and are tightly attached to the inner wall of the frame body 10.
When the chain drives the frame body 10 to move to the position of the guide mechanism 8, the rib plate 11 is quickly inserted between the two extrusion guide plates 71 in the same group through the guide mechanism 8, then the rib plate 11 moves downwards along the extrusion guide plates 71 until the rib plate 11 is tightly abutted against the middle fixing plate 4, at the moment, the two extrusion guide plates 71 extrude and fix the rib plate 11 under the action of the elastic force of the abutting spring 72, the rib plate 11 is prevented from shaking in the moving process, the rib plate 11 is subjected to position adjustment under the action of the cooperation of the extrusion guide plates 71 and the guide mechanism 8, the rib plate 11 is quickly inserted into the frame body 10, and the problem that time is wasted because the rib plate 11 needs to be subjected to position adjustment once and can be smoothly inserted is avoided.
After the rib plate 11 and the frame body 10 are placed, the rib plate is moved continuously, and when the rib plate 11 and the frame body 10 are moved to the position of the welding mechanism 9, the welding mechanism 9 synchronously welds the welding positions of the rib plate 11 and the frame body 10, so that the welding efficiency of the frame body 10 and the rib plate 11 is improved.
After the welding is completed, the welded frame 10 and the rib 11 (shown in fig. 9) are removed.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The embodiments of the present invention are all preferred embodiments of the present invention, and are not limited in scope by the present invention, so that all equivalent changes according to the structure, shape and principle of the present invention are covered in the scope of the present invention.
Claims (4)
1. An automatic welding device for an industrial robot, comprising: the four support lugs (1) are arranged in a rectangular mode, a conveying shaft (2) is rotationally connected between the two support lugs (1) which are arranged in a mirror image mode, the two conveying shafts (2) are in transmission connection through chain wheels and chains which are symmetrically arranged along the axial direction of the conveying shafts, bases which are uniformly arranged are hinged to the two chains together, the bases are composed of two supporting plates (3) hinged to the chains and a middle fixing plate (4) arranged between the two supporting plates (3), and the two support lugs (1) which are positioned on the same side of the chains are connected through supporting bars (5);
a pulling and fixing mechanism (6) for carrying and fixing the frame body (10) is commonly arranged on the two supporting plates (3); the middle fixing plate (4) is provided with a clamping mechanism (7) for clamping and fixing the rib plate (11), and the support bar (5) is provided with an introducing mechanism (8) which is matched with the clamping mechanism (7) to insert the rib plate (11) into the frame body (10) and a welding mechanism (9) for welding the frame body (10) and the rib plate (11);
the pulling and fixing mechanism (6) comprises triangular jacking blocks (60) which are connected to the supporting plate (3) in a sliding manner, the triangular jacking blocks (60) are symmetrically arranged along the length direction of the supporting plate (3), the triangular jacking blocks (60) are abutted against the inner corners of the frame body (10), inclined sliding grooves are formed in the supporting plate (3), pushing columns (61) penetrating through the inclined sliding grooves are arranged at the bottoms of the triangular jacking blocks (60), the pushing columns (61) are connected with the inclined sliding grooves through reset springs (62), and driving groups (63) for driving the triangular jacking blocks (60) to move are jointly arranged on the two supporting bars (5);
the clamping mechanism (7) comprises a plurality of groups of fixing frames (70) arranged on the middle fixing plate (4), the plurality of groups of fixing frames (70) are distributed along the length direction of the middle fixing plate (4), each group of fixing frames (70) consists of two fixing frames (70) symmetrically arranged along the length direction of the middle fixing plate (4), the opposite surfaces and the top of each group of two fixing frames (70) are all in an opening shape, an extrusion guide plate (71) is slidably arranged in each fixing frame (70), the tops of the two extrusion guide plates (71) are arc-shaped, and an abutting and clamping spring (72) is arranged between each extrusion guide plate (71) and each fixing frame (70);
the welding mechanism (9) comprises fixed guide plates (90) which are arranged on the support bars (5) through fixing frames, the fixed guide plates (90) are positioned on one side, far away from the mounting plate (631), of the vertical plates (80), lifting plates (91) which slide up and down are connected between the two fixed guide plates (90), hanging and fixing frames (92) which are arranged along the length direction of the lifting plates (91) are arranged at the bottoms of the lifting plates (91), and welding heads (93) for welding the rib plates (11) and the frame body (10) are arranged at two ends of each hanging and fixing frame (92);
a bearing bar (30) is arranged between the tops of the two supporting ear plates (1) which are arranged along the length direction of the supporting bar (5) through a fixed block, one side of the supporting plate (3) away from the middle fixed plate (4) is rotationally connected with bearing rollers (31) which are uniformly arranged, the bearing rollers (31) are in rolling contact with the bearing bar (30), and one end of the bearing bar (30) away from the welding head (93) is of an arc-shaped structure;
the top of accepting strip (30) is installed and is followed stand (301) of its length direction symmetrical arrangement, the mount is located between two stand (301), top that is located two stand (301) of mount homonymy is installed jointly and is held solid frame (302), it is equipped with layering (303) of evenly arranging along its length direction to hold solid frame (302) on, layering (303) are located framework (10) and rib plate (11) junction top, the bottom roll connection of layering (303) has butt roller (304) of evenly arranging, butt roller (304) are supported with the junction of framework (10) and rib plate (11) tightly, one side that layering (303) lower extreme is close to accepting strip (30) arc section is arc structure.
2. An automatic welding device for industrial robots according to claim 1, characterized in that: the driving group (63) comprises mounting plates (631) which are jointly mounted on two support bars (5) through inverted-L-shaped frames (630), inclined plates (632) which are symmetrically arranged along the length direction of the two side walls of the mounting plates (631) are mounted on the two side walls which are arranged along the width direction of the mounting plates, sliding grooves (633) are formed in the tops of the inclined plates (632), U-shaped pull seats (634) are connected to the sliding grooves (633) in a sliding manner, moving grooves (636) are formed in the bottoms of the mounting plates (631) in a sliding manner, pull plates (637) which are symmetrically arranged along the length direction of the moving grooves (636) are connected in a sliding manner, Y-shaped ropes (638) are mounted on the opposite surfaces of the two pull plates (637), and two inclined section ends of each Y-shaped rope (638) penetrate through the mounting plates (631) and are connected with the corresponding U-shaped pull seats (634) after the inclined plates (632).
3. An automatic welding device for industrial robots according to claim 1, characterized in that: the guide mechanism (8) comprises vertical plates (80) which are arranged on the support bars (5) and symmetrically along the length direction of the support bars, the vertical plates (80) are located on one side, far away from the support ear plates (1), of the inverted-L-shaped frame (630), connecting bars (81) are arranged between the two vertical plates (80) which are axially arranged along the conveying shaft (2), -shaped seats (82) which are axially arranged along the length direction of the connecting bars are arranged on opposite surfaces of the two connecting bars (81), the fixed frame (70) is located between the two -shaped seats (82) with opposite openings, the tops of the vertical sections of the -shaped seats (82) with opposite openings are arc-shaped structures, and the bottoms of the -shaped seats (82) are located above the tops of the extrusion guide plates (71) and the tops of the frame body (10).
4. An automatic welding apparatus for industrial robots according to claim 3, wherein: the end faces of the vertical sections of the type seats (82) with opposite openings are respectively and rotatably connected with antifriction rollers (820) which are uniformly distributed along the arc-shaped surfaces and the vertical surfaces of the antifriction rollers.
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| CN202310609378.0A CN116329829B (en) | 2023-05-29 | 2023-05-29 | Automatic welding device for industrial robot |
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| CN202310609378.0A CN116329829B (en) | 2023-05-29 | 2023-05-29 | Automatic welding device for industrial robot |
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| CN116329829B true CN116329829B (en) | 2023-08-04 |
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| CN116721950B (en) * | 2023-08-09 | 2023-10-13 | 天津安联信科技有限公司 | Semiconductor device encapsulation processingequipment |
| CN117206769B (en) * | 2023-11-09 | 2024-01-26 | 华建重工有限公司 | Single-double-beam crane boom manufacturing, forming and welding equipment and welding method thereof |
| CN117548891B (en) * | 2024-01-12 | 2024-03-22 | 四川省宜宾威力化工有限责任公司 | Based on electron detonator processing welding set |
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