CN207873480U - A kind of pressure group of multirobot collaboration welding is to equipment - Google Patents
A kind of pressure group of multirobot collaboration welding is to equipment Download PDFInfo
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- CN207873480U CN207873480U CN201721680668.0U CN201721680668U CN207873480U CN 207873480 U CN207873480 U CN 207873480U CN 201721680668 U CN201721680668 U CN 201721680668U CN 207873480 U CN207873480 U CN 207873480U
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- trigger squeeze
- pipeline
- welding
- robot
- joint robot
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Abstract
The utility model discloses a kind of pressure groups of multirobot collaboration welding to equipment, belong to metal automatic welding technique field, including multiple pipelines, multiple six-joint robots, multiple three axle roberts and a trigger squeeze, multiple six-joint robots are arranged in the left and right sides of trigger squeeze, it is equipped with laser tracker on each six-joint robot, multiple three axle roberts are located at the front and back upside of trigger squeeze, multiple pipelines are located at the front and rear sides of trigger squeeze, the upper inside of trigger squeeze is provided with multiple hydraulic cylinders, the inner lower of trigger squeeze is provided with multiple lifting idler wheels, locating piece and driving idler wheel are equipped on each pipeline.The utility model welding is completed with manipulator and robot, is substantially increased the stability of production efficiency and product quality, is also improved the personal safety of welding machine personnel.
Description
Technical field
The utility model is related to a kind of pressure groups to sealing device, more particularly to a kind of pressure of multirobot collaboration welding
Power group belongs to metal automatic welding technique field to equipment.
Background technology
Currently, composite metal plate pressure welding preforming is the forcing press with welding personnel, manual spot welding after
And shift workpiece and carry out soldering and sealing, the technical merit and working condition that welding difficulty is big and welding precision is depending on welding personnel, this
So that welding efficiency is low and quality stability can not ensure and the transfer of workpiece and clamping wastes the plenty of time again, it is unfavorable
In the promotion of production efficiency.
Utility model content
The main purpose of the utility model is to provide for a kind of pressure group of multirobot collaboration welding to equipment, from pressure
The continuity of the Set and Positioning of realization workpiece and soldering and sealing process in power machine structure design, raising production efficiency and welding quality
Stability.
The purpose of this utility model can reach by using following technical solution：
A kind of pressure group of multirobot collaboration welding is including multiple pipelines, multiple six-joint robots, multiple to equipment
Three axle robert and a trigger squeeze, multiple six-joint robots are arranged in the left and right sides of the trigger squeeze, and each described six
Laser tracker is equipped in axis robot, multiple three axle roberts are located at the front and back upside of the trigger squeeze, Duo Gesuo
The front and rear sides that pipeline is located at the trigger squeeze are stated, the upper inside of the trigger squeeze is provided with multiple hydraulic cylinders, the pressure
The inner lower of trigger is provided with multiple lifting idler wheels, and locating piece and driving idler wheel are equipped on each pipeline, described
Locating piece is set to the front end of the pipeline.
Preferable scheme is that using being threadedly coupled between the locating piece and the pipeline, the pipeline it is preferred
Quantity is two, including pipeline A and pipeline B, the pipeline A and the pipeline B are located at the trigger squeeze
The front end of the left and right sides, the front end of the pipeline A and the pipeline B are equipped at least one locating piece.
In any of the above-described scheme preferably, the preferred amount of the six-joint robot is two, including six axis machines
People A and six-joint robot B, the six-joint robot A and the six-joint robot B are located at front and back the two of the trigger squeeze
Side, the six-joint robot A and the six-joint robot B are separately fixed on ground.
In any of the above-described scheme preferably, the preferred amount of the laser tracker is two, two laser
Tracker is separately fixed at the front end of the six-joint robot A and the six-joint robot B.
In any of the above-described scheme preferably, the preferred amount of the three axle robert is two, including three shaft mechanicals
Hand A and three axle robert B, the three axle robert A and the three axle robert B are respectively welded at the left and right top of the trigger squeeze
End.
In any of the above-described scheme preferably, the preferred amount of the hydraulic cylinder is six, and each hydraulic cylinder is equal
It is threadedly coupled between the trigger squeeze.
In any of the above-described scheme preferably, the preferred amount of the lifting idler wheel is four, four lifting rollings
Wheel is threadedly coupled with the trigger squeeze respectively.
The advantageous effects of the utility model：It is set according to the pressure group pair of the multirobot collaboration welding of the utility model
Standby, the pressure group of multirobot collaboration welding provided by the utility model is to equipment, and compared with prior art, it is multiple that this is used for metal
The pressure group of plywood multirobot collaboration welding is to equipment, when work, manually lifts to pipeline metallic plate, utilizes roller-way
The locating piece of leading portion is positioned, and driving idler wheel rotation, after steel plate is moved to specified position, driving idler wheel stops operating, and rises
Idler wheel is dropped to decline, metallic plate is placed on workbench, and hydraulic cylinder declines, and compresses substrate and cladding plate, manipulator and robot simultaneously into
Row welding, after the completion of welding, manipulator and robot return to initial position, and hydraulic cylinder rises, and lifting idler wheel rises, and drives idler wheel
Rotation, conveying steel plate advances, and after reaching another designated position, driving idler wheel stops operating, and lifting idler wheel declines, and metallic plate is set
In on workbench, hydraulic cylinder declines again, compresses substrate and cladding plate, and manipulator and robot weld simultaneously again, and welding is completed
Afterwards, manipulator and robot return to initial position, and hydraulic cylinder rises, and lifting idler wheel rises, driving idler wheel rotation, conveying steel plate into
Enter subsequent processing, equipment welding completion from manipulator and robot with substantially increases production efficiency and product quality
Stability also improves the personal safety of welding machine personnel.
Description of the drawings
Fig. 1 is the pressure group according to the multirobot collaboration welding of the utility model to the vertical of a preferred embodiment of equipment
Body structural schematic diagram；
Fig. 2 is the master according to the pressure group of the multirobot of the utility model collaboration welding to a preferred embodiment of equipment
View, the embodiment can be embodiments identical with Fig. 1, can also be the embodiment different from Fig. 1；
Fig. 3 is the side according to the pressure group of the multirobot of the utility model collaboration welding to a preferred embodiment of equipment
View, the embodiment can be embodiments identical with Fig. 1 or Fig. 2, can also be the embodiment different from Fig. 1 or Fig. 2.
In figure：1- locating pieces, 2- pipelines A, 3- drive idler wheel, 4- six-joint robots A, 5- three axle robert A, 6- pressing plate
Machine, 7- three axle roberts B, 8- lift idler wheel, 9- hydraulic cylinders, 10- six-joint robots B, 11- pipeline B.
Specific implementation mode
To make the more clear and clear the technical solution of the utility model of those skilled in the art, with reference to embodiment and
Attached drawing is described in further detail the utility model, and however, the embodiments of the present invention are not limited thereto.
As shown in Figure 1, Figure 2 and Figure 3, a kind of pressure group of multirobot collaboration welding provided in this embodiment is to equipment,
Including multiple pipelines, multiple six-joint robots, multiple three axle roberts and a trigger squeeze 6, multiple six-joint robots are set
It sets in the left and right sides of the trigger squeeze 6, laser tracker, multiple three axis machines is equipped on each six-joint robot
Tool hand is located at the front and back upside of the trigger squeeze 6, and multiple pipelines are located at the front and rear sides of the trigger squeeze 6, the pressure
The upper inside of trigger 6 is provided with multiple hydraulic cylinders 9, and the inner lower of the trigger squeeze 6 is provided with multiple lifting idler wheels 8, often
Locating piece 1 and driving idler wheel 3 are equipped on a pipeline, the locating piece 1 is set to the front end of the pipeline.
Further, in the present embodiment, as shown in Figure 1, Figure 2 and Figure 3, between the locating piece 1 and the pipeline
Using threaded connection, the preferred amount of the pipeline is two, including pipeline A2 and pipeline B11, the pipeline A2
The left and right sides of the trigger squeeze 6, the front end of the pipeline A2 and the pipeline are located at the pipeline B11
The front end of B11 is equipped at least one locating piece 1.
Further, in the present embodiment, as shown in Figure 1, Figure 2 and Figure 3, the preferred amount of the six-joint robot is two
It is a, including six-joint robot A4 and six-joint robot B10, the six-joint robot A4 and six-joint robot B10 difference position
In the front and rear sides of the trigger squeeze 6, the six-joint robot A4 and the six-joint robot B10 are separately fixed on ground；
The preferred amount of the laser tracker be two, two laser trackers be separately fixed at the six-joint robot A4 and
The front end of the six-joint robot B10.
Further, in the present embodiment, as shown in Figure 1, Figure 2 and Figure 3, the preferred amount of the three axle robert is two
It is a, including three axle robert A5 and three axle robert B7, the three axle robert A5 and the three axle robert B7 be respectively welded
On the left and right top of the trigger squeeze 6.
Further, in the present embodiment, as shown in Figure 1, Figure 2 and Figure 3, the preferred amount of the hydraulic cylinder 9 is six,
Each hydraulic cylinder 9 is threadedly coupled between the trigger squeeze 6；The preferred amount of the lifting idler wheel 8 is four, four
The lifting idler wheel 8 is threadedly coupled with the trigger squeeze 6 respectively.
Further, in the present embodiment, as shown in Figure 1, Figure 2 and Figure 3, the pressure group pair of multirobot collaboration welding is set
It is standby, including locating piece 1, pipeline A2, driving idler wheel 3, six-joint robot A4, three axle robert A5, trigger squeeze 6, three shaft mechanicals
Hand B7, lifting idler wheel 8, hydraulic cylinder 9, six-joint robot B11, pipeline B11, the locating piece 1 are located at the front ends pipeline A2,
The locating piece 1 is connected with pipeline A2 screw threads, and the pipeline A2 is located at 6 left side of trigger squeeze, the driving idler wheel 3
On pipeline A2, the driving idler wheel 3 is connected with pipeline A2 screw threads, and the six-joint robot A4 is located at trigger squeeze
6 front side, the three axle robert A5 are located at the left side upper end of trigger squeeze 6, and the three axle robert A5 is welded on pressing plate
6 upper end of machine, the three axle robert B7 are located at the right side upper end of trigger squeeze 6, and the three axle robert B7 is welded on pressing plate
6 upper end of machine, the lifting idler wheel 8 are located at the opening of trigger squeeze 6 downside, and the lifting idler wheel 8 is connected with 6 screw thread of trigger squeeze,
The hydraulic cylinder 9 is located at 6 open upper side of trigger squeeze, and the hydraulic cylinder 9 is threadedly coupled with trigger squeeze 6, the six axis machines
Device people B11 is located at the front side of trigger squeeze 6, and the pipeline B11 is located at 6 right side of trigger squeeze, when work, manually hangs metallic plate
It is filled on pipeline A2, is positioned using the locating piece 1 of pipeline A2 leading portions, driving idler wheel 3 rotates, and steel plate is moved to specified
Position after, driving idler wheel 3 stops operating, and lifting idler wheel 8 declines, and metallic plate is placed on workbench, and hydraulic cylinder 9 declines, and compresses
Substrate and cladding plate, three axle robert B7, six-joint robot A4, six-joint robot B11 are carried out at the same time welding.After the completion of welding, three
Axis robot B7, six-joint robot A4, six-joint robot B11 return to initial position, and hydraulic cylinder 9 rises, and lifting idler wheel 8 rises,
Idler wheel 3 is driven to rotate, conveying steel plate advances.After reaching another designated position, driving idler wheel 3 stops operating, and lifts under idler wheel 8
Drop, metallic plate are placed on workbench, and hydraulic cylinder 9 declines again, compress substrate and cladding plate, three axle robert A5, six-joint robot
A4, six-joint robot B11 are welded simultaneously again.After the completion of welding, three axle robert A5, six-joint robot A4, six-joint robot
B11 returns to initial position, and hydraulic cylinder 9 rises, and lifting idler wheel 8 rises, and driving idler wheel 3 rotates, and conveying steel plate enters subsequent processing.
Equipment welding is completed with three axle robert A5, three axle robert B7, six-joint robot A4, six-joint robot B11, significantly
The stability for improving production efficiency and product quality also improves the personal safety of welding machine personnel.
In conclusion in the present embodiment, the pressure group welded according to the multirobot collaboration of the present embodiment is to equipment, originally
The pressure group for the multirobot collaboration welding that embodiment provides is to equipment, and compared with prior art, it is more that this is used for composite metal plate
The pressure group of robot collaboration welding is to equipment, when work, manually lifts to pipeline metallic plate, utilizes roller-way leading portion
Locating piece is positioned, and driving idler wheel rotation, after steel plate is moved to specified position, driving idler wheel stops operating, and lifts idler wheel
Declining, metallic plate is placed on workbench, and hydraulic cylinder declines, and compresses substrate and cladding plate, manipulator and robot are carried out at the same time welding,
After the completion of welding, manipulator and robot return to initial position, and hydraulic cylinder rises, and lifting idler wheel rises, and driving idler wheel rotation is defeated
Steel plate is sent to advance, after reaching another designated position, driving idler wheel stops operating, and lifting idler wheel declines, and metallic plate is placed in work
On platform, hydraulic cylinder declines again, compresses substrate and cladding plate, and manipulator and robot weld simultaneously again, after the completion of welding, machinery
Hand and robot return to initial position, and hydraulic cylinder rises, and lifting idler wheel rises, and driving idler wheel rotation, conveying steel plate enters next
Process.Equipment welding is completed with manipulator and robot, substantially increases the stability of production efficiency and product quality,
Also improve the personal safety of welding machine personnel.
The above, only the utility model further embodiment, but the scope of protection of the utility model is not limited to
In this, any one skilled in the art is according to the present utility model in range disclosed in the utility model
Technical solution and its design are subject to equivalent substitution or change, belong to the scope of protection of the utility model.
Claims (7)
1. a kind of pressure group of multirobot collaboration welding is to equipment, including multiple pipelines, multiple six-joint robots, Duo Gesan
Axis robot and a trigger squeeze (6), it is characterised in that：Left and right of multiple six-joint robot settings in the trigger squeeze (6)
Both sides are each equipped with laser tracker on the six-joint robot, and multiple three axle roberts are located at the trigger squeeze (6)
Front and back upside, multiple pipelines are located at the front and rear sides of the trigger squeeze (6), the upper inside of the trigger squeeze (6)
Multiple hydraulic cylinders (9) are provided with, the inner lower of the trigger squeeze (6) is provided with multiple lifting idler wheels (8), each conveying
Locating piece (1) and driving idler wheel (3) are equipped on line, the locating piece (1) is set to the front end of the pipeline.
2. a kind of pressure group of multirobot collaboration welding is to equipment according to claim 1, it is characterised in that：The positioning
Using being threadedly coupled between block (1) and the pipeline, the preferred amount of the pipeline is two, including pipeline A (2) and
Pipeline B (11), the pipeline A (2) and the pipeline B (11) are located at the left and right sides of the trigger squeeze (6), institute
The front end of the front end and the pipeline B (11) of stating pipeline A (2) is equipped at least one locating piece (1).
3. a kind of pressure group of multirobot collaboration welding is to equipment according to claim 1, it is characterised in that：Six axis
The preferred amount of robot is two, including six-joint robot A (4) and six-joint robot B (10), the six-joint robot A (4)
It is located at the front and rear sides of the trigger squeeze (6) with the six-joint robot B (10), the six-joint robot A (4) and described
Six-joint robot B (10) is separately fixed on ground.
4. a kind of pressure group of multirobot collaboration welding is to equipment according to claim 3, it is characterised in that：The laser
The preferred amount of tracker is two, and two laser trackers are separately fixed at the six-joint robot A (4) and described six
The front end of axis robot B (10).
5. a kind of pressure group of multirobot collaboration welding is to equipment according to claim 1, it is characterised in that：Three axis
The preferred amount of manipulator is two, including three axle robert A (5) and three axle robert B (7), the three axle robert A (5)
The left and right top of the trigger squeeze (6) is respectively welded at the three axle robert B (7).
6. a kind of pressure group of multirobot collaboration welding is to equipment according to claim 1, it is characterised in that：The hydraulic pressure
The preferred amount of cylinder (9) is six, and each hydraulic cylinder (9) is threadedly coupled between the trigger squeeze (6).
7. a kind of pressure group of multirobot collaboration welding is to equipment according to claim 1, it is characterised in that：The lifting
The preferred amount of idler wheel (8) is four, and four lifting idler wheels (8) are threadedly coupled with the trigger squeeze (6) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721680668.0U CN207873480U (en) | 2017-12-06 | 2017-12-06 | A kind of pressure group of multirobot collaboration welding is to equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721680668.0U CN207873480U (en) | 2017-12-06 | 2017-12-06 | A kind of pressure group of multirobot collaboration welding is to equipment |
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| Publication Number | Publication Date |
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| CN207873480U true CN207873480U (en) | 2018-09-18 |
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ID=63502190
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721680668.0U Active CN207873480U (en) | 2017-12-06 | 2017-12-06 | A kind of pressure group of multirobot collaboration welding is to equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109175835A (en) * | 2018-09-29 | 2019-01-11 | 广州沃图自动化科技有限公司 | A kind of industrial robot welding production line |
| CN109877506A (en) * | 2017-12-06 | 2019-06-14 | 史航 | A kind of pressure group of multirobot collaboration welding is to equipment |
-
2017
- 2017-12-06 CN CN201721680668.0U patent/CN207873480U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877506A (en) * | 2017-12-06 | 2019-06-14 | 史航 | A kind of pressure group of multirobot collaboration welding is to equipment |
| CN109175835A (en) * | 2018-09-29 | 2019-01-11 | 广州沃图自动化科技有限公司 | A kind of industrial robot welding production line |
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