CN206029097U - Shot -blasting machine casing welding robot assembly - Google Patents

Abstract

The utility model discloses a shot blasting machine shell welding robot assembly, which comprises two main brackets arranged in parallel. Move back and forth on the four-slider sliding linear guide pair; a welding table is set between the two four-slider sliding linear guide pairs; the front and rear ends of the two parallel main brackets pass the first drive support assembly and the second drive support assembly respectively Connection; two sets of auxiliary welding systems and a set of welding manipulator systems are arranged in parallel between the first drive support assembly and the second drive support assembly. The assembly and the second drive support assembly move back and forth, and the welding robot arm system is located in the middle of the two sets of auxiliary welding systems. The utility model can complete the raw material transportation, shell assembly and welding work of the shot blasting machine shell. The labor intensity of workers is greatly reduced, and the degree of automation is high.

Description

Shot blasting machine shell welding robot assembly

technical field

The utility model relates to a welding robot, in particular to a welding robot assembly applied to shells of shot blasting machines and the like.

Background technique

At present, the shell welding of large-scale equipment such as shot blasting machines is usually carried out manually, and at least two workers are required to cooperate. The labor intensity of the workers is high and the working environment is poor.

Chinese patent document CN103157900A discloses a "welding robot", which is an improved welding robot for resistance welding.

Chinese patent document CN105057937A discloses a compressor shell welding production equipment, which is mainly used for fully automatic production of pins, machine feet and terminal welding on the shell.

Chinese patent document CN103506789A discloses a "multi-arm welding robot", which is suitable for occasions where the required welding area is large or there are many welding parts.

Chinese patent document CN104476047A discloses a "welding robot", which can locate the welding position where the switchgear chassis is installed, realize precise welding, and ensure the normal use of the switchgear chassis.

Chinese patent document CN102275053A discloses a "robot welding system". The welding system mainly includes a KUKA robot, a NADEX welding controller and an Ohara servo welding torch.

Chinese patent document CN104889637A discloses a "welding robot", which can perform 360º rotary welding and can fully absorb harmful gases generated during welding.

Chinese patent document CN104384766A discloses a "gate-type robot welding machine". The main feature of this robot welding machine is that the robot has a large range of movement and can complete the welding of large non-standard workpieces through teaching programming, but requires that the workpieces to be welded be completed in advance. Assembling and fixing tasks.

However, none of the above-mentioned welding robots can complete the assembly and welding work of the shot blasting machine shell alone.

Utility model content

The purpose of this utility model is to overcome the deficiencies of the above-mentioned prior art and provide a shot blasting machine shell welding robot assembly, which has a compact structure and is easy to maintain, and can independently complete the assembly machine welding of the shot blasting machine shell Work.

In order to achieve the above object, the utility model adopts the following technical solutions:

A shot blasting machine shell welding robot assembly, including two main brackets arranged in parallel, the lower parts of the two main brackets are correspondingly arranged on two parallel four-slider sliding linear guide rail pairs, and the main bracket can be moved between the four sliders. The sliding linear guide pair moves back and forth; a worktable is set between two four-slider sliding linear guide pairs;

The front and rear ends of the two parallel main brackets are respectively connected by a first drive support assembly and a second drive support assembly;

Two sets of auxiliary welding systems and a set of welding manipulator systems are arranged in parallel between the first drive support assembly and the second drive support assembly, and both the two sets of auxiliary welding systems and one set of welding manipulator systems can operate on the first drive support assembly and the second drive support assembly to reciprocate, and the welding robot system is located in the middle of the two sets of auxiliary welding systems.

A contact switch is arranged on each four-slider sliding linear guide rail pair.

Three pairs of electric sucker groups are arranged symmetrically on the ground between both sides of the workbench and the main support, wherein two pairs of electric sucker groups are aligned with the two ends of the workbench, and the third pair of electric sucker groups are aligned with the middle position of the workbench .

The electric sucker group includes an electric sucker support and an electric sucker, the electric sucker is fixed on the electric sucker support, and the electric sucker support is fixedly installed on the ground.

Each four-slider sliding linear guide rail pair includes two parallel linear guide rails and eight sliding linear guide rail auxiliary sliders, each linear guide rail is equipped with four sliding linear guide rail auxiliary sliders, two linear guide rails The auxiliary sliders on the sliding linear guide rail are symmetrically set.

The main support includes two main support bases arranged in parallel and installed on the auxiliary slide block of the sliding linear guide rail. A column is vertically installed at both ends of each main support base, and a control first support base is also installed on one of the main support bases. A central controller for a drive support assembly, a second drive support assembly, two sets of auxiliary welding systems and a set of welding robot arm systems.

The first drive support assembly includes the second drive assembly, the first support assembly and the first drive assembly installed on the two columns at the same end of the two main support bases from top to bottom, and the second drive assembly is installed on the two columns. At the top of the column, the first supporting assembly and the first driving assembly are respectively installed on the opposite inner sides of the two columns through the supporting frame.

The second drive support assembly includes a third drive assembly, a third support assembly, and a second support assembly installed on the two columns at the same end of the two main support bases from top to bottom, and the third drive assembly is installed on the two columns. At the top of the two columns, the third support assembly and the second drive assembly are respectively installed on the opposite inner sides of the two columns through the support frame.

The first, second, and third drive assemblies all include a motor drive system installed on the support base of the motor drive system and two parallel drive system linear guides, and each drive system linear guide is equipped with two The second slider of the drive system is the auxiliary slider of the linear guide rail;

The motor drive system includes a drive motor installed at one end of the support base of the motor drive system. A rotary encoder is installed on the drive motor. The output shaft of the drive motor is connected to the lead screw through a coupling. Supported by face-to-face angular contact ball bearings in housings mounted on motor drive system support housings.

The first, second, and third support components all include two linear guide rails of the mobile support system installed in parallel on the support base of the mobile support system, and each linear guide rail of the mobile support system is equipped with two two-slider rolling linear guides. Rail auxiliary slider.

The auxiliary welding system includes two parallel and vertically arranged workpiece holders moving support frame uprights, and the upper and lower ends of the two workpiece holders moving support frame uprights respectively pass through two horizontally parallel workpiece holders The moving and supporting frame beams are connected, and the first and second motor drive systems are arranged horizontally and horizontally between the two workpiece holders and the supporting frame beams, and the two ends of the first and second motor driving systems are respectively supported by The frame is installed on the inner side of the vertical plate of the movable support frame of the two workpiece holders;

The lead screw of the first and second motor drive systems is respectively covered with first and second nuts, and the first and second nuts and the lead screw form a lead screw nut transmission system, and the first and second nuts respectively correspond to the vertical The set workpiece pushing motion system and the workpiece clamping motion system are fixedly connected, and the workpiece pushing motion system and the workpiece clamping motion system respectively support the slider and the two workpiece clamping motion systems with the corresponding two workpiece pushing motion systems. The supporting slider of the motion system is fixedly connected, and the two supporting sliders of the moving system for pushing and blocking the workpiece and the two supporting sliders of the moving system for workpiece clamping respectively correspond to the two moving workpiece holders set up and down and the two supporting sliders on the beam of the supporting frame. on a parallel linear guide rail.

A mobile drive connector and a mobile support connector are respectively provided on the outer surfaces corresponding to the vertical plates of the movable support frame of the two workpiece holders;

The side of the mobile driver connector is connected with the transmission nut of the third drive assembly, and the bottom surface is fixed on the secondary sliders of the four drive system two sliders rolling linear guide rails;

The mobile support connector is fixed on the four secondary sliders of the two-slider rolling linear guide rail of the first support assembly.

The first and second motor drive systems all include a drive motor installed at one end of the support base of the motor drive system, a rotary encoder is installed on the drive motor, the output shaft of the drive motor is connected with the lead screw through a shaft coupling, and the lead screw The two ends are respectively supported by face-to-face angular contact ball bearings installed in the bearing housing, and the bearing housing is installed on the support base of the motor drive system.

The workpiece pushing motion system includes a push rod motor drive system, the lead screw of the push rod motor drive system is provided with a first drive nut, the lead screw and the first drive nut cooperate to form a lead screw nut drive system, the first drive nut and The horizontally arranged push rod support frame is fixedly connected, and one end of the push rod support frame is fixed on the slider of the push rod motor drive system. The push rod support frame is equipped with a vertically arranged push rod attitude adjustment drive motor, and the push rod attitude adjustment The output shaft of the driving motor is connected with the push rod through the first coupling.

The workpiece clamping motion system includes a workpiece holder motor drive system, the lead screw of the workpiece holder motor drive system is provided with a second drive nut, and the lead screw and the second drive nut cooperate to form a lead screw nut drive system. The second transmission nut is fixedly connected with the workpiece holder support frame arranged horizontally, one end of the workpiece holder support frame is fixed on the slider of the workpiece holder motor drive system, and a vertical installation is installed on the workpiece holder support frame. The attitude adjustment drive motor of the workpiece holder, the output shaft of the attitude adjustment drive motor of the workpiece holder is connected to the mobile support assembly of the workpiece holder through a second coupling;

The lower end of the workpiece holder moving support assembly is respectively equipped with a workpiece holder fixing plate and a workpiece holder moving plate arranged in parallel and vertically.

The workpiece holder movable support assembly includes a square frame-shaped workpiece holder movable support assembly frame with a bottom opening, and the top of the workpiece holder movable support assembly frame adjusts the drive motor with the attitude of the workpiece holder through the second coupling The output shaft is connected;

Both the fixed plate of the workpiece holder and the moving plate of the workpiece holder are in a T-shaped structure, the upper part with a larger size is located in the frame of the workpiece holder mobile support assembly, and the lower part is moved from the frame of the workpiece holder mobile support assembly. protruding downward from the lower opening;

The half part of the workpiece holder fixed plate is fixed and installed on the outer baffle plate of the workpiece holder movable support assembly on the front and rear sides of the workpiece holder movable support assembly frame by screws;

The bottom surface of the half part of the moving plate of the workpiece holder is provided with a first semicircular ball guide groove. The first semicircular ball guide groove is stuck on the balls in the frame of the workpiece holder mobile support assembly. The balls are located in the ball maintaining fixed bracket. maintaining the fixed bracket fixed in the second semicircular ball guide groove in the frame of the movable support assembly of the workpiece holder;

The first and second semicircular ball guide grooves correspond to each other and together form a circular ball guide groove;

When the moving plate of the workpiece holder moves, it only contacts with the balls, and there is a gap between the moving support assembly frame of the workpiece holder;

There are several threaded holes on the lower part of the fixed plate of the workpiece holder and the moving plate of the workpiece holder. When the screws passing through the threaded holes are tightened, the half of the moving plate of the workpiece holder moves along the ball, and the workpiece holder The holder moving plate approaches the workpiece holder fixed plate while clamping the workpiece between the workpiece holder moving plate and the workpiece holder fixed plate.

When the workpiece holder moving plate moves along the bottom surface of the workpiece holder support assembly close to the work holder fixed plate, the workpiece is clamped; when the workpiece holder moving plate moves along the bottom surface of the work holder support assembly The workpiece is released when facing away from the workpiece holder fixed plate.

The technical structures of the push rod motor drive system and the workpiece holder motor drive system are exactly the same. That is: both include a motor drive system installed on the support base of the motor drive system and two parallel drive system linear guide rails, and each drive system linear guide rail is equipped with two drive system two-slider rolling linear guide rail auxiliary slides piece;

The motor drive system includes a drive motor installed at one end of the support base of the motor drive system. A rotary encoder is installed on the drive motor. The output shaft of the drive motor is connected to the lead screw through a coupling, and the two ends of the lead screw are respectively installed on the bearing seat. The inner face-to-face angular contact ball bearing is supported, and the bearing seat is installed on the support seat of the motor drive system.

The welding manipulator system includes a rectangular frame composed of two vertical manipulator support frame vertical plates and two transverse manipulator support frame crossbeams, and a mechanical arm lateral movement motor drive system is arranged horizontally in the rectangular frame , the lead screw of the mechanical arm lateral movement motor drive system is provided with a mechanical arm transmission nut, the lead screw and the mechanical arm transmission nut form a screw nut transmission pair, and the mechanical arm transmission nut is fixed on the back of the mechanical arm vertical movement motor drive system, The motor drive system for the vertical movement of the mechanical arm is fixed on the horizontal movement slider of the mechanical arm, and the horizontal movement slider of the mechanical arm is stuck on the linear guide rail of the horizontal movement of the mechanical arm on the beam of the support frame of the mechanical arm, and can move the linear guide rail horizontally on the mechanical arm move up and down;

The lead screw of the vertical movement motor drive system of the mechanical arm is provided with a third transmission nut fixedly connected with the support frame of the mechanical arm, and the third transmission nut and the lead screw of the vertical movement motor drive system of the mechanical arm form a lead screw nut drive Vice, the support frame of the mechanical arm is fixed horizontally on the slide block of the vertical movement motor drive system of the mechanical arm;

The first driving servo motor of the mechanical arm is fixed vertically on the supporting frame of the mechanical arm. The output shaft of the first driving servo motor of the mechanical arm is connected with one end of the first connecting rod arranged horizontally, and the second servo motor of the mechanical arm is arranged horizontally on the other end. The drive motor, the output shaft of the second servo drive motor of the mechanical arm is connected to one end of the second connecting rod, the other end of the second connecting rod is provided with the third servo drive motor of the mechanical arm, the output shaft of the third servo drive motor of the mechanical arm is connected to the third One end of the connecting rod is connected, and the other end of the third connecting rod is connected with the fixing and swinging device of the welding torch.

The opposite outer surfaces of the two vertical mechanical arm support frame vertical plates are respectively provided with a mobile support connector and a mobile driver connector, and the mobile support connector is installed on the four second-slider rolling linear guide rail auxiliary slides of the second support assembly. On the block; the side of the mobile drive connector is fixedly connected with the transmission nut of the first drive assembly, and the bottom surface is fixedly installed on the four drive system two sliders of the first drive assembly on the secondary slider of the rolling linear guide rail.

The two ends of the motor drive system for laterally moving the mechanical arm are respectively fixedly installed on the opposite inner sides of two vertical mechanical arm support frame vertical plates through support frames.

The welding torch fixing and swinging device includes the fourth servo drive motor of the mechanical arm fixed on the third connecting rod, the output shaft of which is connected with the welding torch connection fixing bracket, and the welding torch is fixed on the welding torch connection fixing bracket.

The motor drive system for lateral movement of the mechanical arm includes a drive motor installed at one end of the support base of the motor drive system. A rotary encoder is installed on the drive motor. The output shaft of the drive motor is connected to the lead screw through a coupling, and the two ends of the lead screw are They are respectively supported by face-to-face angular contact ball bearings installed in the bearing housing, which is installed on the support base of the motor drive system.

The motor drive system for the vertical movement of the mechanical arm includes a motor drive system installed on the support base of the motor drive system and two parallel drive system linear guide rails, and each drive system linear guide rail is equipped with two drive system two Slider rolling linear guide rail auxiliary slider;

The motor drive system includes a drive motor installed at one end of the support base of the motor drive system. A rotary encoder is installed on the drive motor. The output shaft of the drive motor is connected to the lead screw through a coupling, and the two ends of the lead screw are respectively installed on the bearing seat. The inner face-to-face angular contact ball bearing is supported, and the bearing seat is installed on the support seat of the motor drive system.

After the assembly of the integrated shell welding robot assembly is completed, the rotary encoders of each motor drive system are required to be calibrated to calibrate the initial positions of the two workpiece pushing motion systems and the two workpiece clamping motion systems. Work such as welding seam alignment is mainly assisted by two workpiece pushing motion systems. Calculate the position of the weld seam according to the relative position of the two workpiece pushing motion systems, calibrate the initial position of each connecting rod of the robotic arm, and automatically complete the welding process according to the end motion planning. The specific working process is as follows:

Step 1, the two diagonally installed workpiece pushing motion systems approach each other along the X direction, and after the required steel plates are clamped, the servo motor drive system that controls the movement of the first auxiliary welding system and the second auxiliary welding system stops Turn and hold. The servo motor drive system that controls the movement of the push rods in the Z direction acts, and the two push rods are lifted to a height higher than the workbench, then stop rotating and keep it. Push the main bracket to transport the steel plate from the storage room to the welding workbench. When the center position of the main bracket coincides with the center position of the workbench, the two contact switches are closed, and the six electric suction cup groups are energized at the same time, and the position of the main bracket is fixed. The servo motor drive system of the Z-direction movement drive system of the two push rods operates simultaneously, and the two push rods are lowered to the height close to the workbench, then stop and hold, and then start to control the movement of the first auxiliary welding system and the second auxiliary welding system The advanced servo motor drive system makes the two workpiece pushing and moving systems move away from each other along the X direction, and the steel plate is placed on the workbench. The feedback information of the built-in rotary encoder of the servo motor drive system that drives the movement of the push rod is used to determine the relative position of the two push rods, so as to place the steel plate to the desired position of the workbench.

Step 2. The six electric sucker groups are powered off manually, and the main bracket is pushed to the storage room. The first auxiliary welding system is close to the steel plate for welding, and the fixing plate of the workpiece holder is close to the steel plate, and is tightened by passing through the moving plate of the workpiece holder. Screws to press the steel plate tightly. The push rod supports the steel plate and transports it to the designated position of the workbench. When the center position of the main bracket coincides with the center position of the workbench, the two contact switches are closed, and the six electric suction cup groups are energized at the same time, and the position of the main bracket is fixed again. The two workpiece pushing motion systems and the workpiece clamping motion system for clamping the steel plate cooperate in coordination, so that the steel plate on the worktable is aligned with the weld seam of the steel plate clamped by the workpiece clamping motion system.

Step 3, the welding manipulator system moves to the vicinity of the weld, the manipulator Z direction moves the drive system servo motor drive system, the first drive motor of the manipulator, the second drive motor of the manipulator, the third drive motor of the manipulator, and the fourth manipulator The drive motor coordinates the movement to complete the welding process of spot welding first and then linear welding.

Step 4, loosen the screws on the moving plate of the workpiece holder, artificially cut off the power of the six electric suction cup groups again, push the main bracket to the storage room, and the second auxiliary welding system is close to the steel plate for welding, repeat the remaining work of step 2 and step 3 Work.

In step five, the movement, rotation and overturning of the shell can be completed by utilizing the coordinated actions of the two workpiece pushing and moving systems and the two workpiece clamping motion systems.

The beneficial effects of the utility model:

(1) The shell welding robot assembly proposed by the utility model can complete the transportation of the shell raw materials of the shot blasting machine, the assembly and welding of the shell. The labor intensity of workers is greatly reduced, and the degree of automation is high.

(2) The shell welding robot assembly proposed by the utility model can complete the positioning and rotation of parts.

(3) The shell welding robot assembly proposed by the utility model can not only complete the welding work of shot blasting machine shells of different sizes, but also be used for welding parts such as rods and boxes. It has a wide range of applications and strong flexibility .

(4) The shell welding robot assembly proposed by the utility model has a compact structure and stable operation.

Description of drawings

Fig. 1 is the schematic diagram of the welding robot assembly of the shot blasting machine shell of the utility model;

Fig. 2 is a schematic diagram of the bracket assembly of the welding robot for the shot blasting machine shell of the utility model;

Figure 3 is a schematic diagram of the first, second, and third drive systems for the movement of the utility model in the X direction, the movement of the push rod in the Z direction, the movement of the workpiece holder in the Z direction, and the movement of the mechanical arm of the shot blasting machine shell in the Z direction. ;

Fig. 4 is a schematic diagram of the motor drive system of the present invention;

Fig. 5 is a schematic diagram of the first, second and third support systems of the present invention;

Fig. 6 is a schematic diagram of the first and second auxiliary welding systems of the welding robot for the shot blasting machine shell of the utility model;

Fig. 7 is a schematic diagram of the pushing movement system of the workpiece of the shot blasting machine of the present invention

Fig. 8 is a schematic diagram of the workpiece clamping motion system of the shot blasting machine of the present invention;

Fig. 9 is a schematic diagram of the mobile support system of the workpiece holder of the present invention;

Fig. 10 is a schematic diagram of the mechanical arm system for welding the shell of the shot blasting machine of the present invention;

Fig. 11 is a schematic diagram of the welding torch fixing and swinging motion system of the welding manipulator of the shot blasting machine of the present invention;

Among them, 1. Main support, 2. Shot blasting machine shell welding mechanical arm system, 3. The first drive support assembly, 4. The first auxiliary welding system of the shot blasting machine shell welding robot, 5. The second drive support assembly, 6. The second auxiliary welding system of the shot blasting machine shell welding robot, 7. Four-slider sliding linear guide pair, 8. Electromagnetic chuck bracket, 9. Electromagnetic chuck, 10. Central controller, 11. Contact switch, 12. Welding Workbench, 13. The first column of the main support, 14. The first support block, 15. The first driving system moving in the X direction, 16. The first supporting system moving in the X direction, 17. The second driving system moving in the X direction, 18. X direction moves the third drive system, 19. X direction moves the second support system, 20. X direction moves the third support system, 21. The second column of the main support, 22. The base of the main support, 23. The motor drive system, 24. Drive nut, 25. drive system second slider rolling linear guide pair, 26. motor drive system support seat, 27. drive motor, 28. shaft coupling, 29. bearing seat, 30. face-to-face angular contact ball bearing, 31. wire Bar, 32. Rotary encoder, 33. The second sliding block rolling linear guide pair of the support system, 34. The support seat of the mobile support system, 35. The X-direction mobile support stand of the workpiece clamping and blocking system, 36. The second support block , 37. Move the first driving system in the Y direction, 38. Move the first transmission nut in the Y direction, 39. The workpiece pushing motion system, 40. Move the second transmission nut in the Y direction, 41. The workpiece clamping movement system, 42. X 43. Moving the second driving system in the Y direction, 44. Two slide block rolling linear guide rail pairs, 45. The workpiece clamping and blocking system moving the beam of the support frame in the X direction, 46. Moving the supporting connector in the X direction, 47. Z-direction movement driving support system of the push rod, 48. Push rod posture adjustment drive motor, 49. Push rod support frame, 50. First coupling, 51. Push rod, 52. Z-direction movement drive of the workpiece holder Support system, 53. Workpiece holder posture adjustment drive motor, 54. Push rod support frame, 55. Second shaft coupling, 56. Workpiece holder baffle mobile support system, 57. Workpiece holder fixed baffle , 58. Workholder mobile stopper, 59. Ball retaining fixed bracket, 60. Ball, 61. Workholder mobile support system frame, 62. Workholder mobile support assembly outer stopper, 63. Ball guide Slot, 64. the first threaded hole, 65. through hole, 66. the second threaded hole, 67. the shot blasting machine shell welding mechanical arm X direction mobile support frame crossbeam, 68. the shot blasting machine shell welding mechanical arm Z direction Mobile drive system, 69. Shot blasting machine shell welding mechanical arm support frame, 70. The third transmission nut, 71. Shot blasting machine shell welding mechanical arm Y direction mobile motor drive system, 72. Shot blasting machine shell welding Connected to the X-direction moving drive connector of the mechanical arm, 73. The single-slider rolling linear guide pair for the Y-direction movement of the shot blasting machine shell welding mechanical arm, 74. The first drive motor of the shot blasting machine shell welding mechanical arm, 75. Shot blasting The first connecting rod of the machine shell welding manipulator, 76. The second drive motor of the shot blasting machine shell welding manipulator, 77. The second connecting rod of the shot blasting machine shell welding manipulator, 78. The shot blasting machine shell welding machine The third driving motor of the arm, 79. The third connecting rod of the mechanical arm for welding the shot blasting machine shell, 80. The welding torch fixing and swinging motion system of the mechanical arm for welding the shot blasting machine shell, 81. The support block for the welding mechanical arm of the shot blasting machine shell , 82. The vertical plate of the support frame for the X-direction movement of the shot blasting machine shell welding mechanical arm, 83. The X-direction mobile support connector for the shot blasting machine shell welding mechanical arm, 84. The fourth drive motor for the shot blasting machine shell welding mechanical arm , 85. The shot blasting machine shell welding mechanical arm welding torch is connected to the fixed bracket, 86. The shot blasting machine shell welding mechanical arm welding torch.

detailed description

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

The structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the limitations that the utility model can implement Conditions, so it has no technical substantive meaning, any modification of structure, change of proportional relationship or adjustment of size shall still fall within the scope of this utility model without affecting the effect and purpose of this utility model. The technical content disclosed by the new model must be within the scope covered. At the same time, terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit this specification. The practicable range of the utility model, and the change or adjustment of its relative relationship, without any substantial change in the technical content, shall also be regarded as the practicable scope of the utility model.

The X, Y and Z directions in the present invention refer to the X axis, the Y axis and the Z axis in the Cartesian three-dimensional coordinate system.

As shown in Figure 1, the welding robot assembly of the shot blasting machine shell of the present invention includes two main supports 1 arranged side by side, a welding mechanical arm system 2 of the shot blasting machine shell, a first driving support assembly 3, a The first auxiliary welding system 4 of the shot blasting machine shell welding robot, a second drive support assembly 5, a second auxiliary welding system 6 of the shot blasting machine shell welding robot, and two sets of four-slider sliding linear guide rail pairs arranged side by side 7. Six electromagnetic chuck brackets 8, six electromagnetic chucks 9, a central controller 10, two contact switches 11, and a welding table 12.

Two main brackets 1 arranged side by side and two pairs of four-slider sliding linear guide pairs 7 parallel to each other are respectively installed on both sides of the welding workbench 12 along the Y direction, and the main bracket 1 slides along the two parallel four-sliders. The guide rail movement of the linear guide rail pair 7. The six electromagnetic chuck supports 8 are divided into two groups and fixed on the ground between the two sides of the welding table 12 and the main support 1, and are respectively fixed at the two ends and the center of the welding table 12 along the Y direction. The first drive support system 4 and the second drive support system 6 are respectively connected to the corresponding ends of the two main supports 1 , that is, installed on both sides of the welding table 12 along the X direction.

Two sets of auxiliary welding systems (i.e. the first auxiliary welding system 4 of the shot blasting machine shell welding robot and the second auxiliary welding system 4 of the shot blasting machine shell welding robot) are arranged in parallel between the first drive support assembly 3 and the second drive support assembly 5 System 6) and a set of shot blasting machine shell welding robotic arm system 2, and two sets of shot blasting machine shell welding robot-assisted welding systems 4, 6 and a set of shot blasting machine shell welding robotic arm system 2 can be The first drive support assembly 3 and the second drive support assembly 5 move back and forth, and the shot blasting machine shell welding robot arm system 2 is located in the middle of the two sets of shot blasting machine shell welding robot auxiliary welding systems 4 and 6 .

A contact switch 11 is arranged on each group of four sliding block sliding linear guide rail pairs 7 arranged in pairs.

Three pairs of electromagnetic chuck supports 8 are symmetrically arranged on the ground between both sides of the welding workbench 12 and the two main supports 1, wherein two pairs of electromagnetic chuck supports 8 are aligned with the two ends of the welding workbench 12, and the third pair of electromagnetic chuck supports 8 Align with the middle position of welding table 12.

Six electromagnetic chucks 9 are respectively fixed on six electromagnetic chuck brackets.

The central controller 10 is installed on one of the main supports 1 .

As shown in Figure 2, the utility model shot blasting machine shell welding robot bracket assembly includes two main bracket first columns 13, four pairs of first support blocks 14, a first drive system 15 for moving in the X direction, and a X One direction moves the first support system 16, one X direction moves the second drive system 17, one X direction moves the third drive system 18, one X direction moves the second support system 19, one X direction moves the third support system 20, two The second column 21 of the main support, and two bases 22 of the main support.

The main support 1 includes two main support first columns 13 , two main support bases 22 , and two main support second columns 21 . Two main support bases 22 are respectively installed in parallel on the sliders of two groups of four slide block sliding linear guide rail pairs 7 juxtaposed on both sides of the welding workbench 12, and each main support base 22 is vertically installed with a column. One of the main bracket bases 22 is fixed with a central controller 10, and the central controller 10 is used to control the first drive support assembly 3, the second drive support assembly 5, and the two sets of shot blasting machine shell welding robot auxiliary welding systems 4, 6 And a set of shot blasting machine shell welding robot arm system 2.

The first driving support assembly 3 includes: two pairs of first supporting blocks 14 , one moving the first driving system 15 in the X direction, one moving the first supporting system 16 in the X direction, and one moving the second driving system 17 in the X direction. The two pairs of first support blocks are respectively fixed on the first columns 13 of the two main supports in groups of two. Both ends of the X-direction moving first driving system 15 and the X-direction moving first supporting system 16 are respectively fixed on two sets of first supporting blocks 14 . Two ends of the second drive system 17 for moving in the X direction are respectively fixed on the top ends of the first columns 13 of the two main supports.

The second drive support assembly 4 includes: two pairs of first support blocks 14 , a third drive system 18 for moving in the X direction, a second support system 19 for moving in the X direction, and a third support system 20 for moving in the X direction. The two pairs of first support blocks are respectively fixed on the second upright columns 21 of the two main brackets in groups of two. The two ends of the X-direction moving second supporting system 19 and the X-direction moving third supporting system 20 are respectively fixed on two sets of first supporting blocks 14 . Both ends of the third drive system 18 for moving in the X direction are respectively fixed on the top ends of the second columns 21 of the two main supports.

As shown in Figure 3, the first, second, and third drive systems of the utility model move in the X direction, the push rod moves in the Z direction, the workpiece holder moves in the Z direction, and the shot blasting machine shell welding mechanical arm moves in the Z direction to drive and support The systems all include a motor drive system 23, a drive nut 24, two drive system two slide block rolling linear guide pairs 25 arranged side by side, and a motor drive system support seat 26. The two drive system two slide block rolling linear guide rail pairs 25 are installed parallel and side by side on both sides of the motor drive system 23 leading screw on the motor drive system support base 26 .

As shown in Figure 4, the utility model motor drive system 23 includes a drive motor 27, a shaft coupling 28, two bearing blocks 29, two face-to-face angular contact ball bearings 30, a lead screw 31, a rotary encoder Device 32.

The rotary encoder 32 is connected with the driving motor 27 . The drive motor 27 is fixed on the end of the support base 26 of the motor drive system, and the output shaft of the drive motor 27 is connected to the lead screw 31 through a coupling 28 . The two bearing seats 29 are fixed on the support seat 26 of the motor drive system, and the two face-to-face angular contact ball bearings 30 are installed in the two bearing seats 29 respectively.

As shown in Figure 5, the first, second and third support systems of the utility model all include two parallel support system two slide block rolling linear guide pairs 33 and a mobile support system support seat 34.

Two supporting system two slider rolling linear guide pairs 33 arranged in parallel are all installed on the mobile supporting system support seat 34 .

As shown in Figure 6, the first and second auxiliary welding systems of the welding robot for the shot blasting machine shell of the utility model both include two pieces of the workpiece clamping and pushing system X-direction moving support frame vertical plate 35, and two pairs of second support blocks 36 , a Y direction to move the first drive system 37, a Y direction to move the first drive nut 38, a workpiece pushing motion system 39, a Y direction to move the second drive nut 40, a workpiece clamping motion system 41, and a X direction The moving driver connector 42, one moving the second driving system 43 in the Y direction, two two-slider rolling linear guide pairs 44 arranged in parallel, two workpiece clamping and pushing systems moving the support frame beam 45 in the X direction, and one moving in the X direction Support connector 46 .

The two ends of the support frame vertical plates 35 of the X-direction mobile support frame of the two workpiece clamping and blocking systems are respectively fixedly connected with the two ends of the two workpiece clamping and blocking system X-direction mobile support frame crossbeams 45. The sliding block rolling linear guide pair 44 is respectively installed on the crossbeam 45 of the supporting frame for X-direction movement of the two workpiece clamping and blocking systems.

The X-direction mobile driver connector 42 and the X-direction mobile support connector 46 are respectively fixed on the outer sides of the vertical plates 35 of the X-direction mobile support frame of the two workpiece clamping and pushing systems.

The first auxiliary welding system of the shot blasting machine shell welding robot moves in the X direction. The drive connector 42 is connected to the drive nut 24 of the third drive system 18 that moves in the X direction on the side. On the four sliders of the rolling linear guide rail pair 25; the X direction mobile support connector 46 is fixed on the four sliders of the two parallel supporting system two sliders of the rolling linear guide rail pair 33 in the first support system 16 of the X direction .

The second auxiliary welding system of the shot blasting machine shell welding robot moves the drive connector 42 in the X direction to the drive nut 24 of the second drive system 17 that moves in the X direction on the side, and the bottom surface is fixed on two sliders of the second drive system that are arranged in parallel. On the four sliders of the rolling linear guide rail pair 25; the X direction mobile support connector 46 is fixed on the four sliders of the two parallel supporting system two slider rolling linear guide rail pairs 33 in the second support system 19 of the X direction .

Two pairs of second supporting blocks 36 are respectively mounted on the inner side of the vertical plate 35 of the supporting frame for X-direction movement of the two workpiece clamping and blocking systems. The Y-direction moving first driving system 37 and the Y-direction moving second driving system 43 are respectively fixed on two pairs of second support blocks 36 .

The first drive nut 38 for moving in the Y direction and the second drive nut 40 for moving in the Y direction are fixedly connected with the workpiece pushing motion system 39 and the workpiece clamping motion system 41 respectively, and are respectively connected with the first driving system 37 for moving in the Y direction and the moving in the Y direction. The leading screw of the second driving system 43 cooperates to form a leading screw nut transmission system. The workpiece pushing motion system 39 is installed on a pair of slide blocks that are parallel in the Y direction of the two supporting system two slide block rolling linear guide pairs 33 arranged in parallel; the workpiece clamping motion system 41 is installed on two The second slide block of the support system rolls on another pair of slide blocks that are parallel in the Y direction of the linear guide rail pair 33 .

The first and second drive systems 37 and 43 of the Y direction movement are identical in structure to the motor drive system 23 shown in Figure 4, and both include a drive motor 27, a shaft coupling 28, two bearing housings 29, and two face-to-face angular contact balls. Bearing 30, a leading screw 31, a rotary encoder 32.

The rotary encoder 32 is connected with the driving motor 27 . The drive motor 27 is fixed on the end of the support base 26 of the motor drive system, and the output shaft of the drive motor 27 is connected to the lead screw 31 through a coupling 28 . The two bearing seats 29 are fixed on the support seat 26 of the motor drive system, and the two face-to-face angular contact ball bearings 30 are installed in the two bearing seats 29 respectively.

As shown in Figure 7, the workpiece pushing and blocking motion system 39 of the present invention includes a push rod Z-direction moving drive support system 47, a push rod posture adjustment drive motor 48, a push rod support frame 49, and a first shaft coupling 50, a putter 51.

The push rod support frame 49 is fixed on the four slide blocks of the drive system two slide block rolling linear guide rail pairs 25 of two parallel-arranged drive system 47 in the push rod Z direction movement drive support system 47, and is fixedly connected with the drive nut 24. The push rod attitude adjustment drive motor 48 is installed on the push rod support frame 49 , and the output shaft of the push rod attitude adjustment drive motor 48 is connected with the push rod 51 through the first coupling 50 .

As shown in Figure 8, the workpiece clamping motion system 41 of the present invention includes a workpiece holder Z-direction moving drive support system 52, a workpiece holder attitude adjustment drive motor 53, a push rod support frame 54, a first Two shaft couplings 55, a workpiece holder baffle movable support system 56, a workpiece holder fixed baffle 57, and a workpiece holder movable baffle 58.

The workpiece holder support frame 54 is fixed on the four sliders of the two parallel drive system two slide block rolling linear guide pair 25 in the workpiece holder Z direction mobile drive support system 52, and is fixedly connected with the transmission nut 24 . The workpiece holder attitude adjustment driving motor 53 is installed on the workpiece holder support frame 54, and the output shaft of the workpiece holder attitude adjustment driving motor 53 moves with the workpiece holder baffle plate through the second coupling 55 The support system 56 is connected.

Both the workpiece holder fixed baffle 57 and the workpiece holder movable baffle 58 are installed on the workpiece holder movable support assembly 56 .

As shown in Figure 9, the workpiece holder mobile support system includes: two balls maintain fixed brackets 59, eight balls 60, a square frame-shaped workpiece holder mobile support system frame 61 with a lower opening, two workpiece clamps The outer baffle plate 62 of the device moving support assembly, two ball guide grooves 63, a number of first threaded holes 64, a number of through holes 65, and a number of second threaded holes 66.

The top of the workpiece holder mobile support system frame 61 is connected with the output shaft of the workpiece holder attitude adjustment driving motor 53 through the second coupling 55 .

The ball guide groove 63 is divided into an upper part and a lower part, which are respectively located on the inner side of the lower bottom surface of the workpiece holder mobile support system frame 61 and the outer side of the lower bottom surface of the workpiece holder movable baffle plate 58 .

The two ball retaining brackets 59 are placed in the two ball guide grooves 63 respectively, and the eight balls 60 are divided into two groups and placed in the two ball maintaining brackets 59 respectively.

Two workpiece holder mobile support assembly outer baffles 62 are respectively fixed on both sides of the workpiece holder mobile support assembly frame 61, wherein each workpiece holder mobile support assembly outer baffle 62 is provided with three for The through hole 65 of the workpiece holder fixing plate 57 is connected.

The workpiece holder fixed baffle 57 and the workpiece holder movable baffle 58 have the same shape and structure, both of which are in a T-shaped structure. Protrude downward from the lower opening of the workpiece holder mobile support system frame 61; wherein, the upper half of the workpiece holder fixed baffle plate 57 has three for connecting with the workpiece holder mobile support system outer baffle plate 62 The first threaded hole 64 of the workpiece holder moving plate 58 is provided with three through holes corresponding to the first threaded hole 64 on the upper half, and screws or bolts can freely pass through.

The screw passes through the through hole 65 of the outer baffle plate 62 of the workpiece holder mobile support assembly, enters the first threaded hole 64 of the workpiece holder fixed baffle plate 57, and freely passes through the through hole on the workpiece holder movable plate 58 , tighten the screws to fix the workpiece holder fixed baffle 57 on the outer baffle 62 of the workpiece holder movable support assembly.

Five second threaded holes 66 for fixing workpieces are provided on the lower half of the workpiece holder fixed baffle 57 and the lower half of the workpiece holder movable baffle 58 .

Tighten the screw that passes through the second threaded hole 66, and the upper half of the workpiece holder moving baffle 58 moves along the ball, so that the workpiece holder moving plate 58 is close to the workpiece holder fixed baffle 57, and simultaneously the Workpiece clamping between the movable baffle 58 and the fixed baffle 57 of the workpiece holder. When the workpiece holder moving baffle 58 moves, it only contacts with the ball 60 and there is a gap between the workpiece holder moving support assembly frame 61 .

The drive support system 47 for moving the push rod in the Z direction and the drive support system 52 for moving the workpiece holder in the Z direction both include a motor drive system 23, a drive nut 24, and two drive systems and two slider rolling linear guide pairs 25 arranged side by side. , a motor drive system support seat 26. The two drive system two slide block rolling linear guide rail pairs 25 are installed parallel and side by side on both sides of the motor drive system 23 leading screw on the motor drive system support base 26 . As shown in Figure 3.

The motor drive system 23 includes a drive motor 27 , a shaft coupling 28 , two bearing housings 29 , two face-to-face angular contact ball bearings 30 , a lead screw 31 , and a rotary encoder 32 . As shown in Figure 4.

The rotary encoder 32 is connected with the driving motor 27 . The drive motor 27 is fixed on the end of the support base 26 of the motor drive system, and the output shaft of the drive motor 27 is connected to the lead screw 31 through a coupling 28 . The two bearing seats 29 are fixed on the support seat 26 of the motor drive system, and the two face-to-face angular contact ball bearings 30 are installed in the two bearing seats 29 respectively.

As shown in Figure 10, the shot blasting machine shell welding mechanical arm system 2 of the present invention includes two shot blasting machine shell welding mechanical arms moving in the X direction of the support frame beam 67, and one shot blasting machine shell welding mechanical arm in the Z direction. Mobile drive system 68, a shot blasting machine shell welding mechanical arm support frame 69, a third drive nut 70, a shot blasting machine shell welding mechanical arm Y direction moving motor drive system 71, a shot blasting machine shell welding machine Arm X direction moving driver connector 72, two shot blasting machine shell welding manipulators installed side by side moving single slider rolling linear guide rail pair 73 in Y direction, a shot blasting machine shell welding manipulator first drive motor 74, one The first connecting rod 75 of the shot blasting machine shell welding mechanical arm, the second driving motor 76 of a shot blasting machine shell welding mechanical arm, the second connecting rod 77 of a shot blasting machine shell welding mechanical arm, and the shot blasting machine shell The third driving motor 78 of the welding robot arm, the third connecting rod 79 of the welding robot arm of a shot blasting machine shell, the welding torch fixing and swing motion system 80 of the welding robot arm of a shot blasting machine shell, and the two welding machines of the shot blasting machine shell Arm support block 81, two shot blasting machine shell welding mechanical arms X-direction mobile support frame vertical plate 82, one shot blasting machine shell welding mechanical arm X-direction mobile support connecting piece 83.

The two ends of the vertical plate 82 of the X-direction mobile support frame for the welding mechanical arm of the shot blasting machine shell are respectively fixedly connected with the two beams 67 of the X-direction mobile support frame for the welding mechanical arm of the shot blasting machine shell to form the X-direction mobile support of the welding mechanical arm . The X-direction mobile drive connector 72 of the shell welding robot arm and the X-direction mobile support connector 83 of the shot blasting machine shell welding robot arm are respectively fixed on the two support frame vertical plates for the X-direction movement of the shot blasting machine shell welding robot arm 82, wherein the housing welding robot arm moves in the X direction and the drive connector 72 is connected with the transmission nut 24 of the first driving system 15 moving in the X direction on the side, and the bottom surface is fixed on the rolling linear guide rails of the second sliding block of the two driving systems arranged in parallel. On the four sliders of the pair 25; the shot blasting machine shell welding mechanical arm X direction mobile support connector 83 is fixed on the support system two slider rolling linear guide pair 33 of the third support system 20 arranged in parallel in the X direction on the four sliders.

Two shot blasting machine shell welding mechanical arm support blocks 81 are respectively fixed on the inner side of two shot blasting machine shell welding mechanical arms X-direction mobile support stand vertical plate 82. The two ends of the Y-direction moving motor drive system 71 of the welding mechanical arm of the shot blasting machine shell are respectively fixed on two support blocks 81 fixed on the two mechanical arm welding of the shot blasting machine shell. The linear guide rails of the two shot blasting machine shell welding mechanical arms Y direction moving single slider rolling linear guide pair 73 installed side by side are respectively installed on the two shot blasting machine shell welding mechanical arms X direction moving support beams 67.

The third transmission nut 70 is fixed on the back side of the Z-direction mobile drive system 68 of the welding mechanical arm of the shot blasting machine shell, and forms a screw nut pair with the lead screw 31 of the Y-direction mobile motor drive system 71 of the welding mechanical arm of the shot blasting machine shell. .

The upper bottom surface of the shot blasting machine shell welding mechanical arm support frame 69 is connected with the drive nut 24 of the Z direction mobile drive system 68 of the shot blasting machine shell welding mechanical arm, and the bottom surface is fixed on two parallel drive systems. On the four slide blocks of guide rail pair 25.

The first drive motor 74 of the shot blasting machine shell welding mechanical arm is fixed on the shot blasting machine shell welding mechanical arm support frame 69, and its output shaft is connected with the first connecting rod 75 of the shot blasting machine shell welding mechanical arm. The second driving motor 76 of the welding mechanical arm of the shot blasting machine shell is fixed on the first connecting rod 75 of the welding mechanical arm of the shot blasting machine shell, and its output shaft is connected with the second connecting rod 77 of the welding mechanical arm of the shot blasting machine shell . The third driving motor 78 of the welding mechanical arm of the shot blasting machine shell is fixed on the second connecting rod 77 of the welding mechanical arm of the shot blasting machine shell, and its output shaft is connected with the third connecting rod 79 of the welding mechanical arm of the shot blasting machine shell . The welding torch fixing and swinging motion system 80 of the shot blasting machine shell welding mechanical arm is connected with the third connecting rod 79 of the shot blasting machine shell welding mechanical arm.

The Z-direction mobile drive system 68 of the welding mechanical arm of the shot blasting machine shell includes a motor drive system 23, a drive nut 24, two drive systems, two slider rolling linear guide pairs 25 arranged side by side, and a motor drive system support seat 26. The two drive system two slide block rolling linear guide rail pairs 25 are installed parallel and side by side on both sides of the motor drive system 23 leading screw on the motor drive system support base 26 . As shown in Figure 3.

The motor drive system 71 for moving the mechanical arm of the shot blasting machine shell in the Y direction has the same structure as the motor drive system 23 shown in Figure 4, including a drive motor 27, a coupling 28, two bearing seats 29, and two face-to-face angular contact Ball bearing 30, a lead screw 31, a rotary encoder 32.

The rotary encoder 32 is connected with the drive motor 27 . The drive motor 27 is fixed on the end of the support base 26 of the motor drive system, and the output shaft of the drive motor 27 is connected to the lead screw 31 through a coupling 28 . The two bearing seats 29 are fixed on the support seat 26 of the motor drive system, and the two face-to-face angular contact ball bearings 30 are installed in the two bearing seats 29 respectively.

As shown in Figure 11, the welding torch fixing and swinging motion system 80 of the shot blasting machine welding manipulator of the present invention includes the fourth drive motor 84 of the welding manipulator for the shell of the shot blasting machine, and the welding torch of the welding manipulator for the shell of the shot blasting machine is connected to the fixed bracket 85, shot blasting machine shell welding mechanical arm welding torch 86.

The fourth driving motor 84 of the shot blasting machine shell welding mechanical arm is fixed on the third connecting rod 79 of the shot blasting machine shell welding mechanical arm, and its output shaft is connected with the shot blasting machine shell welding mechanical arm welding torch connecting fixed bracket 85 . The shot blasting machine shell welding mechanical arm welding gun 86 is fixed on the shot blasting machine shell welding mechanical arm welding gun connecting fixed bracket 85 .

After the assembly of the integrated shell welding robot assembly is completed, the rotary encoders of each motor drive system are required to be calibrated to calibrate the initial positions of the two workpiece pushing motion systems and the two workpiece clamping motion systems. Work such as welding seam alignment is mainly assisted by two workpiece pushing motion systems. Calculate the position of the weld seam according to the relative position of the two workpiece pushing motion systems, calibrate the initial position of each connecting rod of the robotic arm, and automatically complete the welding process according to the end motion planning. The specific working process is as follows:

Step 1, the two diagonally installed workpiece pushing motion systems approach each other along the X direction, and after the required steel plates are clamped, the servo motor drive system that controls the movement of the first auxiliary welding system and the second auxiliary welding system stops Turn and hold. The servo motor drive system that controls the movement of the push rods in the Z direction acts, and the two push rods are lifted to a height higher than the workbench, then stop rotating and keep it. Push the main bracket to transport the steel plate from the storage room to the welding workbench. When the center position of the main bracket coincides with the center position of the workbench, the two contact switches are closed, and the six electric suction cup groups are energized at the same time, and the position of the main bracket is fixed. The servo motor drive system of the Z-direction movement drive system of the two push rods operates simultaneously, and the two push rods are lowered to the height close to the workbench, then stop and hold, and then start to control the movement of the first auxiliary welding system and the second auxiliary welding system The advanced servo motor drive system makes the two workpiece pushing and moving systems move away from each other along the X direction, and the steel plate is placed on the workbench. The feedback information of the built-in rotary encoder of the servo motor drive system that drives the movement of the push rod is used to determine the relative position of the two push rods, so as to place the steel plate to the desired position of the workbench.

Step 2. The six electric sucker groups are powered off manually, and the main bracket is pushed to the storage room. The first auxiliary welding system is close to the steel plate for welding, and the fixing plate of the workpiece holder is close to the steel plate, and is tightened by passing through the moving plate of the workpiece holder. Screws to press the steel plate tightly. The push rod supports the steel plate and transports it to the designated position of the workbench. When the center position of the main bracket coincides with the center position of the workbench, the two contact switches are closed, and the six electric suction cup groups are energized at the same time, and the position of the main bracket is fixed again. The two workpiece pushing motion systems and the workpiece clamping motion system for clamping the steel plate cooperate in coordination, so that the steel plate on the worktable is aligned with the weld seam of the steel plate clamped by the workpiece clamping motion system.

Step 3, the welding manipulator system moves to the vicinity of the weld, the manipulator Z direction moves the drive system servo motor drive system, the first drive motor of the manipulator, the second drive motor of the manipulator, the third drive motor of the manipulator, and the fourth manipulator The drive motor coordinates the movement to complete the welding process of spot welding first and then linear welding.

Step 4, loosen the screws on the moving plate of the workpiece holder, artificially cut off the power of the six electric suction cup groups again, push the main bracket to the storage room, and the second auxiliary welding system is close to the steel plate for welding, repeat the remaining work of step 2 and step 3 Work.

In step five, the movement, rotation and overturning of the shell can be completed by utilizing the coordinated actions of the two workpiece pushing and moving systems and the two workpiece clamping motion systems.

Although the specific implementation of the utility model has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the utility model. Those skilled in the art should understand that on the basis of the technical solution of the utility model, those skilled in the art do not need to Various modifications or deformations that can be made with creative efforts are still within the protection scope of the present utility model.

Claims (10)

1. A shot blasting machine shell welding robot assembly is characterized in that it comprises two main supports arranged in parallel, and the lower parts of the two main supports are correspondingly arranged on two parallel four slide block sliding linear guide rail pairs, and the main The bracket can move back and forth on the four-slider sliding linear guide pair; a welding workbench is set between two four-slider sliding linear guide pairs; The front and rear ends of the two parallel main brackets are respectively connected by a first drive support assembly and a second drive support assembly; Two sets of auxiliary welding systems and a set of welding manipulator systems are arranged in parallel between the first drive support assembly and the second drive support assembly, and both the two sets of auxiliary welding systems and one set of welding manipulator systems can operate on the first drive support assembly and the second drive support assembly to reciprocate, and the welding robot system is located in the middle of the two sets of auxiliary welding systems. 2. The welding robot assembly of shot blasting machine shell as claimed in claim 1, characterized in that, each four-slider sliding linear guide pair is provided with a contact switch; each four four-slider sliding linear guide pair It includes two parallel linear guide rails and eight sliding linear guide rail auxiliary sliders, each linear guide rail is equipped with four sliding linear guide rail auxiliary sliders, and the sliding linear guide rail auxiliary sliders on the two linear guide rails are arranged symmetrically . 3. The welding robot assembly of the shot blasting machine shell as claimed in claim 1, wherein three pairs of electromagnetic chuck groups are arranged symmetrically on the ground between both sides of the welding table and the main support, and two pairs of electromagnetic chucks The suction cups are aligned with the two ends of the welding table, and the third pair of electromagnetic chucks are aligned with the middle of the welding table. 4. The shot blasting machine shell welding robot assembly as claimed in claim 1, wherein said main support includes two main support bases arranged in parallel on the secondary slide block of the sliding linear guide rail, each main support A column is vertically installed at both ends of the base, and a central controller for controlling the first drive support assembly, the second drive support assembly, two sets of auxiliary welding systems and a set of welding robot arm systems is also installed on one of the bases of the main support . 5. The shot blasting machine shell welding robot assembly as claimed in claim 4, wherein the first drive support assembly includes two pillars installed sequentially from top to bottom on the same end of the two main bracket bases. The second drive assembly, the first support assembly and the first drive assembly, the second drive assembly is installed on the top of the two columns, the first support assembly and the first drive assembly are respectively installed on the opposite inner sides of the two columns through the support frame ; The second drive support assembly includes a third drive assembly, a third support assembly, and a second support assembly installed on the two columns at the same end of the two main support bases from top to bottom, and the third drive assembly is installed on the two columns. At the top of the two columns, the third support assembly and the second drive assembly are respectively installed on the opposite inner sides of the two columns through the support frame; The first, second, and third drive assemblies all include a motor drive system installed on the support base of the motor drive system and two parallel drive system linear guides, and each drive system linear guide is equipped with two The second slider of the drive system is the auxiliary slider of the linear guide rail; The motor drive system includes a drive motor installed at one end of the support base of the motor drive system. A rotary encoder is installed on the drive motor. The output shaft of the drive motor is connected to the lead screw through a coupling. Supported by face-to-face angular contact ball bearings in housings mounted on motor drive system support housings. 6. The welding robot assembly of the shot blasting machine shell as claimed in claim 1, wherein the auxiliary welding system includes two parallel and vertically arranged workpiece holders moving support frame vertical plates, and the two workpieces are clamped The upper and lower ends of the vertical plate of the moving support frame are respectively connected by two horizontally parallel workpiece holders moving and supporting frame beams. 1. The second motor drive system, the two ends of the first and second motor drive systems are respectively installed on the inner side of the vertical plate of the two workpiece holders to move the support frame through the support frame; The lead screw of the first and second motor drive systems is respectively covered with first and second nuts, and the first and second nuts and the lead screw form a lead screw nut transmission system, and the first and second nuts respectively correspond to the vertical The set workpiece pushing motion system and the workpiece clamping motion system are fixedly connected, and the workpiece pushing motion system and the workpiece clamping motion system respectively support the slider and the two workpiece clamping motion systems with the corresponding two workpiece pushing motion systems. The supporting slider of the motion system is fixedly connected, and the two supporting sliders of the moving system for pushing and blocking the workpiece and the two supporting sliders of the moving system for workpiece clamping respectively correspond to the two moving workpiece holders set up and down and the two supporting sliders on the beam of the supporting frame. on a parallel linear guide rail; A mobile drive connector and a mobile support connector are respectively provided on the outer surfaces corresponding to the vertical plates of the movable support frame of the two workpiece holders; The side of the mobile driver connector is connected with the transmission nut of the third drive assembly, and the bottom surface is fixed on the secondary sliders of the four drive system two sliders rolling linear guide rails; The mobile support connector is fixed on the four secondary sliders of the two-slider rolling linear guide rail of the first support assembly. 7. The welding robot assembly of the shot blasting machine shell as claimed in claim 6, wherein the workpiece pushing movement system includes a push rod motor drive system, and the lead screw of the push rod motor drive system is provided with a first The drive nut, the lead screw and the first drive nut cooperate to form a lead screw nut drive system, the first drive nut is fixedly connected to the horizontally arranged push rod support frame, and one end of the push rod support frame is fixed on the slider of the push rod motor drive system , a vertically arranged push rod attitude adjustment drive motor is installed on the push rod support frame, and the output shaft of the push rod attitude adjustment drive motor is connected to the push rod through a first coupling; The workpiece clamping motion system includes a workpiece holder motor drive system, the lead screw of the workpiece holder motor drive system is provided with a second drive nut, and the lead screw and the second drive nut cooperate to form a lead screw nut drive system. The second transmission nut is fixedly connected with the workpiece holder support frame arranged horizontally, one end of the workpiece holder support frame is fixed on the slider of the workpiece holder motor drive system, and a vertical installation is installed on the workpiece holder support frame. The attitude adjustment drive motor of the workpiece holder, the output shaft of the attitude adjustment drive motor of the workpiece holder is connected to the mobile support assembly of the workpiece holder through a second coupling; The lower end of the workpiece holder moving support assembly is respectively equipped with a workpiece holder fixing plate and a workpiece holder moving plate arranged in parallel and vertically. 8. The shot blasting machine shell welding robot assembly as claimed in claim 1, wherein the welding robot system includes two vertical mechanical arm support frame vertical plates and two horizontal mechanical arm supports A rectangular frame composed of frame and crossbeam connections, in which a mechanical arm lateral movement motor drive system is arranged horizontally, and a mechanical arm transmission nut is arranged on the lead screw of the mechanical arm lateral movement motor drive system, consisting of a lead screw and a mechanical arm transmission nut The screw nut transmission pair, the transmission nut of the mechanical arm is fixed on the back of the vertical movement motor drive system of the mechanical arm, the vertical movement motor drive system of the mechanical arm is fixed on the horizontal movement slider of the mechanical arm, and the horizontal movement slider of the mechanical arm is stuck on the mechanical arm. The mechanical arm on the crossbeam of the arm support frame is on the linear guide rail for lateral movement, and can reciprocate on the linear guide rail for lateral movement of the mechanical arm; The lead screw of the vertical movement motor drive system of the mechanical arm is provided with a third transmission nut fixedly connected with the support frame of the mechanical arm, and the third transmission nut and the lead screw of the vertical movement motor drive system of the mechanical arm form a lead screw nut drive Vice, the support frame of the mechanical arm is fixed horizontally on the slide block of the vertical movement motor drive system of the mechanical arm; The first driving servo motor of the mechanical arm is fixed vertically on the supporting frame of the mechanical arm. The output shaft of the first driving servo motor of the mechanical arm is connected with one end of the first connecting rod arranged horizontally, and the second servo motor of the mechanical arm is arranged horizontally on the other end. The drive motor, the output shaft of the second servo drive motor of the mechanical arm is connected to one end of the second connecting rod, the other end of the second connecting rod is provided with the third servo drive motor of the mechanical arm, the output shaft of the third servo drive motor of the mechanical arm is connected to the third One end of the connecting rod is connected, and the other end of the third connecting rod is connected with the fixing and swinging device of the welding torch. 9. The shot blasting machine shell welding robot assembly as claimed in claim 8, characterized in that, the opposite outer surfaces of the two vertical mechanical arm support frame vertical plates are respectively provided with a mobile support connector and a mobile drive connection The mobile support connector is installed on the four two-slider rolling linear guide rail sub-sliders of the second support assembly; the side of the mobile drive connector is firmly connected with the drive nut of the first drive assembly, and the bottom surface is fixed on the first drive. The two sliders of the four drive systems of the component roll on the secondary slider of the linear guide rail; The two ends of the motor drive system for laterally moving the mechanical arm are respectively fixedly installed on the opposite inner sides of two vertical mechanical arm support frame vertical plates through support frames. 10. The welding robot assembly of the shot blasting machine shell as claimed in claim 8, wherein the fixing and swinging device of the welding torch comprises a fourth servo drive motor of the mechanical arm fixed on the third connecting rod, and its output shaft It is connected with the welding torch connection fixing bracket, and the welding torch is fixed on the welding torch connection fixing bracket.