CN207358438U - The babinet 3 D positioning system of robot welding automatic production line - Google Patents

The babinet 3 D positioning system of robot welding automatic production line Download PDF

Info

Publication number
CN207358438U
CN207358438U CN201721116689.XU CN201721116689U CN207358438U CN 207358438 U CN207358438 U CN 207358438U CN 201721116689 U CN201721116689 U CN 201721116689U CN 207358438 U CN207358438 U CN 207358438U
Authority
CN
China
Prior art keywords
centering
rack
positioning device
push
clamping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201721116689.XU
Other languages
Chinese (zh)
Inventor
孔谅
王超
顾春浩
张跃龙
仇小刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHANGHAI BAOYE ELECTROMECHANICAL TECHNOLOGY Co Ltd
TRISTAR TECHNOLOGY GROUP (CHINA) Co Ltd
Shanghai Jiao Tong University
Original Assignee
SHANGHAI BAOYE ELECTROMECHANICAL TECHNOLOGY Co Ltd
TRISTAR TECHNOLOGY GROUP (CHINA) Co Ltd
Shanghai Jiao Tong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SHANGHAI BAOYE ELECTROMECHANICAL TECHNOLOGY Co Ltd, TRISTAR TECHNOLOGY GROUP (CHINA) Co Ltd, Shanghai Jiao Tong University filed Critical SHANGHAI BAOYE ELECTROMECHANICAL TECHNOLOGY Co Ltd
Priority to CN201721116689.XU priority Critical patent/CN207358438U/en
Application granted granted Critical
Publication of CN207358438U publication Critical patent/CN207358438U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Landscapes

  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

本实用新型公开一种机器人焊接自动流水线的箱体三维定位系统,包括输送装置、顶升定位装置、前挡定位装置、后推夹紧定位装置、同步夹紧对中装置;所述顶升定位装置的上端设有前挡定位装置、后推夹紧定位装置和同步夹紧对中装置;在自动流水线上能够有效实现被焊箱体的三维精确定位,自动化程度高,可控性强,提高机器人焊接过程的稳定性和可靠性。

The utility model discloses a three-dimensional positioning system for a box body of a robot welding automatic assembly line, which comprises a conveying device, a jacking positioning device, a front stop positioning device, a backward push clamping positioning device, and a synchronous clamping and centering device; the jacking positioning The upper end of the device is equipped with a front stop positioning device, a push-back clamping positioning device and a synchronous clamping and centering device; on the automatic assembly line, the three-dimensional precise positioning of the welded box can be effectively realized, with a high degree of automation and strong controllability, improving Stability and reliability of robotic welding process.

Description

机器人焊接自动流水线的箱体三维定位系统Box 3D positioning system for robot welding automatic assembly line

技术领域technical field

本实用新型属于机器人焊接加工技术领域,具体涉及机器人焊接自动流水线的箱体三维定位系统。The utility model belongs to the technical field of robot welding and processing, and in particular relates to a box three-dimensional positioning system of an automatic assembly line for robot welding.

背景技术Background technique

目前保险柜的箱体制造大多数是通过人工进行加工,保险柜制造过程中需要人力进行运输,焊接过程中的定位也是由人力进行操作,导致保险柜的加工过程存在以下技术问题:1、自动化程度较低,生产成本较高 ;2、生产速度慢,生产效率较低。At present, most of the cabinet manufacturing of safes is processed manually. During the manufacturing process of safes, manpower is required for transportation, and the positioning in the welding process is also operated by manpower, which leads to the following technical problems in the processing of safes: 1. Automation The degree is low, and the production cost is high; 2, the production speed is slow, and the production efficiency is low.

实用新型内容Utility model content

本实用新型需要解决的技术问题是针对上述现有技术的不足,提供机器人焊接自动流水线的箱体三维定位系统。The technical problem to be solved by the utility model is to provide a box three-dimensional positioning system for the robot welding automatic assembly line in view of the above-mentioned deficiencies in the prior art.

为解决上述技术问题,本实用新型采用的技术方案是:机器人焊接自动流水线的箱体三维定位系统,包括输送装置、顶升定位装置、前挡定位装置、后推夹紧定位装置、同步夹紧对中装置;所述顶升定位装置的上端设有前挡定位装置、后推夹紧定位装置和同步夹紧对中装置。In order to solve the above technical problems, the technical solution adopted by the utility model is: the three-dimensional positioning system of the box body of the robot welding automatic assembly line, including the conveying device, the jacking positioning device, the front stop positioning device, the push-back clamping positioning device, the synchronous clamping Centering device; the upper end of the jacking and positioning device is provided with a front stop positioning device, a push-back clamping positioning device and a synchronous clamping and centering device.

作为优选的,所述顶升定位装置包括底座、提升板、气缸;所述底座上设有提升板,所述底座和提升板通过直线光轴连接;所述提升板的下方设有气缸,所述气缸上设有顶杆;所述顶杆可将提升板向上顶升;Preferably, the jacking and positioning device includes a base, a lifting plate, and a cylinder; the base is provided with a lifting plate, and the base and the lifting plate are connected by a linear optical axis; a cylinder is provided below the lifting plate, so that The cylinder is provided with a push rod; the push rod can lift the lifting plate upward;

所述提升板上端横向一侧设有前挡定位装置,横向另一侧设有后推夹紧定位装置;所述提升板上端竖向两侧设有同步夹紧对中装置;所述提升板上端的横向两侧均设有基准台。The upper lateral side of the lifting plate is provided with a front stop positioning device, and the other lateral side is provided with a push-back clamping positioning device; the vertical two sides of the upper end of the lifting plate are provided with synchronous clamping and centering devices; the lifting plate Both lateral sides of the upper end are provided with reference platforms.

作为优选的,所述基准台设于前挡定位装置与后推夹紧定位装置之间。Preferably, the reference platform is arranged between the front stop positioning device and the backward push clamping positioning device.

作为优选的,所述前挡定位装置包括前挡底座、前挡杆、推轮;所述前挡底座上设有前挡轴承座,所述前挡轴承座上设有前挡转轴,所述前挡杆设在前挡转轴上,所述前挡杆的尾端设有挡板;所述前挡底座上设有推轮驱动、推轮支撑板,所述推轮支撑板上开有滑槽,所述推轮设在推轮支撑板上,所述推轮由推轮驱动进行驱动。Preferably, the front stop positioning device includes a front stop base, a front stop lever, and a push wheel; a front stop bearing seat is provided on the front stop base, and a front stop rotating shaft is arranged on the front stop bearing seat. The front stop bar is arranged on the front stop shaft, and the tail end of the front stop bar is provided with a baffle plate; the front stop base is provided with a push wheel drive and a push wheel support plate, and a slide is provided on the push wheel support plate. groove, the push wheel is arranged on the push wheel support plate, and the push wheel is driven by the push wheel.

作为优选的,所述后推夹紧定位装置包括沉座、后挡杆、后推驱动;所述沉座上设有后挡轴承座,所述后挡轴承座上端设有后挡转轴,所述后挡杆设在后挡转轴上,所述后挡杆的尾端设有连接棒;所述后推驱动设于沉座内,后推驱动的气缸头与后挡转轴连接。Preferably, the pushback clamping and positioning device includes a sink seat, a backstop lever, and a pushback drive; the sink seat is provided with a backstop bearing seat, and the upper end of the backstop bearing seat is provided with a backstop rotating shaft, so The backstop rod is arranged on the backstop shaft, and the tail end of the backstop rod is provided with a connecting rod; the pushback drive is arranged in the sink seat, and the cylinder head of the backstop drive is connected with the backstop shaft.

作为优选的,所述同步夹紧对中装置包括对中座、对中驱动、双齿条同步运动机构;所述双齿条同步运动机构的两端均设有对中座,所述对中座上设有对中夹紧板,所述对中夹紧板上设有对中位置传感器;所述双齿条同步运动机构由对中驱动进行驱动。Preferably, the synchronous clamping and centering device includes a centering seat, a centering drive, and a double-rack synchronous movement mechanism; both ends of the double-rack synchronous movement mechanism are provided with a centering seat, and the centering A centering clamping plate is provided on the seat, and a centering position sensor is provided on the centering clamping plate; the double-rack synchronous motion mechanism is driven by a centering drive.

作为更优选的,所述双齿条同步运动机构包导条一、齿条一、导条二、齿条二、齿轮、对中芯轴;As more preferably, the double-rack synchronous motion mechanism includes guide bar one, rack one, guide bar two, rack two, gears, and a centering mandrel;

所述对中驱动包括对中驱动气缸,所述对中驱动气缸上设有活塞杆;所述导条一和齿条一的端头处设对中座,导条二和齿条二端头处设对中座;The centering drive includes a centering drive cylinder, on which a piston rod is arranged; the ends of the guide bar 1 and the rack 1 are provided with a centering seat, and the ends of the guide bar 2 and the rack 2 are There is a centering seat;

所述对中芯轴上设有齿轮,齿轮的两端设有齿条一、齿条二;所述齿条一的外侧设导条一,所述齿条二的外侧设导条二;所述导条一与活塞杆通过导条连接板连接;The centering mandrel is provided with a gear, and the two ends of the gear are provided with a rack 1 and a rack 2; the outer side of the rack 1 is provided with a guide bar 1, and the outer side of the rack 2 is provided with a guide bar 2; The guide bar one is connected with the piston rod through the guide bar connecting plate;

所述导条一的底部设有导轨一,齿条一的底部设有导轨二,导条二的底部设有导轨三,齿条二的底部设有导轨四;所述导轨一、导轨二、导轨三、导轨四上均设有滑块;所述滑块固定设在提升板上。The bottom of described guide bar one is provided with guide rail one, and the bottom of rack one is provided with guide rail two, and the bottom of guide bar two is provided with guide rail three, and the bottom of rack two is provided with guide rail four; Described guide rail one, guide rail two, The third guide rail and the fourth guide rail are provided with sliders; the sliders are fixed on the lifting plate.

作为优选的,所述前挡位置传感器、对中位置传感器为接近传感器、接近开关或位移传感器。Preferably, the front stop position sensor and the centering position sensor are proximity sensors, proximity switches or displacement sensors.

所述输送装置为链条输送,板链输送、辊道或滚筒输送装置。The conveying device is a chain conveying device, a plate chain conveying device, a roller table or a roller conveying device.

所述气缸、推轮驱动、后推驱动、对中驱动以压缩空气、液压或电机为驱动源。Said cylinder, push wheel drive, push-back drive and centering drive use compressed air, hydraulic pressure or motor as the driving source.

现有技术相比,本实用新型的一种机器人焊接自动流水线的箱体三维定位系统,在自动流水线上能够有效实现被焊箱体的三维精确定位,自动化程度高,可控性强,提高机器人焊接过程的稳定性和可靠性。Compared with the prior art, a three-dimensional positioning system for a box of a robot welding automatic assembly line of the present invention can effectively realize three-dimensional accurate positioning of the box to be welded on the automatic assembly line, with high degree of automation and strong controllability. Stability and reliability of the welding process.

附图说明Description of drawings

图1是本实用新型实施例的结构示意图;Fig. 1 is the structural representation of the utility model embodiment;

图2为实施例中顶升定位装置的结构示意图;Fig. 2 is the structural representation of jacking positioning device in the embodiment;

图3为实施例中顶升定位装置、前挡定位装置、后推夹紧定位装置、同步夹紧对中装置的连接结构示意图;Fig. 3 is a schematic diagram of the connection structure of the jacking positioning device, the front stop positioning device, the push-back clamping positioning device, and the synchronous clamping and centering device in the embodiment;

图4为前挡定位装置的结构示意图;Fig. 4 is a schematic structural view of the front stop positioning device;

图5为后推夹紧定位装置的结构示意图;Fig. 5 is a structural schematic diagram of the push-back clamping positioning device;

图6为同步夹紧对中装置的结构示意图;Fig. 6 is a structural schematic diagram of a synchronous clamping centering device;

图7为双齿条同步运动机构的结构示意图;Fig. 7 is a structural schematic diagram of a double-rack synchronous motion mechanism;

图8为双齿条同步运动机构的导轨示意图;Fig. 8 is a schematic diagram of a guide rail of a double-rack synchronous motion mechanism;

图9为实施例输送装置的结构示意图;Fig. 9 is a schematic structural view of the delivery device of the embodiment;

图10为本实施例操作运行示意图。Fig. 10 is a schematic diagram of the operation of this embodiment.

其中,1、输送装置,2、顶升定位装置,3、前挡定位装置,4、后推夹紧定位装置,5、同步夹紧对中装置,6、基准台,7、待焊箱体Among them, 1. Conveying device, 2. Jacking positioning device, 3. Front stop positioning device, 4. Push back clamping positioning device, 5. Synchronous clamping and centering device, 6. Reference platform, 7. Box to be welded

21、底座,22、提升板,23、直线光轴,24、气缸,25、顶杆;21. Base, 22. Lifting plate, 23. Linear optical axis, 24. Cylinder, 25. Ejector;

31、前挡底座,32、前挡轴承座,33、前挡转轴,34、前挡杆,35、挡板,36、推轮,37、推轮驱动,38、推轮支撑板,381、滑槽,39、前挡位置传感器;31, front block base, 32, front block bearing seat, 33, front block rotating shaft, 34, front block lever, 35, baffle plate, 36, push wheel, 37, push wheel drive, 38, push wheel support plate, 381, Chute, 39, front gear position sensor;

41、沉座,42、后挡轴承座,43、后挡杆,44、后挡转轴,45、连接棒,46、后推驱动,461、气缸头;41, sinking seat, 42, backstop bearing seat, 43, backstop lever, 44, backstop rotating shaft, 45, connecting rod, 46, push back drive, 461, cylinder head;

51、对中座,52、对中夹紧板,53、对中驱动,54、双齿条同步运动机构,55、对中位置传感器;51. Centering seat, 52. Centering clamping plate, 53. Centering drive, 54. Double rack synchronous motion mechanism, 55. Centering position sensor;

531、活塞杆,532、导条连接板,541、导条一,542、齿条一,543、导条二,544、齿条二,545、齿轮,546、对中芯轴;531, piston rod, 532, guide bar connecting plate, 541, guide bar one, 542, rack one, 543, guide bar two, 544, rack two, 545, gear, 546, centering mandrel;

a、导轨一,b、导轨二, c、导轨三,d、导轨四,e、滑块。a, guide rail one, b, guide rail two, c, guide rail three, d, guide rail four, e, slider.

具体实施方式Detailed ways

下面结合附图和实施例对本实用新型做进一步说明。Below in conjunction with accompanying drawing and embodiment the utility model is described further.

如图1所示,机器人焊接自动流水线的箱体三维定位系统,包括输送装置1、顶升定位装置2、前挡定位装置3、后推夹紧定位装置4、同步夹紧对中装置5;所述顶升定位装置5的上端设有前挡定位装置2、后推夹紧定位装置3和同步夹紧对中装置4。As shown in Figure 1, the box three-dimensional positioning system of the robot welding automatic assembly line includes a conveying device 1, a jacking positioning device 2, a front stop positioning device 3, a push-back clamping positioning device 4, and a synchronous clamping and centering device 5; The upper end of the jacking positioning device 5 is provided with a front stop positioning device 2 , a push-back clamping positioning device 3 and a synchronous clamping centering device 4 .

如图2、3所示,本实施例中,所述顶升定位装置2包括底座21、提升板22、气缸24;所述底座21上设有提升板22,所述底座21和提升板22通过直线光轴23连接;所述提升板22的下方设有气缸24,所述气缸24上设有顶杆25;所述顶杆25可将提升板22向上顶升。As shown in Figures 2 and 3, in this embodiment, the jacking positioning device 2 includes a base 21, a lifting plate 22, and a cylinder 24; the base 21 is provided with a lifting plate 22, and the base 21 and the lifting plate 22 Connected by a linear optical axis 23; a cylinder 24 is provided below the lift plate 22, and a push rod 25 is provided on the cylinder 24; the lift plate 22 can be lifted upward by the push rod 25.

所述提升板22上端横向一侧设有前挡定位装置3,横向另一侧设有后推夹紧定位装置4;所述提升板22上端竖向两侧设有同步夹紧对中装置5;所述提升板22上端的横向两侧均设有基准台6。The horizontal side of the upper end of the lifting plate 22 is provided with a front stop positioning device 3, and the other lateral side is provided with a push-back clamping positioning device 4; the vertical sides of the upper end of the lifting plate 22 are provided with synchronous clamping and centering devices 5 ; The horizontal sides of the upper end of the lifting plate 22 are provided with reference platforms 6 .

作为优选的,所述基准台6设于前挡定位装置3与后推夹紧定位装置4之间。Preferably, the reference platform 6 is arranged between the front stop positioning device 3 and the rear push clamping positioning device 4 .

如图4所示,本实施例中,所述前挡定位装置3包括前挡底座31、前挡杆34、推轮36;所述前挡底座31上设有前挡轴承座32,所述前挡轴承座32上设有前挡转轴33,所述前挡杆34设在前挡转轴33上,所述前挡杆34的尾端设有挡板35;所述前挡底座31上设有推轮驱动37、推轮支撑板38,所述推轮支撑板38上开有滑槽381,所述推轮36设在推轮支撑板38上,所述推轮36由推轮驱动37进行驱动。As shown in Figure 4, in the present embodiment, the front stop positioning device 3 includes a front stop base 31, a front stop lever 34, and a push wheel 36; the front stop base 31 is provided with a front stop bearing seat 32, and Front block bearing seat 32 is provided with front block rotating shaft 33, and described front block bar 34 is located on the front block rotating shaft 33, and the tail end of described front block bar 34 is provided with baffle plate 35; Push wheel drive 37, push wheel support plate 38 are arranged, have chute 381 on the described push wheel support plate 38, described push wheel 36 is located on the push wheel support plate 38, described push wheel 36 is driven by push wheel 37 to drive.

如图5所示,本实施例中,所述后推夹紧定位装置4包括沉座41、后挡杆43、后推驱动46;所述沉座41上设有后挡轴承座42,所述后挡轴承座42上端设有后挡转轴44,所述后挡杆43设在后挡转轴44上,所述后挡杆43的尾端设有连接棒45;所述后推驱动46设于沉座41内,后推驱动46的气缸头461与后挡转轴44连接。As shown in Figure 5, in the present embodiment, the push-back clamping and positioning device 4 includes a sink seat 41, a back stop rod 43, and a push-back drive 46; the sink seat 41 is provided with a back stop bearing seat 42, so that The upper end of the backstop bearing seat 42 is provided with a backstop rotating shaft 44, the backstop lever 43 is arranged on the backstop rotating shaft 44, and the tail end of the backstop lever 43 is provided with a connecting rod 45; In the sink seat 41 , the cylinder head 461 of the push-back drive 46 is connected with the backstop rotating shaft 44 .

如图6所示,本实施例中,所述同步夹紧对中装置5包括对中座51、对中驱动53、双齿条同步运动机构54;所述双齿条同步运动机构54的两端均设有对中座51,所述对中座51上设有对中夹紧板52,所述对中夹紧板52上设有对中位置传感器55;所述双齿条同步运动机构54由对中驱动53进行驱动。As shown in Figure 6, in this embodiment, the synchronous clamping and centering device 5 includes a centering seat 51, a centering drive 53, and a double-rack synchronous motion mechanism 54; Each end is provided with a centering seat 51, the centering seat 51 is provided with a centering clamping plate 52, and the centering clamping plate 52 is provided with a centering position sensor 55; the double rack synchronous movement mechanism 54 is driven by centering drive 53.

如图7、8所示,作为优选的,所述双齿条同步运动机构54包导条一541、齿条一542、导条二543、齿条二544、齿轮545、对中芯轴546;As shown in Figures 7 and 8, preferably, the double-rack synchronous motion mechanism 54 includes guide bar one 541, rack one 542, guide bar two 543, rack two 544, gear 545, and centering mandrel 546 ;

所述对中驱动53包括对中驱动气缸53,所述对中驱动气缸53上设有活塞杆531;所述导条一541和齿条一542的端头处设对中座51,导条二543和齿条二544端头处设对中座51;The centering drive 53 includes a centering drive cylinder 53, the centering drive cylinder 53 is provided with a piston rod 531; the ends of the guide bar one 541 and the rack one 542 are provided with a centering seat 51, and the guide bar A centering seat 51 is provided at the end of the second 543 and the second rack 544;

所述对中芯轴546上设有齿轮545,齿轮545的两端设有齿条一542、齿条二544;所述齿条一542的外侧设导条一541,所述齿条二544的外侧设导条二543;所述导条一541与活塞杆531通过导条连接板532连接;The centering mandrel 546 is provided with a gear 545, and the two ends of the gear 545 are provided with a rack one 542 and a rack two 544; The outside of the guide bar two 543 is set; the guide bar one 541 is connected with the piston rod 531 by the guide bar connecting plate 532;

所述导条一541的底部设有导轨一a,齿条一542的底部设有导轨二b,导条二的底部设有导轨三c,齿条二的底部设有导轨四d;所述导轨一a、导轨二b、导轨三c、导轨四d上均设有滑块e;所述滑块e固定设在提升板22上。The bottom of the guide bar one 541 is provided with the guide rail one a, the bottom of the rack one 542 is provided with the guide rail two b, the bottom of the guide bar two is provided with the guide rail three c, and the bottom of the rack two is provided with the guide rail four d; The first guide rail a, the second guide rail b, the third guide rail c, and the fourth guide rail d are all provided with a slider e;

作为优选的,所述前挡位置传感器39、对中位置传感器55为接近传感器、接近开关或位移传感器。Preferably, the front stop position sensor 39 and the centering position sensor 55 are proximity sensors, proximity switches or displacement sensors.

所述输送装置1为链条输送,板链输送、辊道或滚筒输送装置。The conveying device 1 is a chain conveying device, a plate chain conveying device, a roller table or a roller conveying device.

所述气缸24、推轮驱动37、后推驱动46、对中驱动53以压缩空气、液压或电机为驱动源。The cylinder 24, the push wheel drive 37, the push-back drive 46, and the centering drive 53 use compressed air, hydraulic pressure or an electric motor as the drive source.

采用所述的机器人焊接自动流水线的箱体三维定位系统,定位方法如下:Using the box three-dimensional positioning system of the robot welding automatic assembly line, the positioning method is as follows:

步骤一:当输送装置1上有待焊箱体7时,此时前挡定位装置3升起,输送装置1自动将箱体7以20m/min速度送进;Step 1: When the box body 7 to be welded is on the conveying device 1, the front stop positioning device 3 is raised at this time, and the conveying device 1 automatically feeds the box body 7 at a speed of 20m/min;

步骤二:箱体7到达接近前挡定位装置3的前档杆34的位置时,输送装置1减速然后停止;Step 2: when the box body 7 reaches a position close to the front gear lever 34 of the front gear positioning device 3, the conveying device 1 decelerates and then stops;

步骤三:同步夹紧对中装置5动作,将被焊箱体7进行预对中;Step 3: synchronous clamping and centering device 5 action, pre-centering the box body 7 to be welded;

步骤四:被焊箱体7预对中后,同步夹紧对中装置5回位;Step 4: After the pre-centering of the welded box body 7, the centering device 5 is clamped synchronously and returned to its position;

步骤五:输送装置1慢速运行,0.3m/min;将被焊箱体7继续送进至贴近前挡定位装置3的挡板35的位置后,输送装置1停止;Step 5: The conveying device 1 runs at a slow speed, 0.3m/min; after the box body 7 to be welded is continuously sent to the position close to the baffle plate 35 of the front stop positioning device 3, the conveying device 1 stops;

步骤六:顶升定位装置5将箱体7脱离输送装置1表面,以顶升定位装置5的上表面为基准对被焊箱体7的下平面进行定位;Step 6: lifting the positioning device 5 to separate the box body 7 from the surface of the conveying device 1, and positioning the lower plane of the box body 7 to be welded with the upper surface of the lifting positioning device 5 as a reference;

步骤七:后推夹紧定位装置4动作,推动被焊箱体7顶紧并紧密贴合在前挡定位装置3的前档杆34的位置;Step 7: push back the action of the clamping positioning device 4, push the welded box body 7 to tighten and closely fit the position of the front gear rod 34 of the front gear positioning device 3;

步骤八:同步夹紧对中装置5动作,将被焊箱体7进行对中定位;Step 8: Synchronously clamp the centering device 5 to act, and center the box body 7 to be welded;

步骤九:箱体7的侧面、前后和上下等三个方向均夹持定位,由相应位置传感器判定后,机器人按设定程序、轨迹和焊接参数,进行相应的焊接;Step 9: The side, front and back, and up and down directions of the box body 7 are clamped and positioned. After being judged by the corresponding position sensor, the robot performs corresponding welding according to the set program, trajectory and welding parameters;

步骤十:焊接完成后,后推夹紧定位装置4、前挡定位装置3、同步夹紧对中装置5和顶升定位装置1依次回位,箱体7回落到输送装置表面1,输送装置1运转,将焊后箱体7送出本系统。Step 10: After the welding is completed, push back the clamping and positioning device 4, the front gear positioning device 3, the synchronous clamping and centering device 5 and the jacking and positioning device 1 to return to their positions in sequence, and the box body 7 falls back to the surface 1 of the conveying device, and the conveying device 1 operation, the box body 7 after welding is sent out of the system.

本实用新型并不局限于所述的实施例,本领域的技术人员在不脱离本实用新型的精神即公开范围内,仍可作一些修正或改变,故本实用新型的权利保护范围以权利要求书限定的范围为准。The utility model is not limited to the described embodiments, those skilled in the art can still make some amendments or changes without departing from the spirit of the utility model, that is, within the scope of disclosure, so the scope of protection of the utility model is defined in the claims The scope of the book shall prevail.

Claims (8)

1.机器人焊接自动流水线的箱体三维定位系统,其特征在于:包括输送装置、顶升定位装置、前挡定位装置、后推夹紧定位装置、同步夹紧对中装置;所述顶升定位装置的上端设有前挡定位装置、后推夹紧定位装置和同步夹紧对中装置。1. The three-dimensional positioning system for the box body of the robot welding automatic assembly line is characterized in that it includes a conveying device, a jacking positioning device, a front stop positioning device, a push-back clamping positioning device, and a synchronous clamping and centering device; the jacking positioning device The upper end of the device is provided with a front stop positioning device, a push-back clamping positioning device and a synchronous clamping and centering device. 2.根据权利要求1所述的机器人焊接自动流水线的箱体三维定位系统,其特征在于:所述顶升定位装置包括底座、提升板、气缸;所述底座上设有提升板,所述底座和提升板通过直线光轴连接;所述提升板的下方设有气缸,所述气缸上设有顶杆;所述顶杆可将提升板向上顶升;2. The box three-dimensional positioning system of the robot welding automatic assembly line according to claim 1, characterized in that: the jacking positioning device includes a base, a lifting plate, and a cylinder; the base is provided with a lifting plate, and the base It is connected with the lifting plate through a linear optical axis; a cylinder is provided under the lifting plate, and a ejector rod is arranged on the cylinder; the ejector rod can lift the lifting plate upward; 所述提升板上端横向一侧设有前挡定位装置,横向另一侧设有后推夹紧定位装置;所述提升板上端竖向两侧设有同步夹紧对中装置;所述提升板上端的横向两侧均设有基准台。The upper lateral side of the lifting plate is provided with a front stop positioning device, and the other lateral side is provided with a push-back clamping positioning device; the vertical two sides of the upper end of the lifting plate are provided with synchronous clamping and centering devices; the lifting plate Both lateral sides of the upper end are provided with reference platforms. 3.根据权利要求2所述的机器人焊接自动流水线的箱体三维定位系统,其特征在于:所述基准台设于前挡定位装置与后推夹紧定位装置之间。3. The three-dimensional positioning system for the box body of the robot welding automatic assembly line according to claim 2, characterized in that: the reference table is set between the front stop positioning device and the push-back clamping positioning device. 4.根据权利要求1或2所述的机器人焊接自动流水线的箱体三维定位系统,其特征在于:所述前挡定位装置包括前挡底座、前挡杆、推轮;所述前挡底座上设有前挡轴承座,所述前挡轴承座上设有前挡转轴,所述前挡杆设在前挡转轴上,所述前挡杆的尾端设有挡板;所述前挡底座上设有推轮驱动、推轮支撑板,所述推轮支撑板上开有滑槽,所述推轮设在推轮支撑板上,所述推轮由推轮驱动进行驱动。4. The box three-dimensional positioning system of the robot welding automatic assembly line according to claim 1 or 2, characterized in that: the front stop positioning device includes a front stop base, a front stop lever, and a push wheel; A front block bearing seat is provided, a front block rotating shaft is arranged on the front block bearing block, the front block rod is arranged on the front block rotating shaft, and a baffle plate is provided at the tail end of the front block rod; the front block base A push wheel drive and a push wheel support plate are arranged on the push wheel support plate, and a chute is opened on the push wheel support plate, and the push wheel is arranged on the push wheel support plate, and the push wheel is driven by the push wheel drive. 5.根据权利要求1或2所述的机器人焊接自动流水线的箱体三维定位系统,其特征在于:所述后推夹紧定位装置包括沉座、后挡杆、后推驱动;所述沉座上设有后挡轴承座,所述后挡轴承座上端设有后挡转轴,所述后挡杆设在后挡转轴上,所述后挡杆的尾端设有连接棒;所述后推驱动设于沉座内,后推驱动的气缸头与后挡转轴连接。5. The box three-dimensional positioning system of the robot welding automatic assembly line according to claim 1 or 2, characterized in that: the push-back clamping positioning device includes a sinker, a rear stop lever, and a push-back drive; the sinker A backstop bearing seat is arranged on the upper end of the backstop bearing seat, and a backstop rotating shaft is arranged on the upper end of the backstop bearing seat. The drive is arranged in the sink seat, and the cylinder head of the push-back drive is connected with the backstop rotating shaft. 6.根据权利要求1或2所述的机器人焊接自动流水线的箱体三维定位系统,其特征在于:所述同步夹紧对中装置包括对中座、对中驱动、双齿条同步运动机构;所述双齿条同步运动机构的两端均设有对中座,所述对中座上设有对中夹紧板,所述对中夹紧板上设有对中位置传感器;所述双齿条同步运动机构由对中驱动进行驱动。6. The box three-dimensional positioning system of the robot welding automatic assembly line according to claim 1 or 2, characterized in that: the synchronous clamping and centering device includes a centering seat, a centering drive, and a double-rack synchronous movement mechanism; Both ends of the double-rack synchronous motion mechanism are provided with a centering seat, and a centering clamping plate is provided on the centering seat, and a centering position sensor is provided on the centering clamping plate; The rack-and-pinion synchronous kinematics is driven by a centering drive. 7.根据权利要求6所述的机器人焊接自动流水线的箱体三维定位系统,其特征在于:所述双齿条同步运动机构包导条一、齿条一、导条二、齿条二、齿轮、对中芯轴;所述对中驱动包括对中驱动气缸,所述对中驱动气缸上设有活塞杆;所述导条一和齿条一的端头处设对中座,导条二和齿条二端头处设对中座;7. The box three-dimensional positioning system of the robot welding automatic assembly line according to claim 6, characterized in that: the double-rack synchronous motion mechanism includes guide bar one, rack one, guide bar two, rack two, gear , centering the mandrel; the centering drive includes a centering drive cylinder, the centering drive cylinder is provided with a piston rod; the ends of the guide bar one and the rack one are provided with a centering seat, and the guide bar two A centering seat is provided at the two ends of the rack and the rack; 所述对中芯轴上设有齿轮,齿轮的两端设有齿条一、齿条二;所述齿条一的外侧设导条一,所述齿条二的外侧设导条二;所述导条一与活塞杆通过导条连接板连接;The centering mandrel is provided with a gear, and the two ends of the gear are provided with a rack 1 and a rack 2; the outer side of the rack 1 is provided with a guide bar 1, and the outer side of the rack 2 is provided with a guide bar 2; The guide bar one is connected with the piston rod through the guide bar connecting plate; 所述导条一的底部设有导轨一,齿条一的底部设有导轨二,导条二的底部设有导轨三,齿条二的底部设有导轨四;所述导轨一、导轨二、导轨三、导轨四上均设有滑块;所述滑块固定设在提升板上。The bottom of described guide bar one is provided with guide rail one, and the bottom of rack one is provided with guide rail two, and the bottom of guide bar two is provided with guide rail three, and the bottom of rack two is provided with guide rail four; Described guide rail one, guide rail two, The third guide rail and the fourth guide rail are provided with sliders; the sliders are fixed on the lifting plate. 8.根据权利要求1所述的机器人焊接自动流水线的箱体三维定位系统,其特征在于:所述输送装置为链条输送,板链输送、辊道或滚筒输送装置。8. The three-dimensional positioning system for the box body of the robot welding automatic assembly line according to claim 1, wherein the conveying device is a chain conveying device, a plate chain conveying device, a roller table or a roller conveying device.
CN201721116689.XU 2017-09-01 2017-09-01 The babinet 3 D positioning system of robot welding automatic production line Active CN207358438U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721116689.XU CN207358438U (en) 2017-09-01 2017-09-01 The babinet 3 D positioning system of robot welding automatic production line

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721116689.XU CN207358438U (en) 2017-09-01 2017-09-01 The babinet 3 D positioning system of robot welding automatic production line

Publications (1)

Publication Number Publication Date
CN207358438U true CN207358438U (en) 2018-05-15

Family

ID=62351110

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201721116689.XU Active CN207358438U (en) 2017-09-01 2017-09-01 The babinet 3 D positioning system of robot welding automatic production line

Country Status (1)

Country Link
CN (1) CN207358438U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107378355A (en) * 2017-09-01 2017-11-24 上海交通大学 The casing 3 D positioning system and localization method of robot welding automatic production line
CN109822175A (en) * 2019-01-10 2019-05-31 温州大学瓯江学院 Automatic welding assembly line

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107378355A (en) * 2017-09-01 2017-11-24 上海交通大学 The casing 3 D positioning system and localization method of robot welding automatic production line
CN107378355B (en) * 2017-09-01 2023-11-17 上海交通大学 Box three-dimensional positioning system and positioning method for robot welding automatic assembly line
CN109822175A (en) * 2019-01-10 2019-05-31 温州大学瓯江学院 Automatic welding assembly line
CN109822175B (en) * 2019-01-10 2021-06-25 温州大学瓯江学院 Automatic welding assembly line

Similar Documents

Publication Publication Date Title
CN107378355B (en) Box three-dimensional positioning system and positioning method for robot welding automatic assembly line
CN104785656B (en) A kind of multi-station material transmission system
CN203048165U (en) Magnetic steel grabbing mechanism
CN104325001B (en) A kind of automatic punching machine and processing method for stamping thereof
CN204953732U (en) Full -automatic body maker of integrated integral type
CN103359484B (en) Gantry type blank grabbing machine
CN107971758B (en) Production equipment and production process of air storage tank seal head
CN208409325U (en) Workpiece quickly overturns transfer mechanism
CN203292359U (en) Efficient full-automatic entire plate conveying, stacking and blanking unit
CN105033090A (en) Integrated all-in-one automatic can making machine
CN205949733U (en) Automatic change punching press production facility
CN205553049U (en) Injection molding machine Injection parts automatic nozzle and plastic processing machine
CN108975160A (en) Automatic transfer clamping device for production process
CN204430050U (en) A kind of manipulator being applicable to the transfer of Press Automatic Produce Line workpiece
CN207358438U (en) The babinet 3 D positioning system of robot welding automatic production line
CN203485256U (en) Novel full-automatic sheet material edge cutter
CN102935470B (en) Full-automatic plate blank charging device for fine blanking machine
CN110039165A (en) A kind of full-automatic laminate spot welding process units and its application method
CN105984704B (en) Lifting method and device for conveying tray
CN204248543U (en) A kind of manipulator clamp feeding and Lifting Device
CN204311149U (en) Anode hang tool goes up product facility automatically
CN103480765A (en) Linear motor direct-driven telescopic feeding device for cover stamping line
CN203439701U (en) Gantry-type blank grabbing machine
CN206241107U (en) A kind of full-automatic necking machine
CN115213293A (en) A step-by-step stamping production line for braking steel back

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant