CN201833098U - Crossed precise four-station robot welding production line - Google Patents
Crossed precise four-station robot welding production line Download PDFInfo
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- CN201833098U CN201833098U CN2010205578443U CN201020557844U CN201833098U CN 201833098 U CN201833098 U CN 201833098U CN 2010205578443 U CN2010205578443 U CN 2010205578443U CN 201020557844 U CN201020557844 U CN 201020557844U CN 201833098 U CN201833098 U CN 201833098U
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- guide rail
- portable plate
- table top
- carrying portable
- accurate
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Abstract
The utility model discloses a crossed precise four-station robot welding production line. Four sets of linear guide rails are arranged on a tabletop cross rail bracket of the production line, each carrying movable plate is mounted on one set of the linear guide rails, each set of linear guide rails include a long guide rail and a short guide rail which are arranged in parallel, one end of the long guide rail is flush with one end of the short guide rail in the same set, and long guide rails of the four sets of linear guide rails are arranged crosswise to be in '#' shape. A double-roller slider is arranged on the bottom surface of each carrying movable plate, at a position corresponding to each short linear guide rail and at one end close to a center area of each set of linear guide rails, the distance between each two rollers is larger than the interval between the long guide rail and the short guide rail on the same straight line, and stabilizing sliders fastened with the long guide rails are arranged on the bottom surfaces of the carrying movable plates. The carrying movable plates on the welding production line can respectively move to the center of the tabletop cross rail bracket, so that robots have the same and enough welding ranges when welding parts on four stations. Since ball transmission is adopted in the sliders in a zero-clearance fit manner, the carrying movable plates keep stable relatively without severe vibration during the overall movement and repeated positioning precision can be within 0.02mm.
Description
[technical field]
The utility model relates to a kind of robot welding product line, the four station robot welding product lines that particularly a kind of chiasma type repetitive positioning accuracy is very high.
[background technology]
Welding robot is that present industrial robot is used maximum field, and robotic welding technology's development makes welding quality and welding efficiency obtain remarkable lifting, is come so it promotes in welding field gradually.In sheet metal manufacturing field, robotic welding technology's application is day by day popularized, but in the entire job process, how to send into portion's product in the robot work region accurately effectively and weld, and turn back to the clamping workpiece position from robot work region efficiently and safely, this process directly has influence on quality, safety and the manufacturing cost of robot welding, is unusual the key link during the robotic welding technology uses.At present, the existing robots welding manner is divided into two kinds, and a kind of is fixed, and another kind is movable.What is called is fixed to be fixed on frock clamp in the robot work region exactly, and workpiece is installed in the operator original place, and weld in the original place.Movable one end is for installing the operation area of workpiece in order to pass through to install a kind of track, and the other end is the robot welding district, and frock clamp is carried in two interregional circulations back and forth on its track.The flexibility of fixed frock clamp is very poor, frock clamp is changed very inconvenient, and the operator is too near apart from welding region, light and gas that welding is sent damage human body easily, because welding and clamping can not carry out simultaneously, so production efficiency is not high, and existing movable robot welding product line adopts double, it can be divided into the zone of two workpiece installment works, the frock clamp of each installation region can be respectively slides into the operation that hockets of the welding zone of robot by the carrying portable plate, this sealing wire repetitive positioning accuracy is relatively poor, can only weld two workpiece simultaneously at most, and, influence production efficiency because station is few in the problem of carrying out can running into when many kind welding are produced frequent replacing frock clamp.
[utility model content]
The purpose of this utility model is: improve above-mentioned deficiency of the prior art, provide a kind of chiasma type accurate four station robot welding product lines, the frock clamp of each station can alternately be transported in the identical welding job zone by the carrying portable plate on this kind production line, make welding more convenient, and it is very steady during motion, vibrate forr a short time, the workpiece quality of welding is more stable.
The technical solution of the utility model is achieved in that it comprises table top orbiting vane frame, line slideway, the carrying portable plate, drive unit, sensor, positioner, welding robot, the intersection region of table top orbiting vane frame is in the co-operation zone of welding robot, each end of table top orbiting vane frame is provided with the carrying portable plate, line slideway is fixed on the table top orbiting vane frame, the bottom surface of carrying portable plate is symmetrically arranged with the guide rail slide block that is slidingly connected with line slideway, its improvements are: table top orbiting vane frame is provided with four groups of line slideways, each carrying portable plate all is installed on one group of line slideway, every group of line slideway comprises long limit guide rail and the minor face guide rail that be arranged in parallel, one of long limit guide rail on the same group and minor face guide rail held level with both hands together, four groups of line slideways are intersecting parallels in the extension cross arrangement of long limit guide rail, and the zone that intersection surrounds is the central area; An end of the central area of close line slideway is provided with the two-wheel sliding shoe on bottom surface of carrying portable plate and the corresponding position of minor face rectilinear orbit, the line of two rollers on the two-wheel sliding shoe parallels with the minor face guide rail, the spacing of roller is greater than long limit guide rail on the same straight line and the spacing between the minor face guide rail, and the bottom surface of carrying portable plate is provided with the firm slide block that is interlockingly connected with long limit guide rail;
In the accurate four station robot welding product lines of above-mentioned chiasma type, described drive unit is the synchronous belt drive device, the synchronous belt drive device comprises motor, belt pulley, driving-belt, the pulley tightener of controllable rotating speed, contour respectively each end of table top orbiting vane frame and the below of described central area of being arranged at of belt pulley, driving-belt is wire-wrapped in respectively on the corresponding belt pulley, table top orbiting vane frame bottom is installed with the pulley tightener of tensioning driving-belt, and motor is in transmission connection by belt pulley and driving-belt; Be equipped with on the driving-belt and carry the transmission buffer that portable plate is connected;
In the accurate four station robot welding product lines of above-mentioned chiasma type, described transmission buffer comprises buffer board on the driving-belt that is connected and installed in the driving-belt junction, spring and buffering back-up block, spring housing is located on the axostylus axostyle of buffering back-up block lower end, the bottom surface of carrying portable plate is fixed with the power contiguous block, and the power contiguous block is connected and fixed by screw and buffering back-up block;
In the accurate four station robot welding product lines of above-mentioned chiasma type, the bottom surface of described carrying portable plate is fixed with locating piece, the pneumatic power positioner of described positioner for compressing mutually with locating piece, pneumatic power positioner are installed near on the table top orbiting vane frame of central area;
In the accurate four station robot welding product lines of above-mentioned chiasma type, described pneumatic power positioner comprises cylinder, connecting rod, fixedly briquetting and mounting plate, cylinder is mounted on the mounting plate, connecting rod respectively with the projecting shaft of cylinder and fixedly briquetting be hinged, fixedly briquetting and mounting plate are hinged;
In the accurate four station robot welding product lines of above-mentioned chiasma type, the bottom surface of described carrying portable plate is provided with scotch, and moving into buffer and taking out of buffer of matching with scotch is installed on the table top orbiting vane frame;
In the accurate four station robot welding product lines of above-mentioned chiasma type, described sensor comprises acceleration sensor, deceleration sensor and stop pick-up;
In the accurate four station robot welding product lines of above-mentioned chiasma type, described drive unit is chain gearing or Rodless cylinder.
Than existing four station robot welding product lines, the beneficial effects of the utility model are: the cross arrangement of length limit guide rail and the setting of two-wheel sliding shoe, make each carrying portable plate on the welding production line can both move to the central authorities of table top orbiting vane respectively, identical and sufficient welding scope is all arranged during the part of robot on welding four stations like this; The ball transmission is arranged in the slide block, so and for relatively steadily not producing bigger vibrations in the middle of the whole carrying portable plate motion of no gap cooperation, and guarantee enough repetitive positioning accuracies, repetitive positioning accuracy can reach in the 0.02mm, add the motor transmission of controllable rotating speed, can increase substantially operating efficiency; The joint of driving-belt is provided with buffer very strong impulsive force can not occur, and the tool anchor clamps can exactly carries out the automated handling operation, owing to do not have impulsive force and vibrations butt welding to pick out the product deflection to reduce greatly, has improved the precision of product.
[description of drawings]
Below in conjunction with accompanying drawing in detail concrete structure of the present utility model is described in detail
Fig. 1 is the structural representation of the accurate four station robot welding product lines of the utility model chiasma type
Fig. 2 is the vertical view of view as shown in Figure 1
Fig. 3 is the schematic diagram of line slideway cross arrangement
Fig. 4 is the structural representation of carrying portable plate
Fig. 5 is the upward view of view as shown in Figure 4
Fig. 6 is the left view of view as shown in Figure 4
Fig. 7 is the structural representation of transmission buffer
Fig. 8 is the vertical view of view as shown in Figure 7
Fig. 9 is the schematic diagram of pneumatic power positioner releasing orientation
Figure 10 is the schematic diagram of pneumatic power positioner impaction state
Among the figure: 1, adjustable support foot; 2, fixing foot rest; 3, table top orbiting vane frame; 4, driving-belt; 5, motor; 6, pulley tightener; 7, transmission buffer; 7-1, buffering back-up block; 7-2, spring; 7-3, buffer board; 8, carrying portable plate; 8-1, two-wheel sliding shoe; 8-2, scotch; 8-3, guide rail slide block; 8-4, power contiguous block; 8-5, locating piece; 8-6, firm slide block; 9, control system button; 10, take out of buffer; 11, sensor; 12, minor face guide rail; 13, grow the limit guide rail; 14, pneumatic power positioner; 14-1, mounting plate; 14-2, cylinder; 14-3, connecting rod; 14-4, fixing briquetting; 15, move into buffer; 16, welding robot; 17, safty shield; 18, control system.
[specific embodiment]
To shown in Figure 6, the accurate four station robot welding product lines of chiasma type of the present utility model mainly comprise table top orbiting vane frame 3, line slideway, two welding robots 16, carrying portable plate 8, pneumatic power positioner 14, pulley gear, sensor 11 and motion control systems as Fig. 1.The intersection region of table top orbiting vane frame 3 is in the co-operation zone of welding robot 16, and two welding robots 16 are relatively arranged on the position, oblique angle that rail bracket 3 intersects.Table top orbiting vane frame 3 is provided with four groups of line slideways, every group of line slideway comprises long limit guide rail 13 and the minor face guide rail 12 that be arranged in parallel, one of long limit guide rail 13 on the same group and minor face guide rail 12 held level with both hands together, four groups of line slideways are intersecting parallels in the extension cross arrangement of long limit guide rail 13, be all to be equipped with minor face guide rail 12 on the rectilinear direction of each long limit guide rail 13, and long limit guide rail 13 on the same straight line and the incision position between the minor face guide rail 12 are equipped with another the long limit guide rail that intersects vertically, and the zone that each long limit guide rail 13 extension branch surrounds is the central area.The bottom of table top orbiting vane frame 3 is laid with fixedly foot rest 2 and adjustable support foot 1, comes the adjustable track frame by adjustable support foot 1, and the line slideway of each group is on the same horizontal plane.Be provided with a carrying portable plate 8 that is used to install frock clamp on every group of line slideway, the outer end in bottom surface of carrying portable plate 8 is symmetrically arranged with a pair of guide rail slide block 8-3 that is slidingly connected with line slideway, end in its bottom surface near the central area is provided with two-wheel sliding shoe 8-1 in the corresponding position of minor face guide rail 12, the line of two rollers on the two-wheel sliding shoe 8-1 parallels with minor face guide rail 12, spacing between the roller can be by jam in the gap that guide rail intersection location place forms to guarantee roller greater than long limit guide rail 13 on the same straight line and the spacing between the minor face guide rail 12.In order to make carrying portable plate 8 double swerve not in motion process, be provided with the firm slide block 8-6 that is interlockingly connected with long limit guide rail 13 in the bottom surface of carrying portable plate 8, the centre position at firm slide block 8-6 deflecting plate edge, preferably, when carrying portable plate 8 move to the central area directly over the time, firm slide block 8-6 be in just on the long limit guide rail 13 with the mutually concordant position of minor face guide rail 12 ends on.Guide rail slide block 8-3 and firm slide block 8-6 are provided with the guide rail link slot, and the guide rail link slot is the inverted U-channel that button is received in the below, and this structure can make slide block be buckled on the line slideway.Being equipped with line slideway in the guide rail link slot of guide rail slide block 8-3 and firm slide block 8-6 does not have the ball that the gap transmission cooperates, and avoids producing bigger vibrations in the sliding process, makes 8 motions of carrying portable plate more steady.The walking of carrying portable plate 8 is driven by pulley gear, the synchronous belt drive device comprises motor 5, belt pulley, driving-belt 4, the pulley tightener 6 of controllable rotating speed, contour respectively each end of table top orbiting vane frame 3 and the below of described central area of being arranged at of belt pulley, driving-belt 4 is wire-wrapped in respectively on the corresponding belt pulley, and the junction of driving-belt 4 is equipped with and carries the transmission buffer 7 that portable plate 8 is connected; Motor 5 is in transmission connection by the belt pulley and the driving-belt 4 of outside, also is installed with the pulley tightener 6 of tensioning driving-belt 4 in table top orbiting vane frame 3 bottoms.The bottom surface of carrying portable plate 8 is fixed with power contiguous block 8-4, and transmission buffer 7 is connected 8-4 with the power contiguous block, to reach the purpose of driving.The bottom surface of carrying portable plate 5 also is fixed with locating piece 8-5 and scotch 8-2, be provided with the pneumatic power positioner 14 that can compress the location mutually in position with locating piece 8-5 near the central area, moving into buffer 15 and taking out of buffer 10 of matching with scotch 8-2 then is installed on the table top orbiting vane frame 3, moving into buffer 15 is installed in the central area, take out of buffer 10 and be installed on the position of the outer end of rail bracket, move into buffer 15 and take out of buffer 10 and can adopt spring buffer mechanism or cylinder buffering mechanism.Sensor 11 is installed on the side of table top orbiting vane frame 3, and be positioned at the two ends of 8 movement locus of carrying portable plate, so that sense carrying portable plate 8 residing positions, actions such as control system can be judged when locate according to sensor 11 given positions, starts, deceleration, acceleration.For ease of operation, on each end of table top orbiting vane frame 3, be provided with control system button 9.Middle section position at welding production line can be provided with the safty shield 17 that surrounds welding region, the arc light and the pernicious gas that produce when welding to isolate, welding robot 16 all places in the safty shield 17, and the control system 18 of production line then places outside the safty shield 17.On safty shield 17, also be provided with the gate of folding automatically, be convenient to respectively carry on the production line portable plate 8 smooth and easy carryings.
As shown in Figure 7 and Figure 8, transmission buffer 7 comprises buffer board 7-3, spring 7-2 and the buffering back-up block 7-1 that is connected and installed in driving-belt 4 junctions, the top of buffering back-up block 7-1 is a contiguous block, contiguous block is connected with power contiguous block 8-4 by screw, the lower cage of buffering back-up block 7-1 is provided with axostylus axostyle, be provided with block in the middle of the axostylus axostyle, on axostylus axostyle, be arranged with spring 7-2 in the block both sides.When bigger impulsive force appearred in driving-belt 4 operation process, the spring 7-2 on the buffer 7 was compressed, and slowly resets then, thereby balances out most of impulsive force, makes the carrying portable plate 8 that is attached thereto carry out transport operation in exactly ground.
As Fig. 9 and shown in Figure 10, pneumatic power positioner 14 comprises mounting plate 14-1, cylinder 14-2, connecting rod 14-3 and fixing briquetting 14-4, cylinder 14-2 is mounted on the mounting plate 14-1, mounting plate 14-1 is fixed on the rail bracket by screw, and connecting rod 14-3 respectively with the projecting shaft of cylinder 14-2 and fixedly briquetting 14-4 be hinged, fixedly briquetting 14-4 and mounting plate 14-1 are hinged.In the time of directly over carrying portable plate 8 moves to the central area, sensor 11 sends corresponding signal, the projecting shaft of cylinder 14-2 stretches out and promotes connecting rod 14-3 motion, fixedly briquetting 14-4 is at the locating piece 8-5 that compresses around the pin joint on the mounting plate 14-1 under the drive of connecting rod 14-3 on the carrying portable plate 8, thereby realizes the location of carrying portable plate 8 in the welding job zone.
In the accurate four station robot welding product lines of this novel chiasma type, the intersecting parallels cross arrangement mode of length guide rail can make moves the middle position that slides into welding robot 16 working regions that portable plate 8 is not subjected to any obstruction.Preferably, sensor 11 comprises and is arranged on movement locus appropriate position acceleration sensor, deceleration sensor and stop pick-up.During operation, portion's product clamping that need weld send the welding instruction after finishing, drive motor 5 is started working, driving-belt 4 drives the central mobile of carrying portable plate 8 to table top orbiting vane frame 3, this moment, priming speed was slow, motor 5 begins to quicken when touching first sensor 11, when moving to, can touch deceleration sensor near central authorities, motor 5 speed reduce, finally move to the middle position of intersecting parallels infall, touch stop sensor, motor 5 stops, pneumatic power positioner 14 work this moment, carrying portable plate 8 is fixed on tightly the central authorities of orbiting vane, subsequently, control system is sent the welding instruction to welding robot 16 and is begun welding, and whole welding process was finally finished in the everything counter motion after welding was finished.
Described above only is preferred embodiment of the present utility model, and above-mentioned specific embodiment is not to restriction of the present utility model.In technological thought category of the present utility model, various distortion and modification can appear, and the retouching that all those of ordinary skill in the art make according to above description, revise or be equal to replacement, all belong to the scope that the utility model is protected.
Claims (8)
1. accurate four station robot welding product lines of a chiasma type, it comprises table top orbiting vane frame, line slideway, the carrying portable plate, drive unit, sensor, positioner, welding robot, the intersection region of table top orbiting vane frame is in the co-operation zone of welding robot, each end of table top orbiting vane frame is provided with the carrying portable plate, line slideway is fixed on the table top orbiting vane frame, the bottom surface of carrying portable plate is symmetrically arranged with the guide rail slide block that is slidingly connected with line slideway, it is characterized in that: table top orbiting vane frame is provided with four groups of line slideways, each carrying portable plate all is installed on one group of line slideway, every group of line slideway comprises long limit guide rail and the minor face guide rail that be arranged in parallel, one of long limit guide rail on the same group and minor face guide rail held level with both hands together, four groups of line slideways are intersecting parallels in the extension cross arrangement of long limit guide rail, and the zone that intersection surrounds is the central area; An end of the central area of close line slideway is provided with the two-wheel sliding shoe on bottom surface of carrying portable plate and the corresponding position of minor face rectilinear orbit, the line of two rollers on the two-wheel sliding shoe parallels with the minor face guide rail, the spacing of roller is greater than long limit guide rail on the same straight line and the spacing between the minor face guide rail, and the bottom surface of carrying portable plate is provided with the firm slide block that is interlockingly connected with long limit guide rail.
2. the accurate four station robot welding product lines of chiasma type according to claim 1, it is characterized in that: drive unit is the synchronous belt drive device, the synchronous belt drive device comprises motor, belt pulley, driving-belt, the pulley tightener of controllable rotating speed, contour respectively each end of table top orbiting vane frame and the below of described central area of being arranged at of belt pulley, driving-belt is wire-wrapped in respectively on the corresponding belt pulley, and table top orbiting vane frame bottom is installed with the pulley tightener of tensioning driving-belt.
3. the accurate four station robot welding product lines of chiasma type according to claim 3, it is characterized in that: the transmission buffer comprises buffer board, spring and the buffering back-up block that is connected and installed in the driving-belt junction, spring housing is located on the axostylus axostyle of buffering back-up block lower end, the bottom surface of carrying portable plate is fixed with the power contiguous block, and the power contiguous block is connected and fixed by screw and buffering back-up block.
4. the accurate four station robot welding product lines of chiasma type according to claim 1, it is characterized in that: the bottom surface of carrying portable plate is fixed with locating piece, the pneumatic power positioner of described positioner for compressing mutually with locating piece, pneumatic power positioner is installed near on the table top orbiting vane frame of central area.
5. the accurate four station robot welding product lines of chiasma type according to claim 5, it is characterized in that: pneumatic power positioner comprises cylinder, connecting rod, fixedly briquetting and mounting plate, cylinder is mounted on the mounting plate, connecting rod respectively with the projecting shaft of cylinder and fixedly briquetting be hinged, fixedly briquetting and mounting plate are hinged.
6. according to claim 1 or the accurate four station robot welding product lines of 3 described chiasma types, it is characterized in that: the bottom surface of carrying portable plate is provided with scotch, and moving into buffer and taking out of buffer of matching with scotch is installed on the table top orbiting vane frame.
7. the accurate four station robot welding product lines of chiasma type according to claim 1, it is characterized in that: sensor comprises acceleration sensor, deceleration sensor and stop pick-up.
8. the accurate four station robot welding product lines of chiasma type according to claim 1, it is characterized in that: drive unit is chain gearing or Rodless cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205578443U CN201833098U (en) | 2010-10-09 | 2010-10-09 | Crossed precise four-station robot welding production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205578443U CN201833098U (en) | 2010-10-09 | 2010-10-09 | Crossed precise four-station robot welding production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201833098U true CN201833098U (en) | 2011-05-18 |
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ID=44003193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205578443U Expired - Fee Related CN201833098U (en) | 2010-10-09 | 2010-10-09 | Crossed precise four-station robot welding production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201833098U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213162A (en) * | 2013-05-08 | 2013-07-24 | 湖南三星磊洋玻璃机械有限公司 | Horizontal positioning device |
| CN107052558A (en) * | 2017-04-18 | 2017-08-18 | 湖北三环汽车工程塑料有限公司 | Door plate welding production line and production method |
-
2010
- 2010-10-09 CN CN2010205578443U patent/CN201833098U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213162A (en) * | 2013-05-08 | 2013-07-24 | 湖南三星磊洋玻璃机械有限公司 | Horizontal positioning device |
| CN103213162B (en) * | 2013-05-08 | 2015-04-01 | 湖南三星玻璃机械有限公司 | Horizontal positioning device |
| CN107052558A (en) * | 2017-04-18 | 2017-08-18 | 湖北三环汽车工程塑料有限公司 | Door plate welding production line and production method |
| CN107052558B (en) * | 2017-04-18 | 2019-11-19 | 湖北三环汽车工程塑料有限公司 | A kind of door-plate welding production line and production method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110518 Termination date: 20141009 |
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| EXPY | Termination of patent right or utility model |